CN204068796U - The multiple stepping motor system of novel single microprocessor controls - Google Patents
The multiple stepping motor system of novel single microprocessor controls Download PDFInfo
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- CN204068796U CN204068796U CN201420188093.0U CN201420188093U CN204068796U CN 204068796 U CN204068796 U CN 204068796U CN 201420188093 U CN201420188093 U CN 201420188093U CN 204068796 U CN204068796 U CN 204068796U
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Abstract
The utility model relates to the multiple stepping motor system of a kind of novel single microprocessor controls, and this system comprises microcontroller, limit sensors reading circuit, motor-drive circuit, encoder reading circuit, stepping motor, optical phase difference encoder and photoelectricity blocking limit sensors; Described limit sensors reading circuit, motor-drive circuit and encoder reading circuit are connected on microcontroller; Described stepping motor is connected on motor-drive circuit, and described photoelectricity blocking limit sensors is connected on limit sensors reading circuit, and described optical phase difference encoder is connected on encoder reading circuit.The utility model provides the control system that a kind of multiple stepping motor by microprocessor controls single in digital imaging system or control are in the stepping motor of linear stage translation.
Description
Technical field
The utility model relates to a kind of system of microprocessor controls stepping motor for accurately location and synchronization action, and especially a kind of multiple stepping motor by microprocessor controls single in digital imaging system or control are in the control system of the stepping motor of linear stage translation.
Background technology
The stepping motor of Digital Signals is utilized to be widely used in a lot of equipment and rudimentary instrument.The speed of stepping motor, some important parameters such as direction can control by digital signal.Its operation principle is with two coils of a definite sequence de-energisation motor winding by suitable electric current, once order is correct, motor shaft rotation can with the generation of dynamic magnetic induction, there is provided the process of appropriate electric current to be completed by repeater circuit with correct order, this circuit converts a control appliance (as: microcontroller) to the desired exciting circuit that sequentially passes through to a series of digit pulse of the electric current of coil and is supplied to motor winding.
On the driving screw of stepping motor through being usually used in the mechanical connection on motor shaft and slip bocks system, be used to provide linear movement.In some practical applications (as: digital pathological image system), accurate linear movement is necessary, and needs the stepping motor based on linear stage translation.
Numeral pathology are scanning pathology slides, and high resolution digital image is converted thereof under the help of the microscope etc. of the similar digital slices scanner of digital pathology system or automatic scan imaging system, picking and placeing section is coordinated and section be placed in scanning area by such as cut into slices fixture and the box for transporting section of mechanical movement or shift out scanning area.In order to increase section Load System extensibility, adding of plug and play module, can make on original basis, increase section and can carry quantity.Slide in scanning process can as moving to interested region at X and the multiple axle of Y-axis or scanning according to the object lens of the multiplying power of various expectation.In order to can accurately focus, be moved by multiple axle and realize.All these actions are automatic, and need to carry out meticulous check and correction, for the accurate scanning of accurate detent bracket position and section.
So need a kind ofly to be in the stepping motor of linear stage translation for realizing described accurate location and the system of synchronization action by single microprocessor controls multiple.
Utility model content
The purpose of this utility model is the defect overcoming prior art existence, provides a kind of multiple stepping motor by microprocessor controls single in digital imaging system or control to be in the control system of the stepping motor of linear stage translation.
The utility model solves the technical scheme that its technical problem adopts: the multiple stepping motor system of a kind of novel single microprocessor controls, and this system comprises microcontroller, limit sensors reading circuit, motor-drive circuit, encoder reading circuit, stepping motor, optical phase difference encoder and photoelectricity blocking limit sensors; Described limit sensors reading circuit, motor-drive circuit and encoder reading circuit are connected on microcontroller; Described stepping motor is connected on motor-drive circuit, and described photoelectricity blocking limit sensors is connected on limit sensors reading circuit, and described optical phase difference encoder is connected on encoder reading circuit.
According to another embodiment of the present utility model, comprise described motor-drive circuit further and comprise latch circuit, stepper motor driver and motor, described latch circuit is connected with stepper motor driver, described stepper motor driver and motor.
According to another embodiment of the present utility model, comprise described encoder reading circuit further and comprise read module and encoder, described encoder is connected with read module.
According to another embodiment of the present utility model, comprise described limit sensors reading circuit further and comprise latch and digital sensor feedback, described latch and digital sensor feedback link.
According to another embodiment of the present utility model, comprise further on described microcontroller and be also connected with latch selection logic and pulse signal.
According to another embodiment of the present utility model, comprise further on described microcontroller and be also connected with encoder selection logic.
According to another embodiment of the present utility model, comprise further on described microcontroller and be also connected with latch selection logic.
The beneficial effects of the utility model: the utility model solves the defect existed in background technology, arranged by the connection of microcontroller, limit sensors reading circuit, motor-drive circuit, encoder reading circuit, stepping motor, optical phase difference encoder and photoelectricity blocking limit sensors, by microcontroller pin time-sharing multiplex, substantially increase utilization rate and the operating efficiency of microcontroller.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
Fig. 1 is the structural representation of preferred embodiment of the present utility model;
Fig. 2 is motor-drive circuit structural representation;
Fig. 3 is encoder reading circuit structural representation;
Fig. 4 is limit sensors reading circuit structural representation;
Embodiment
As Figure 1-4, the multiple stepping motor system of a kind of novel single microprocessor controls, this system comprises microcontroller 151, limit sensors reading circuit 132, motor-drive circuit 131, encoder reading circuit 133, stepping motor 101,102,103,104,105, optical phase difference encoder 111,112,113,114,115 and photoelectricity blocking limit sensors 121,122,123,124,125; Described limit sensors reading circuit 132, motor-drive circuit 131 and encoder reading circuit 133 are connected on microcontroller 151; Described stepping motor 101,102,103,104,105 is connected on motor-drive circuit 131, described photoelectricity blocking limit sensors 121,122,123,124,125 is connected on limit sensors reading circuit 132, and described optical phase difference encoder 111,112,113,114,115 is connected on encoder reading circuit 133.
Described motor-drive circuit 131) comprise latch circuit 221,222,223,224,225, stepper motor driver 211,212,213,214,215 and motor 201,202,203,204,205, described latch circuit 221,222,223,224,225 is connected with stepper motor driver 211,212,213,214,215, described stepper motor driver 211,212,213,214,215 and motor 201,202,203,204,205.Described encoder reading circuit 133 comprises read module 311,312,313,314,315 and encoder 301,302,303,304,305, and described encoder 301,302,303,304,305 is connected with read module 311,312,313,314,315.Described limit sensors reading circuit 132 comprises latch 411,412,413 and digital sensor feedback 401,402,403, and described latch 411,412,413 feeds back 401,402,403 with digital sensor and is connected.
Described microcontroller 151 is also connected with latch and selects logic 231 and pulse signal 230.Described microcontroller 151 is also connected with encoder and selects logic 321.Described microcontroller 151 is also connected with latch and selects logic 421.
In scheme as shown in Figure 1, each stage is use optical phase difference encoder 111,112,113,114,115 and one group of photoelectricity blocking limit sensors 121,122,123,124,125 to be associated based on five stepping motors 101,102,103,104,105 of linear stage.
Five stepping motors 101,102,103,104,105 and each winding is had to be connected to the motor 201,202,203,204,205 of the output of corresponding stepper motor driver 211,212,213,214,215.These stepper motor drivers 211,212,213,214,215 are driven by a microcontroller 151.
Each group photoelectricity interdicts limit sensors 121,122,123,124,125 has three limit sensors to connect, and for stepping motor, these transducers provide the motor-driven stage position of feedback and serve as just spacing, negative spacing spacing with initial point.Digital logic level 0/1(0/5 volt) form provide output by these transducers, and feed back to microcontroller 151 by a limit sensors reading circuit 132.
Orthogonal encoder is associated with motor shaft, and provides three synchronous digital pulse signal A, B and Z is as output.When the pulse of A and B relative to each other keeps the phase place of 90 degree, the position of motor shaft or the position of linear stage just can be read simultaneously.Z pulse is index pulse, indicates in the complete rotation of motor shaft.When motor/linear stage at the volley, read the state of encoder, the position of corresponding counter constantly more new motor.The pulse signal that encoder exports (A, B and Z) is imported in encoder reading circuit 133, and (five circuit corresponding to each encoder), it is based on 32 orthogonal counter integrated circuits.This integrated circuit by continuous sampling A, B and Z pulse, and upgrades the position that its counter carrys out tracking motor.Read the Counter Value of orthogonal encoder integrated circuit by a Serial Peripheral Interface (SPI) by microcontroller.
At the digital circuit of the limited quantity I/O pin of a large amount of various modules provided (five coder module, five motor drive modules, several lines of limit sensors and other transducers) and microcontroller, these digital circuits are multiplexing.Programmed algorithm/code setting is described motor by the corresponding assembly of logical circuit synchronous operation.
Native system uses following methods realize the synchronous of stepping motor and be synchronized with the movement:
Fig. 2 shows the inside schematic diagram of motor-drive circuit (in Fig. 1) 131.One in each motor 201,202,203,204,205 is connected to corresponding stepper motor driver 211,212,213,214,215.These drivers are mutually the same and based on ready-made repeaters integrated circuit.This integrated circuit is that the logic control signal sent by microcontroller 151 controls, such as by the micro-stepping regime of three Digital Signals, one for controlling party to (clockwise/counterclockwise), one for step-by-step impulse, one is used for activating/enable integrated circuit etc.
First the motor run needs the state of initialization control signal, then starts the pulse sent to predetermine frequency (being determined by required speed).
In current method, all control signals that can be used for all motor driving integrated circuits are re-used, and namely only have the output pin of a microcontroller for arranging/resetting a drive and control of electric machine signal, except pulse signal.Therefore, 8 control signals (direction, micro-stepping regime enable park mode etc.) in instances, eight microcontroller 151 pins are all occupied.
All pulse signals 230, are directly connected on the pin of corresponding step actuator 211,212,213,214,215 integrated circuit.
Control signal is connected to corresponding pin in stepper motor driver 211,212,213,214,215 by corresponding latch circuit 221,222,223,224,225.These latch integrated circuits, in its default condition, the multiplexed signals of separation is sent to motor driver end by microcontroller end.
In order to drive motors, microcontroller 151, is carried in the control signal that its pin is corresponding, then selects logic 231 to select corresponding latch 223 by latch, and therefore, this control signal is coupled in corresponding stepper motor driver 213 immediately.Now, latch is returned to its default conditions and stepper motor driver 213 again to be again separated to the control signal of microcontroller 151.
Once the state of a control reaching specific stepper motor driver 213 is arranged, microcontroller 151 can start to apply for that on corresponding pin, send corresponding pulse signal 230 carrys out Driving Stepping Motor.
Run multiple stepping motor can adopt and use the same method.Between two pulse signals, change the state of the control pin of microcontroller 151 by time delay, and it is medium their state to be locked onto corresponding stepper motor driver.
Pulse signal between different motor interrupts controlling different motors by producing based on the time interval pre-set.
As shown in Figure 3, in the circuit exported, the encoder that all encoders 301,302,303,304,305 produce A, B and Z pulse signal is connected in its corresponding read module 311,312,313,314,315, and 32 digit counter integrated circuits are housed in each module.
This microcontroller 151, is communicated with counter chip by Serial Peripheral Interface (SPI) (SPI) communication protocol.SPI uses " main enters to go out to go out " (MISO), " main that " (MOSI) and " clock " (CLK) three multiplexing lines are to transmit the data between microcontroller and all counter chips from entering.
In order to read from the data in any counter circuit or arrange any counter circuit pattern, microcontroller 151 uses an encoder to select logic 321 to select corresponding encoder reading circuit.
Similar method, in motor driver circuit 131 and encoder reading circuit 133, by the digital feedback of read range with other transducers.As shown in Figure 4, the output of all limit sensors is stored in 3 groups and often organizes in 8 digital circuits, sends into microcontroller 151 through 3 latchs 411,412,413.
Select logic 421 by a latch, any given set of number transducer 401,402,403 feedback can be read by microcontroller 151.
Should be appreciated that specific embodiment described above only for explaining the utility model, and be not used in restriction the utility model.Still be among protection range of the present utility model by spirit institute's apparent change of extending out of the present utility model or change.
Claims (7)
1. the multiple stepping motor system of novel single microprocessor controls, it is characterized in that: this system comprises microcontroller (151), limit sensors reading circuit (132), motor-drive circuit (131), encoder reading circuit (133), stepping motor (101,102,103,104,105), optical phase difference encoder (111,112,113,114,115) and photoelectricity blocking limit sensors (121,122,123,124,125); Described limit sensors reading circuit (132), motor-drive circuit (131) and encoder reading circuit (133) are connected on microcontroller (151); Described stepping motor (101,102,103,104,105) is connected on motor-drive circuit (131), described photoelectricity blocking limit sensors (121,122,123,124,125) is connected on limit sensors reading circuit (132), and described optical phase difference encoder (111,112,113,114,115) is connected on encoder reading circuit (133).
2. the multiple stepping motor system of novel single microprocessor controls according to claim 1, it is characterized in that: described motor-drive circuit (131) comprises latch circuit (221, 222, 223, 224, 225), stepper motor driver (211, 212, 213, 214, 215) and motor (201, 202, 203, 204, 205), described latch circuit (221, 222, 223, 224, 225) with stepper motor driver (211, 212, 213, 214, 215) connect, described stepper motor driver (211, 212, 213, 214, 215) with motor (201, 202, 203, 204, 205).
3. the multiple stepping motor system of novel single microprocessor controls according to claim 1, it is characterized in that: described encoder reading circuit (133) comprises read module (311,312,313,314,315) and encoder (301,302,303,304,305), and described encoder (301,302,303,304,305) is connected with read module (311,312,313,314,315).
4. the multiple stepping motor system of novel single microprocessor controls according to claim 1, it is characterized in that: described limit sensors reading circuit (132) comprises latch (411,412,413) and digital sensor feedback (401,402,403), and described latch (411,412,413) feeds back (401,402,403) and is connected with digital sensor.
5. the multiple stepping motor system of novel single microprocessor controls according to claim 2, is characterized in that: described microcontroller (151) is also connected with latch and selects logic (231) and pulse signal (230).
6. the multiple stepping motor system of novel single microprocessor controls according to claim 3, is characterized in that: described microcontroller (151) is also connected with encoder and selects logic (321).
7. the multiple stepping motor system of novel single microprocessor controls according to claim 4, is characterized in that: described microcontroller (151) is also connected with latch and selects logic (421).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420188093.0U CN204068796U (en) | 2014-04-17 | 2014-04-17 | The multiple stepping motor system of novel single microprocessor controls |
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| CN201420188093.0U CN204068796U (en) | 2014-04-17 | 2014-04-17 | The multiple stepping motor system of novel single microprocessor controls |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103929105A (en) * | 2014-04-17 | 2014-07-16 | 上海杰傲湃思医疗科技有限公司 | Novel system with single microcontroller controlling multiple stepping motors |
| CN118018705A (en) * | 2024-04-08 | 2024-05-10 | 中国空气动力研究与发展中心低速空气动力研究所 | Depth camera imaging system and method based on time-sharing multiplexing |
-
2014
- 2014-04-17 CN CN201420188093.0U patent/CN204068796U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103929105A (en) * | 2014-04-17 | 2014-07-16 | 上海杰傲湃思医疗科技有限公司 | Novel system with single microcontroller controlling multiple stepping motors |
| CN118018705A (en) * | 2024-04-08 | 2024-05-10 | 中国空气动力研究与发展中心低速空气动力研究所 | Depth camera imaging system and method based on time-sharing multiplexing |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141231 Termination date: 20190417 |
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| CF01 | Termination of patent right due to non-payment of annual fee |