CN210111893U - Stepping motor control device, drive control equipment, integrated motor and automatic control system - Google Patents

Stepping motor control device, drive control equipment, integrated motor and automatic control system Download PDF

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Publication number
CN210111893U
CN210111893U CN201920301138.3U CN201920301138U CN210111893U CN 210111893 U CN210111893 U CN 210111893U CN 201920301138 U CN201920301138 U CN 201920301138U CN 210111893 U CN210111893 U CN 210111893U
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China
Prior art keywords
stepping motor
circuit board
hole
control unit
motor body
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CN201920301138.3U
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张健
姚亚澜
田天胜
李卫平
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Lei Sai Software Engineering Co Ltd Of Shenzhen
Leadshine Technology Co Ltd
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Lei Sai Software Engineering Co Ltd Of Shenzhen
Leadshine Technology Co Ltd
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Abstract

The utility model discloses a stepping motor control device, a drive control device, an integrated motor and an automatic control system, wherein the stepping motor control device comprises a data interaction module, a data processing module and a control module which are sequentially connected in a communication way; the data interaction module carries out data interaction with an upper controller of the stepping motor to acquire data or instructions; the data processing module analyzes the data or the instruction acquired by the data interaction module and sends the data or the instruction to the control module; the stepping motor supports at least two of a torque working mode, a position working mode, a bus type communication control working mode and a programmable operation working mode, and the control module only adopts a current loop closed-loop control unit and a position loop closed-loop control unit to switch the stepping motor among a plurality of working modes, so that the working modes of the stepping motor are enriched compared with the control of the existing stepping motor, and the requirements of various application scenes are better met; meanwhile, a speed loop closed-loop control unit is omitted, and the resource utilization rate and the control instantaneity are improved.

Description

Stepping motor control device, drive control equipment, integrated motor and automatic control system
Technical Field
The utility model relates to a motor control field especially relates to step motor controlling means, drive control equipment, integration motor and automated control system.
Background
The motor driver is a product widely applied to industrial control and automation production, and is applied to various automation control industries such as 3C automation, single-shaft mechanical arm, logistics and the like. Although the stepping motor has been widely used, the working mode of the stepping motor currently and generally used is single, and the control requirements under different application scenes cannot be better met. In addition, the control of the stepping motor is generally closed-loop control based on a current loop, a speed loop and a position loop at present, and the real-time performance of the control is poor due to more data to be acquired and more consumed resources.
SUMMERY OF THE UTILITY MODEL
The utility model provides a step motor controlling means, drive control equipment, integration motor and automated control system, it is many to solve the resource that current step motor mode is single and closed-loop control consumes, controls the poor scheduling problem of real-time.
In order to solve the above problems, the utility model provides a stepping motor control device, which comprises a data interaction module, a data processing module and a control module which are sequentially connected in a communication manner;
the data interaction module carries out data interaction with an upper controller of the stepping motor to acquire data or instructions;
the data processing module analyzes the data or the instruction acquired by the data interaction module and then sends the data or the instruction to the control module;
the control module controls the stepping motor to work in a corresponding working mode according to received data or instructions;
the control module comprises a closed-loop control unit, an analog-to-digital conversion unit, a filtering unit, a track smoothing unit, a motion track generation unit, an instruction storage and reading control unit and a working mode control unit, wherein the closed-loop control unit only comprises a current loop closed-loop control unit and a position loop closed-loop control unit;
and the working mode control unit calls corresponding units in the current loop closed-loop control unit, the position loop closed-loop control unit, the analog-to-digital conversion unit, the filtering unit, the track smoothing unit, the motion track generation unit, the instruction storage and reading control unit and the working mode control unit to control the stepping motor to work in a corresponding working mode.
Optionally, the stepping motor control device further includes at least one of an alarm module and a protection module respectively connected to the control module;
the alarm module gives an alarm when meeting set alarm conditions according to the working state of the stepping motor;
the protection module provides protection when meeting set protection conditions according to the working state of the stepping motor.
Optionally, the stepping motor supports the torque working mode, and when the stepping motor is in the torque working mode, the working mode control unit calls the current loop closed-loop control unit, the analog-to-digital conversion unit, and the filtering unit.
Optionally, the stepping motor supports the position working mode, and when the stepping motor is in the position working mode, the working mode control unit calls the current loop closed-loop control unit, the position loop closed-loop control unit, the analog-to-digital conversion unit, and the trajectory smoothing unit, and determines the speed according to the position increment acquired by the position loop closed-loop control unit.
Optionally, the stepping motor supports the bus-type communication control working mode, and when the stepping motor is in the bus-type communication control working mode, the working mode control unit calls the current loop closed-loop control unit, the position loop closed-loop control unit, the filtering unit, and the motion trajectory generation unit, and determines the speed according to the position increment acquired by the position loop closed-loop control unit.
Optionally, the stepping motor supports the programmable operation mode, and when the stepping motor is in the programmable operation mode, the operation mode control unit calls the current loop closed-loop control unit, the position loop closed-loop control unit, the analog-to-digital conversion unit, the filtering unit, the motion trajectory generation unit, and the instruction storage and reading control unit, and determines the speed according to the position increment acquired by the position loop closed-loop control unit.
In order to solve the problems, the utility model also provides a drive control device of the integrated motor, which is connected with the stepping motor body to form the integrated motor, the drive control device comprises a housing, the end surface of the housing is opposite to the end surface of the rear end of the stepping motor body, and the side surface of the housing is parallel to the rotating shaft of the stepping motor body;
the drive control equipment further comprises a circuit board arranged in the housing, wherein a drive control circuit is arranged on the circuit board, and the drive control circuit comprises the stepping motor control device.
Optionally, an I/O wiring unit connected to the driving control circuit is further disposed on the circuit board, the I/O wiring unit includes at least two I/O wiring terminals, and a wiring direction of the I/O wiring terminals forms a certain angle with a side surface of the housing and is exposed outside the housing from the side surface of the housing, so that an I/O wiring plug connected to the I/O wiring terminals in a matching manner can be inserted.
Optionally, the drive control device further includes a support, a surface of the circuit board opposite to the support is a back surface of the circuit board, the back surface of the circuit board is further provided with a magnetic encoder, a region of the support corresponding to the magnetic encoder is provided with a first through hole for the magnetic encoder to collect information,
a second through hole opposite to the first through hole is formed in the end face of the rear end of the stepping motor body, and a motor rear shaft and a magnetic sheet fixed on the motor rear shaft are arranged in the second through hole;
the integrated motor also comprises a concentric positioning boss which is arranged between the bracket and the rear end of the stepping motor body, is concentric with the first through hole and the second through hole and is hollow; when the support is fixed at the rear end of the stepping motor body, the first through hole and the second through hole are aligned and connected through the concentric positioning boss, and the magnetic encoder corresponding to the phase position of the first through hole is in magnetic fit with the magnetic sheet on the rear shaft of the motor in the second through hole.
Optionally, the drive control device further includes a bracket disposed between the circuit board and the rear end face of the stepping motor body, a surface of the circuit board opposite to the bracket is a back surface of the circuit board, the back surface of the circuit board is further provided with a magnetic encoder, and an area of the bracket corresponding to the magnetic encoder is provided with a first through hole for the magnetic encoder to acquire information;
a second through hole corresponding to the first through hole in position is formed in the end face of the rear end of the stepping motor body, and a motor rear shaft and a magnetic sheet fixed on the motor rear shaft are arranged in the second through hole; a positioning column is further arranged on the end face of the rear end of the stepping motor body;
be provided with on the support with reference column position relative first positioning through-hole, be provided with on the circuit board with reference column position is relative, and its internal diameter with reference column external diameter assorted second positioning through-hole, during the installation, the reference column passes in proper order first positioning through-hole on the support and the second positioning through-hole on the circuit board, magnetic encoder on the circuit board passes through first through-hole with in the second through-hole the magnetic sheet forms the magnetic cooperation.
Optionally, one surface of the circuit board opposite to the end surface of the rear end of the stepping motor body is a back surface of the circuit board, and a magnetic encoder is arranged on the back surface of the circuit board;
a second through hole is formed in the end face of the rear end of the stepping motor body, and a motor rear shaft and a magnetic sheet fixed on the motor rear shaft are arranged in the second through hole; a positioning column is further arranged on the end face of the rear end of the stepping motor body;
the circuit board is provided with a second positioning through hole which is opposite to the positioning column in position and the inner diameter of which is matched with the outer diameter of the positioning column, when the circuit board is installed, the positioning column penetrates through the second positioning through hole on the circuit board, and the magnetic encoder on the circuit board is in magnetic fit with the magnetic sheet in the second through hole;
a first circuit board bearing bulge is arranged on at least one positioning column, and after the positioning column penetrates through a second positioning through hole on the circuit board, the circuit board is abutted against the first circuit board bearing bulge;
and/or the presence of a gas in the gas,
the stepping motor is characterized in that at least one second circuit board bearing bulge is arranged on the end face of the rear end of the stepping motor body, and after the positioning column penetrates through a second positioning through hole in the circuit board, the circuit board abuts against the second circuit board bearing bulge.
Optionally, the circuit board is further provided with at least one target component, and the target component is exposed outside the housing through a through groove formed in the end face of the housing.
Optionally, the target component includes a communication bus terminal and a dial switch, the communication bus terminal and the dial switch are respectively disposed on two opposite sides or two adjacent sides of the circuit board, and the through slots include a first through slot and a second through slot, which are located on two opposite sides or two adjacent sides of the end surface of the housing and respectively correspond to the communication bus terminal and the dial switch; one end of the communication bus terminal, which is connected with the communication bus plug, is exposed outside through the first through groove, and the dial switch is exposed outside through the second through groove.
In order to solve the problems, the utility model also provides an integrated motor, which comprises a stepping motor body and the drive control equipment, wherein the rear end face of the stepping motor body is provided with a connecting screw hole for connecting with the drive control equipment, the housing and the circuit board are respectively provided with a screw through hole corresponding to the screw hole in position, and a connecting screw sequentially passes through the screw through holes on the housing and the circuit board and is screwed into the corresponding connecting screw hole on the rear end face of the stepping motor body to connect the housing, the circuit board and the stepping motor body into a whole;
the connecting screw holes on the end face of the rear end of the stepping motor body are two or three, and at least two connecting screw holes are arranged in a diagonal line mode.
In order to solve the problem, the utility model also provides an automatic control system, including actuating mechanism and as above the integration motor, the step motor main part with actuating mechanism connects, drive control equipment passes through step motor main part control actuating mechanism carries out corresponding action.
The utility model has the advantages that:
the utility model provides a stepping motor control device, a drive control device, an integrated motor and an automatic control system, wherein the stepping motor control device comprises a data interaction module, a data processing module and a control module which are sequentially in communication connection; the data interaction module carries out data interaction with an upper controller of the stepping motor to acquire data or instructions; the data processing module analyzes the data or the instruction acquired by the data interaction module and sends the data or the instruction to the control module; the control module controls the stepping motor to work in the corresponding working mode according to the received data or instructions; the control module comprises a closed-loop control unit, an analog-to-digital conversion unit, a filtering unit, a track smoothing unit, a motion track generation unit, an instruction storage and reading control unit and a working mode control unit, wherein the closed-loop control unit only comprises a current loop closed-loop control unit and a position loop closed-loop control unit; the working mode control unit calls corresponding units in the current loop closed-loop control unit, the position loop closed-loop control unit, the analog-to-digital conversion unit, the filtering unit, the track smoothing unit, the motion track generation unit, the instruction storage and reading control unit and the working mode control unit to control the stepping motor to work in a corresponding working mode; the stepping motor control device provided by the embodiment can control the stepping motor to switch among multiple working modes, and only the current loop closed-loop control unit and the position loop closed-loop control unit can be adopted to switch the stepping motor among the multiple working modes, so that the working modes of the stepping motor are enriched compared with the control of the existing stepping motor, and the stepping motor control device can better meet the requirements of various application scenes; meanwhile, a speed ring closed-loop control unit is omitted, the resource utilization rate is improved, and the real-time performance of the control of the stepping motor is improved.
Drawings
Fig. 1 is a first perspective view of an integrated motor according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of an integrated motor according to an embodiment of the present invention;
FIG. 3 is an exploded view of the integrated motor of FIG. 1;
FIG. 4 is an exploded view of the integrated motor of FIG. 1;
FIG. 5 is an exploded view of the integrated motor of FIG. 1;
FIG. 6 is a schematic plan view of an end face of the housing of the integrated motor shown in FIG. 1;
fig. 7 is a schematic view of an inner side structure of a housing of the integrated motor shown in fig. 1;
FIG. 8 is another exploded view of the integrated motor of FIG. 1;
FIG. 9 is another exploded view of the integrated motor of FIG. 1;
fig. 10 is a schematic perspective view of another integrated motor according to an embodiment of the present invention;
fig. 11 is a schematic view of a control flow of an integrated motor according to an embodiment of the present invention;
fig. 12 is a schematic view of a calibration flow of a magnetic encoder according to an embodiment of the present invention;
fig. 13 is a schematic structural view of a stepping motor control device according to an embodiment of the present invention;
in the figure: 1 is a driving control device, 2 is a stepping motor body, 11 is a bracket, 12 is a circuit board, a housing, 110 is a first through hole, 111 is a first auxiliary positioning column, 112 is a second auxiliary positioning column, 113 is a supporting boss, 114 is a through hole, 115 is a concentric positioning boss, 116 is a first positioning through hole on the bracket, 117 is a winding through hole, 121 is an I/O terminal, 122 is an RS485 communication terminal, 123 is a dial switch, 124 is a capacitor, 125 is a magnetic encoder, 126 is a heating element, 127 is a second auxiliary positioning hole, 128 is a second positioning through hole on the circuit board, 131 is a long screw, 132 is a short screw, 133 is an indicator light, 134 is an indicator light window, 135 is a second through groove, 136 is a first through groove, 137 is a heat conducting boss, 138 is a housing height positioning boss, 1301 is a data interaction module, 1302 is a data processing module, 1303 is a control module, 1304 is the warning mould, 1305 is the protection module, 20 is step motor body rear end terminal surface, 21 is the motor rear axle, 22 is the second through-hole, 221 is annular step, 23 is the fixed cover, 24 is the magnetic sheet, 241 is the second screw hole with short screw complex, 242 is the first screw hole with long screw complex, 25 is first supplementary locating hole, 26 is the pin.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments, not all embodiments, in the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
the integrated motor that this embodiment provided includes drive control equipment and motor body, and drive control equipment is connected with motor body and is formed integrated motor. The drive control apparatus in this embodiment may integrally implement a drive function of the motor driver, and optionally, may also integrally implement at least a part of a function of the controller. The motor body in this embodiment can be a stepping motor body, and can also be a servo motor body, and specifically can be flexibly selected according to requirements and application scenarios. For the convenience of understanding, the present embodiment will be described below by taking a stepping motor body as an example.
In the embodiment, the drive control equipment is connected with the stepping motor body to form the integrated motor, so that the volume of the equipment can be reduced and the equipment can better meet various application scenes compared with the existing automation equipment with a driver separated from the motor body; and the connecting line between the drive control equipment and the stepping motor body can be greatly shortened, so that the anti-interference capability of the stepping motor body is improved, and meanwhile, the connecting line consumable and labor cost between components are reduced.
In addition, for the problems of single working mode of the conventional stepping motor, large resource consumption of closed-loop control, poor control real-time performance, and the like, the present embodiment provides a stepping motor control apparatus, please refer to fig. 13, which includes a data interaction module 1301, a data processing module 1302, and a control module 1303, which are in communication connection in sequence;
the data interaction module 1301 performs data interaction with a host controller (which may be a host controller independent of the drive control apparatus or a controller integrated in a drive control circuit of the drive control apparatus) of the stepping motor (that is, the stepping motor body) to obtain data or instructions. The data interaction module 1301 in this embodiment may implement interaction of data or instructions with an upper controller based on a communication bus terminal or a communication interface inside the drive control device.
The data processing module 1302 analyzes the data or the instruction acquired by the data interaction module 1301 and sends the data or the instruction to the control module 1303; in this embodiment, the stepping motor supports at least two of a torque operating mode, a position operating mode, a bus communication control operating mode, and a programmable operating mode, and the control module 1303 controls the stepping motor to operate in the corresponding operating mode according to the received data or instruction. The data processing module 1302 in this embodiment may be implemented by, but is not limited to, a circuit or a chip capable of implementing data or instruction parsing. The control module 1303 in this embodiment can be implemented by, but not limited to, various microprocessors, such as but not limited to, a microcontroller of LPC11C00 series from enwispu semiconductor corporation, or a microcontroller of texas instruments model number TMS320F 28030/28031/28032/28033/28034/28035; the microprocessor 11 can also adopt but not limited to an X86 chip from Intel corporation, an i960 chip, or an Am386EM chip from AMD corporation, an SH RISC chip from Hitachi, etc.; the peripheral circuit can be flexibly configured according to the requirement, and for example, the peripheral circuit can include but is not limited to at least one of the peripheral circuits such as RAM, ROM, timer, interrupt scheduling, and the like.
The control module 1303 in this embodiment includes a closed-loop control unit, an analog-to-digital conversion unit, a filtering unit, a trajectory smoothing unit, a motion trajectory generation unit, an instruction storage and reading control unit, and a working mode control unit, where the closed-loop control unit only includes a current loop closed-loop control unit and a position loop closed-loop control unit;
the working mode control unit calls corresponding units in the current loop closed-loop control unit, the position loop closed-loop control unit, the analog-to-digital conversion unit, the filtering unit, the track smoothing unit, the motion track generation unit, the instruction storage and reading control unit and the working mode control unit to control the stepping motor to work in a corresponding working mode.
Referring to fig. 13, the stepping motor control apparatus in this embodiment further includes at least one of an alarm module 1304 and a protection module 1305 respectively connected to the control module;
the alarm module 1304 gives an alarm when a set alarm condition is met according to the working state of the stepping motor; the alarm module 1304 in this embodiment may be implemented by various alarm prompting units, for example, by combining the above-mentioned indicator lamps with corresponding alarm control circuits.
The protection module 1305 provides protection when a set protection condition is satisfied according to the operating state of the stepping motor. The protection module 1305 can be used for providing protection for the integrated motor under the conditions of power failure, overvoltage, undervoltage, overtemperature, limit and the like. The protection module in this embodiment can be implemented by, but is not limited to, various power-down protection circuits, overvoltage protection circuits, undervoltage protection circuits, over-temperature protection circuits, and limit protection circuits.
The stepping motor in the embodiment supports at least two of a torque working mode, a position working mode, a bus type communication control working mode and a programmable operation working mode and can support switching among different working modes; meanwhile, the closed-loop control unit in the embodiment only comprises a current loop closed-loop control unit and a position loop closed-loop control unit, but omits a speed loop closed-loop control unit, when a PI (proportional integral) parameter of a speed loop is needed, the speed can be determined according to a position increment, and the characteristic that the operation result of PID (proportional integral differential) of the position loop is equivalent to the PI parameter of the position loop and the PI parameter of the speed loop is utilized, so that the control output of the current loop closed-loop control unit and the position loop closed-loop control unit is only utilized to replace the control output of the current loop closed-loop control unit, the position loop closed-loop control unit and the speed loop closed-loop control unit, on the premise of omitting the speed loop closed-loop control unit, the same control effect of the current three closed-loop control units can be realized, the control is simplified, and the resource utilization rate is improved.
And the control module 1303 controls the stepping motor to work in a corresponding working mode according to the received data or instructions. For example, in an example of the embodiment, the stepping motor supports a torque operation mode, and when the stepping motor is in the torque operation mode, the operation mode control unit may control the stepping motor to operate in the torque operation mode by using the current loop closed-loop control unit, the analog-to-digital conversion unit, and the filtering unit.
In this embodiment, in the torque-supported operating mode, the output of the stepping motor is the required torque, the operating mode control unit calls the current loop closed-loop control unit, the analog-to-digital conversion unit, and the filter unit, and may adopt two control modes, i.e., an analog reference input mode and a user instruction input mode, where the analog reference input mode allows a user to set an output torque/analog input voltage ratio, an analog voltage offset value, and a dead zone value, and the user instruction input mode allows a user to directly set the output torque by using an instruction supported by the motor through a communication mode, such as an RS232 communication terminal, an RS485 communication terminal, a CAN communication terminal, and an Ethercat communication terminal.
In an example of this embodiment, the stepping motor supports a position operation mode, and when the stepping motor is in the position operation mode, the operation mode control unit invokes the current loop closed-loop control unit, the position loop closed-loop control unit, the analog-to-digital conversion unit, and the trajectory smoothing unit. In the position mode, the working mode control unit can determine the speed through the position increment acquired by the position loop closed-loop control unit so as to realize the PI or PID control related to the speed loop. The motor can rotate to a specified absolute distance or relative distance, the working mode control unit calls the current loop closed-loop control unit, the position loop closed-loop control unit, the analog-digital conversion unit and the track smoothing unit, and the control modes can include but are not limited to an analog quantity reference input mode and a pulse input mode, wherein the analog quantity reference input mode allows a user to set a running step number/analog input voltage proportion, an analog voltage offset value and a dead zone value, and the pulse input mode allows the user to control the motor in a pulse mode and simultaneously supports the input of three pulse signals, namely a pulse/direction signal, a forward pulse/reverse pulse signal and an orthogonal pulse signal.
In an example of this embodiment, the stepping motor supports a bus-based communication control operation mode, and when the stepping motor is in the bus-based communication control operation mode, the operation mode control unit invokes the current loop closed-loop control unit, the position loop closed-loop control unit, the filtering unit, and the motion trajectory generation unit. Under the bus type communication control working mode, when the working mode control unit calls the current loop closed-loop control unit, the position loop closed-loop control unit, the filtering unit and the motion trail generating unit, a user CAN use an upper computer or a control board card to call instructions supported by the motor through communication modes such as an RS232 communication terminal, an RS485 communication terminal, a CAN communication terminal and an Ethercat communication terminal. And the working mode control unit can determine the speed through the position increment acquired by the position loop closed-loop control unit so as to realize the PI or PID control related to the speed loop.
In an example of this embodiment, the step motor supports a programmable operation mode, and when the step motor is in the programmable operation mode, the operation mode control unit invokes the current loop closed-loop control unit, the position loop closed-loop control unit, the analog-to-digital conversion unit, the filtering unit, the motion trajectory generation unit, and the instruction storage and reading control unit. Under the programmable operation working mode, the working mode control unit can determine the speed through the position increment acquired by the position loop closed-loop control unit so as to realize the PI or PID control related to the speed loop. A user can use upper computer software to solidify a series of control instructions supported by the motor into a self-contained storage unit in the motor drive, and the motor can automatically run according to the compiled instructions.
In this embodiment, the above operation modes can support setting of functions of the I/O connection terminal, including but not limited to enabling the motor, limiting input, starting/stopping operation, marking internal operation status, conditional input/output, and the like.
It should be understood that the stepping motor control device provided in the present embodiment may be integrated into a drive control apparatus of an integrated motor, which may be, but is not limited to, the integrated motor shown in fig. 1 to 10. Of course, the stepping motor control device in this embodiment may also be integrated into a driver in which the stepping motor body and the driver are separated. The stepping motor control device provided by the embodiment can enable the stepping motor to support various working modes and realize the working and switching of the stepping motor under various working modes only by utilizing the current loop closed-loop control unit and the position loop closed-loop control unit, greatly enriches the functions and application range of a stepping motor motion system and expands the application occasions of the stepping motor.
Example two:
the integrated motor in the embodiment can adopt the magnetic encoder to collect information as a control basis. Compared with the traditional method of adopting a photoelectric encoder as position signal feedback, in the embodiment, the installation precision of the magnetic encoder can be ensured through the positioning structure. However, due to the limitations of the manufacturing process and the assembling process, it is difficult to ensure that the magnetic encoder does not introduce installation errors in the installation process, which is also the reason that the existing automatic control equipment using the magnetic encoder generally only uses the magnetic encoder to perform some simple position feedback and does not participate in real-time control, and the control equipment using the magnetic encoder generally cannot realize real closed-loop control.
In view of the above problems, in this embodiment, the drive control circuit of the drive control device is configured to control the stepping motor to operate at a preset speed in an open loop state in a correction stage of the magnetic encoder, obtain a speed increment within a preset time interval after the stepping motor operates steadily at the preset speed, and obtain a correction compensation parameter caused by an assembly deviation of the magnetic encoder according to the speed increment to store the correction compensation parameter.
In this embodiment, the method for obtaining and storing the correction compensation parameter caused by the assembling deviation of the magnetic encoder according to the obtained speed increment may adopt, but is not limited to, any of the following methods:
the first method is as follows: obtaining a harmonic component by the speed increment through Fourier transform, and acquiring and storing a correction compensation parameter according to a target harmonic component (namely, detection signal fluctuation introduced by magnetic encoder assembly errors) in the harmonic component, wherein the target harmonic component is caused by the magnetic encoder assembly errors;
the second method comprises the following steps: and searching the correction compensation parameter corresponding to the speed increment for storage according to the speed increment and a preset speed increment and correction compensation parameter corresponding relation table.
Therefore, the obtained correction compensation parameters can be used for carrying out correction compensation on the assembly errors caused by the disk encoder in the mounting process.
It should be understood that the driving control circuit in this embodiment may include a microprocessor and a control circuit connected to the microprocessor, and may optionally further include a storage unit. The above process of acquiring the correction compensation parameters may be implemented by software provided in the storage unit, and the microprocessor may call the software in the storage unit to implement the above process of acquiring the correction compensation parameters. In some examples, the above-mentioned obtaining of the correction compensation parameter may also be implemented by controlling a corresponding circuit unit in the circuit or providing a corresponding chip in combination with the microprocessor.
In the present embodiment, the acquired correction compensation parameter includes at least one of a harmonic amplitude value and a harmonic phase value of the target harmonic. Therefore, when the microprocessor controls the stepping motor body subsequently, the microprocessor can perform compensation processing based on the obtained harmonic amplitude and/or harmonic phase value, and avoids signal fluctuation caused by assembly errors of the magnetic encoder as much as possible, so that the accuracy of the detection signal is ensured, and the stepping motor body is accurately controlled based on the information detected by the magnetic encoder. In addition, in the embodiment, the process can be triggered to perform primary automatic calibration calculation to obtain the calibration compensation parameters when the integrated motor is powered on for the first time, and in the subsequent use process of the integrated motor, if the relative position of the magnetic encoder and the stepping motor body is not changed, secondary calibration is not required, so that the calibration process is reliable and simple. Because the magnetic encoder can acquire accurate information as position signal feedback after the calibration, the stepping motor body can be really controlled in a closed loop mode based on the information acquired by the magnetic encoder. The integrated motor can adopt the magnetic encoder to realize simple position feedback and also participate in real-time control, and the application range of the magnetic encoder is widened.
In an example of this embodiment, after the stepping motor operates steadily at the preset speed, the speed increment within the preset time interval is obtained, and after the harmonic component is obtained by fourier transform of the speed increment, the target harmonic component, which is extracted from the harmonic component and is caused by the assembling deviation of the magnetic encoder, may include at least one of a second harmonic and a fourth harmonic. The preset speed in this embodiment can be configured according to a specific application scenario, and the bit number of the magnetic encoder, the configuration information thereof, and the storage location of the acquired correction compensation parameter in this embodiment can be flexibly set.
In this embodiment, the driving control circuit may be connected to an external corresponding calibration control device through a communication bus terminal, and after receiving a calibration start instruction of the magnetic encoder through the communication bus terminal, control the stepping motor to operate at a preset speed in an open loop state, and obtain a speed increment within a preset time interval after detecting that the stepping motor stably operates at the preset speed. In an example of the present embodiment, the preset time interval and the preset speed may be flexibly set based on the number of bits of the magnetic encoder, and the like.
In this embodiment, after the harmonic amplitude and/or the harmonic phase value of the target harmonic are obtained based on the above process, in the subsequent use process of the integrated motor, after the correction compensation parameters, such as the harmonic amplitude and/or the harmonic phase value, which can be obtained perform correction control on the magnetic encoder, the magnetic encoder is used to perform accurate acquisition of information such as position, and the stepping motor body is subjected to closed-loop control based on the information acquired by the magnetic encoder. The closed-loop control strategy for closed-loop control of the component motor body in the present embodiment may include, but is not limited to, at least one of a vector control strategy and a lead angle adjustment control strategy.
For example, in one example, the drive control circuit may further obtain a current lead angle based on information acquired by the magnetic encoder, and superimpose the current lead angle onto the fed-back current angle to send to the stepping motor, so as to implement lead angle transformation control and improve the control accuracy of the stepping motor.
It should be understood that the acquisition of the correction compensation parameters of the magnetic encoder in the present embodiment is not limited to the integrated motor structure shown in fig. 1 to 10, and is also applicable to other integrated motor structures provided with magnetic encoders. For the convenience of understanding, in the present embodiment, the structure of the integrated motor shown in fig. 1 to 10 is taken as an example, and a control process and a magnetic encoding correction process of the integrated motor are described as an example.
Referring to fig. 11, the control process of the integrated motor includes:
s1101: and carrying out clock configuration on the integrated motor.
S1102: the integrated motor is initialized, including but not limited to, initializing a chip such as a microprocessor.
S1103: the state of the integrated motor is set, for example, but not limited to, by a dial switch.
S1104: a magnetic encoder calibration process is performed.
S1105: and when needed, carrying out online upgrading treatment on the integrated motor.
Referring to fig. 12, a process of performing a calibration process of a magnetic encoder includes:
s1201: judging whether the magnetic encoder calibration is started, for example, detecting that a magnetic encoder calibration starting instruction can be received, wherein the magnetic encoder calibration starting instruction can be received through a communication bus terminal, and can also be issued through a control button arranged on the integrated motor, if yes, turning to S1202; otherwise, continuing to judge or ending.
S1202: the configuration information of the magnetic encoder can be read, and includes, but is not limited to, the number of bits, the preset speed, the storage location, and the like of the magnetic encoder.
S1203: and controlling the stepping motor to forcibly operate in an open loop mode.
S1204: judging whether the stepping motor operates at a constant speed at a preset speed, if so, turning to S1205; otherwise, go to S1203 to continue judging.
S1205: and acquiring the speed increment in the preset time interval.
S1206: and obtaining harmonic components by Fourier transformation of the velocity increment.
S1207: and acquiring correction compensation parameters including the harmonic amplitude and the harmonic phase of the target harmonic component according to the target harmonic component (namely, the second harmonic component and/or the fourth harmonic component except the fundamental wave and the like) in the harmonic component, which is caused by the assembling deviation of the magnetic encoder. In an example, the harmonic amplitude and the harmonic phase of the target harmonic component corresponding to the speed increment may also be found according to the speed increment and a preset speed increment and correction compensation parameter correspondence table.
S1208: the harmonic amplitude and the harmonic phase of the acquired target harmonic component are stored into the read storage location.
Through the correction process shown in fig. 12, compared with the magnetic encoder calibrated in the manner shown in the above figure without performing the magnetic encoder calibration, the detection repetition precision can be reduced from 0.1 degree to 0.05 degree, which can well meet the closed-loop control requirement of the stepping motor, thereby improving the control precision of the stepping motor.
Example three:
referring to fig. 1 to 7, fig. 1 to 2 are schematic perspective views of the integrated motor illustrated in this embodiment at two different angles, fig. 3 to 5 are schematic exploded views of the integrated motor at different angles, fig. 6 is a schematic plan view of an end face of a housing, and fig. 7 is a schematic structural view of an inner side of the housing. The integrated motor includes a drive control apparatus 1 and a stepping motor body 2. The drive control device 1 is connected with the stepping motor body 2 to form an integrated motor. It should be understood that the specific physical connection structure between the two can be flexibly set, for example, but not limited to, screw connection, snap connection, or a combination thereof.
In the present embodiment, the drive control apparatus 1 includes a housing 13, a housing end surface of the housing 13 is opposed to the stepping motor body rear end surface 20, and a housing side surface of the housing 13 is parallel to the rotation axis of the stepping motor body 2. The drive control device 2 includes a circuit board 12 disposed in the housing 13, the circuit board 12 is provided with a drive control circuit (not shown) and an I/O connection unit connected to the drive control circuit, and a connection direction of an I/O connection terminal 121 of the I/O connection unit forms a certain angle with a side surface of the housing and is exposed outside the housing from the side surface of the housing so as to facilitate insertion of an I/O connection plug connected to the I/O connection terminal in a mating manner. Therefore, the I/O wiring plug which is connected with the I/O wiring terminal in a matched manner can be inserted from the side direction of the housing, so that the axial installation space of the motor body is saved, and the integrated motor can better adapt to the limited installation space. It should be understood that a certain angle in this embodiment may be flexibly set, for example, an angle formed by the wiring direction of the I/O terminal and the side surface of the housing may be 0 ° or more and 90 ° or less, for example, may be flexibly set to 10 °, 20 °, 30 °, 45 °, 60 °, 80 °, 90 °, and the like. In one example, the connection direction of the I/O connection terminal forms an angle of 90 ° with the housing side or close to or slightly greater than 90 °.
In one example of the present embodiment, a side surface of the housing may be provided with a closed first-terminal accommodation through groove in which the I/O connection terminal is located, and a connection direction of the I/O connection terminal is exposed from the side surface of the housing through the first-terminal accommodation through groove; optionally, one side (i.e., the bottom) of the I/O terminal near the motor body may abut against the bottom of the first terminal accommodating through groove, or may be in a suspended state without contacting the bottom of the first terminal accommodating through groove. The drive control apparatus may not include a bracket in this example.
In another example of this embodiment, the drive control apparatus may further include a bracket provided between the circuit board and the rear end face of the stepping motor body, a side face of the housing is provided with a second terminal accommodating through groove communicating with the bracket, the I/O connection terminal is located in the second terminal accommodating through groove, a side (i.e., a bottom) of the I/O connection terminal near the motor body may abut on the bracket, and a wiring direction of the I/O connection terminal is exposed from the side face of the housing through the second terminal accommodating through groove. Of course, in some application scenarios, the bottom of the I/O connection terminal may be set to be in a floating state without contacting the bracket.
In this embodiment, in order to meet the flexible installation requirement of the user and improve the reliability and the wiring efficiency of the wiring, the I/O wiring plug in this embodiment may adopt a screw wire pressing type plug, that is, the wiring on the I/O wiring plug is pressed by screwing a screw, and the wiring is simple and reliable.
In some application scenarios of this embodiment, the I/O connection plug may also adopt but is not limited to any one of a cold-pressing type connection plug, a spring-pressing type connection plug, and a pin-type connection plug, and the plug providing multiple connection modes may be flexibly selected by different users, thereby improving compatibility.
In this embodiment, the I/O connection terminal may include, but is not limited to, a power supply terminal of the power supply input and a ground terminal, and the power supply is implemented by connecting the power supply terminal of the power supply input with the power supply to supply power to the driving control device.
Optionally, the I/O terminal in this embodiment may further include, but is not limited to, at least one of the following terminal ports:
a control terminal for inputting a control signal, and a setting terminal for inputting a setting signal.
For example, in one application scenario, the driver device 1 may include several types of terminals, considering that a power supply terminal to which a power supply is input, a ground terminal, and a control terminal to which a control signal is input, and a setting terminal to which a setting signal is input are all relatively common types of terminals. Therefore, in the embodiment, the I/O connection terminal, in addition to the power terminal and the ground terminal, further includes, but is not limited to, at least one of the following functions according to requirements:
pulse input, enable input, direction input and alarm output.
Correspondingly, in order to achieve the above functions, in this embodiment, at least two I/O connection terminals are disposed on the circuit board, and one ends of the at least two connection terminals, which are connected to the I/O connection plug, are exposed from the same housing side, so as to facilitate I/O connection. For example, in one example, two I/O terminals are disposed on the circuit board to implement power input and ground, respectively, and the options for pulse input and directional input, etc. can be implemented by communication bus terminals disposed on the circuit board. In another example, four I/O terminals are disposed on the circuit board to respectively implement power input, grounding, pulse input, and directional input; for another example, six I/O terminals are disposed on the circuit board, and the six I/O terminals can perform any of power input, grounding, pulse input, enable input, direction input, and alarm output. For another example, in one example, eight I/O terminals are disposed on the circuit board, and the eight I/O terminals can perform any of power input, grounding, pulse input, enable input, direction input, and alarm output. Or the circuit board is provided with 10I/O connecting terminals, and the 10I/O connecting terminals can realize any functions of power supply input, grounding, pulse input, enable input, direction input and alarm output. In addition, in this embodiment, the I/O terminals may adopt a single-row layout, or may adopt a double-row layout according to requirements.
For ease of understanding, the integrated motor shown in fig. 1-7 is still used as an example for the following description. In this example, 10I/O terminals (i.e., 10-bit I/O terminals) 121 are provided on the circuit board 12 of the drive control device 2, wherein the pitch between the I/O terminals is 3.5mm, although the pitch rule can be flexibly selected. In this example, the end of the 10I/O terminals 121 to which the I/O terminal plugs are connected is exposed from the same housing side to facilitate I/O wiring.
In addition, in this embodiment, in order to further fully utilize the installation space and further facilitate the wiring and reliability during installation, in this embodiment, at least one through groove may be further disposed on the cross section of the housing for the target component to be exposed outside the housing for operation or wiring, etc., with respect to at least one target component to be exposed that is disposed on the circuit board. Therefore, the axial installation space and the side installation space of the integrated motor can be simultaneously utilized, so that the installation space is fully utilized, and the flexibility of component arrangement on the circuit board is improved.
For example, in one example of the present embodiment, the target component may include, but is not limited to, at least one of a communication bus terminal and a dip switch. The communication bus terminal in this embodiment CAN be flexibly selected, and may include, but is not limited to, at least one of an RS485 communication terminal, an RS232 communication terminal, a CAN communication terminal, and an Ethercat communication terminal, for example. The type of the dial switch and the function realized by the dial switch in the embodiment can also be flexibly set, for example, a rotary dial switch, a horizontal dial switch, and the like.
For example, in an application scenario, the target component includes a communication bus terminal and a dial switch, the communication bus terminal and the dial switch are respectively disposed on two opposite sides or two adjacent sides of the circuit board, and the through slots include a first through slot and a second through slot, which are located on two opposite sides or two adjacent sides of the end face of the housing and respectively correspond to the communication bus terminal and the dial switch; one end of the communication bus terminal connected with the communication bus plug is exposed outside through the first through groove, and the dial switch is exposed outside through the second through groove. The following description will be made by taking the integrated motor shown in fig. 1 to 7 as an example. In this example, an RS485 communication terminal 122 and a dial switch 123 as communication bus terminals are provided on the circuit board 12 of the drive control device 2, and are provided on the end surface of the housing 13 in a first through groove 136 and a second through groove 135, one end of the RS485 communication terminal 122 connected to a communication bus plug is exposed outside through the first through groove 136, and the dial switch 123 is exposed outside the housing through the second through groove for dial operation. The RS485 communication terminal 122 has two in this example, one as an input and one as an output, and the optional RS485 communication terminal 122 is a 3pin terminal. The dial switch 123 in this example is a 4pin or more (including, but not limited to, 4pin, 6pin, or 8pin, for example) flat dial switch, and functions such as state setting can be realized by the 4pin or more flat dial switch. It should be understood that the specific structure and function of the RS485 communication terminal and the dial switch 123 in this example can be flexibly set, and are not limited to the specific structure shown in the figure. The dial switch 123 and the RS485 communication terminal are respectively arranged on two opposite sides of the end face of the housing, so that convenience is brought to a user in using and configuring the driver, and the requirement on axial installation space is reduced.
In this embodiment, in order to further reduce the axial installation space requirement and facilitate installation and wiring, at least one of the first through groove and the second through groove may be arranged to communicate with the adjacent side face of the housing, so that the first through groove 136 and the second through groove 135 communicate with the adjacent side face of the housing to form a groove structure relative to the housing side face, see fig. 1-7. Of course, in this embodiment, the first through groove and the second through groove may not be communicated with the adjacent side surface of the housing, and only the corresponding openings are formed on the end surface of the housing.
In some examples of the present embodiment, at least a portion of the I/O terminals may also be exposed from the housing end face of the housing to meet the flexible requirements of various installation scenarios. For example, in some application scenarios, a through hole or a through groove for exposing the I/O connection terminal may be provided on an end face of the housing, and each I/O connection terminal provided on the circuit board is exposed from the through hole or the through groove on the end face of the housing, so as to facilitate insertion of an I/O connection plug that is in matching connection with the I/O connection terminal.
Example four:
as shown above, the specific connection manner between the driving control device and the stepping motor body in this embodiment may adopt, but is not limited to, a screw or a snap. For ease of understanding, the present embodiment is exemplified below with a screw connection structure.
In the present embodiment, the drive control apparatus includes at least a housing, a circuit board; the circuit board and the housing are sequentially fixed on the rear end of the stepping motor body from bottom to top. The end surface of the rear end of the stepping motor body is provided with a connecting screw hole for connecting with a drive control device, the housing and the circuit board are respectively provided with a screw through hole corresponding to the connecting screw hole in position, and a connecting screw sequentially passes through the housing and the screw through hole on the circuit board and is screwed into the corresponding connecting screw hole on the end surface of the rear end of the stepping motor body, so that the housing, the circuit board and the stepping motor body are connected into a whole;
in this embodiment, two or three connecting screw holes are provided on the end surface of the rear end of the stepping motor body, and at least two connecting screw holes are arranged in a diagonal line; the connection mode not only saves the circuit board space of the integrated motor, but also ensures that the integrated motor has compact structure, simple installation and convenient disassembly.
For example, in an example of the present embodiment, at least one first screw hole penetrating through the front end and the rear end of the stepping motor body is included in the connection screw hole provided on the end surface of the rear end of the stepping motor body, and the connection screw includes a first screw (which may be referred to as a long screw in the present embodiment) screwed into the first screw hole, and the first screw penetrates through the front end and the rear end of the stepping motor body. For example, in an application scenario, two (certainly, three) first screw holes are arranged on the rear end face of the stepping motor body, and the two first screw holes are arranged diagonally on the rear end face of the stepping motor body, for example, two second screw holes are arranged on opposite sides of a central shaft at the rear end of the stepping motor body, so that stable fixation of the driving control device on the stepping motor body is ensured. And at least one of the two first screw holes can directly multiplex the screw holes originally arranged on the stepping motor body and used for connecting the stepping motor body, and even can be completely multiplexed, so that the cost and the space occupied by the screws are further saved.
For another example, in another example of the present embodiment, the connection screw hole provided in the rear end surface of the stepping motor body includes at least one second screw hole that does not penetrate through the front end and the rear end of the stepping motor body, and the connection screw includes a second screw screwed into the second screw hole. For example, in an application scenario, two (certainly, three) second screw holes (which may be referred to as short screws in this embodiment) are provided on the rear end face of the stepping motor body, and the two second screw holes are diagonally provided on the rear end face of the stepping motor body, for example, the two second screw holes are provided on opposite sides of the central shaft at the rear end of the stepping motor body, so as to ensure that the driving control device is stably fixed on the stepping motor body.
For another example, in another example of this embodiment, the connection screw hole provided in the end surface of the rear end of the stepping motor body includes at least one second screw hole that does not penetrate through the front end and the rear end of the stepping motor body, and also includes at least one first screw hole that penetrates through the front end and the rear end of the stepping motor body, that is, the connection between the driving control device and the stepping motor body is realized by combining the first screw and the second screw.
For example, in one example, the end face of the back end of the stepping motor body is provided with a first screw hole and two second screw holes, and the first screw hole and the at least one second screw are arranged on opposite sides of the central axis of the back end of the stepping motor body. In another example, two first screw holes and one second screw hole are arranged on the end surface of the rear end of the stepping motor body, and at least one first screw hole and one second screw are arranged on the opposite sides of the central shaft of the rear end of the stepping motor body.
It should be understood that the positions of the connecting screw holes on the rear end face of the motor body in the present embodiment can be flexibly determined. For example, in one example, the connecting screw hole is located in a region near the intersection of the two side surfaces on the rear end face of the stepping motor body, that is, in a corner region near the intersection of the two side surfaces on the rear end face of the motor body, so that the middle region of the circuit board is fully utilized, and the arrangement of wiring and components is facilitated.
In an example of this embodiment, the end face of the rear end of the stepping motor body may further be provided with at least one third screw hole for realizing self-connection, and the third screw hole penetrates through the front end and the rear end of the stepping motor body, so that the third screw is directly screwed into the end face of the rear end of the stepping motor body and penetrates through the front end of the stepping motor body. For example, in one example, two third screw holes may be provided on the rear end face of the stepping motor body.
Optionally, the drive control device in this embodiment further includes a support disposed between the circuit board and the rear end face of the stepping motor body, and the support may be provided with screw through holes corresponding to the connecting screw holes, and the connecting screws sequentially pass through the screw through holes on the housing, the circuit board and the support and are screwed into the corresponding connecting screw holes on the rear end face of the stepping motor body, so as to connect the housing, the circuit board and the support with the stepping motor body as a whole.
For ease of understanding, the present embodiment is further illustrated below with reference to the accompanying drawings. Referring to fig. 1 to 9, a connection screw hole for connecting with a driving control device is provided on the rear end face 20 of the stepping motor body, and correspondingly, screw through holes corresponding to the connection screw hole on the rear end face of the stepping motor body are respectively provided on the housing 13, the circuit board 12 and the bracket 11, and the connection screw sequentially passes through the screw through holes on the housing 13, the circuit board 12 and the bracket 11 and is screwed into the corresponding connection screw hole on the rear end face of the stepping motor body, so that the housing 13, the circuit board 12 and the bracket 11 are connected with the stepping motor body 2 as a whole.
In this example, of the two screw holes provided on the end surface of the rear end of the stepping motor body, the first screw hole 242 penetrates the front end and the rear end of the stepping motor body, and the first screw screwed into the first screw hole 242 penetrates the front end and the rear end of the stepping motor body, such a screw being hereinafter referred to as a long screw 131; of course, in some examples, the long screw 131 may not penetrate through the front end of the stepping motor body; the second screw hole 241 does not penetrate the front end and the rear end of the stepping motor body, and a screw screwed into the second screw hole 241 does not penetrate the front end and the rear end of the stepping motor body, and such a screw is hereinafter referred to as a short screw 132.
In this embodiment, the long screw 131 sequentially passes through the screw through holes of the cover 13, the circuit board 12 and the bracket 11, and is screwed into the corresponding first screw hole 242 on the rear end surface of the stepping motor body 2, and passes through the front end and the rear end of the stepping motor body 2, the short screw 132 sequentially passes through the screw through holes of the cover 13, the circuit board 12 and the bracket 11, and is screwed into the corresponding second screw hole 241 on the rear end surface of the stepping motor body 2, and does not pass through the front end and the rear end of the stepping motor body 2, and the cover 13, the circuit board 12 and the bracket 11 are connected with the stepping motor body 2 into a whole by such a screw connection manner, at this time, the magnetic encoder 125 on the circuit board 12 forms a magnetic fit with the magnetic sheet 24 in the second through hole 22 through the first through hole 110.
Adopt two screws of a length in this embodiment to carry out fixed connection with step motor body 2 and drive control equipment 1, correspond, only need be provided with two screw through-holes on the circuit board, connected mode like this has both saved the circuit board space of integration motor, makes integration motor compact structure, simple, the convenient to detach of installation again.
Of course, it should be understood that the present embodiment is not limited to the use of a long screw and a short screw to cooperate with each other to connect the driving control device and the stepping motor body. For example, in an example of the present embodiment, two long screws may be used, two first screw holes 242 penetrating through the front end and the rear end of the stepping motor body are correspondingly disposed on the end surface 20 at the rear end of the stepping motor body, and the two first screw holes 242 are diagonally disposed, at this time, the screw holes originally disposed on the stepping motor body may be directly reused, or the screw holes may be newly started, and particularly, the screw holes may be flexibly disposed; two long screws sequentially pass through the screw through holes on the cover shell, the circuit board and the bracket and are screwed into the first screw holes 242 to realize the connection of the driving control equipment and the stepping motor body.
For another example, in another example of the present embodiment, the stepping motor body 2 and the drive control apparatus 1 are fixedly connected using two long screws and one short screw. The screw hole that sets up on 2 rear end terminal surfaces of step motor body includes 2 connection screw holes that run through the front end of this step motor body 2 and rear end and 1 connection screw hole that does not run through the front end of this step motor body 2 and rear end. This kind of mode only need set up three screw through-hole on the circuit board, compares with prior art, has realized the effect of saving integration motor circuit board space.
For another example, in another example of the present embodiment, three long screws are used to fixedly connect the stepping motor body 2 and the drive control apparatus 1. The connecting screw holes arranged on the end surface of the rear end of the stepping motor body 2 are 3 screw holes penetrating through the front end and the rear end of the stepping motor body 2. This kind of mode only need set up three screw through-hole on the circuit board, compares with prior art, has realized the effect of saving integration motor circuit board space.
Of course, in some examples, two or three short screws may also be directly used to fixedly connect the stepping motor body 2 and the driving control device 1, or two short screws and one long screw may also be used to fixedly connect the stepping motor body 2 and the driving control device 1, which is not described herein again.
Of course, in some examples of this implementation, a slot may be further disposed on the stepping motor body 2, and a corresponding buckle may be disposed on the bracket 11 or the housing 13, so that the connection between the driving control device 1 and the stepping motor body 2 is realized through the cooperation between the buckle and the slot; or a buckle is arranged on the stepping motor body 2, a corresponding clamping groove is arranged on the bracket 11 or the housing 13, and the connection between the driving control equipment 1 and the stepping motor body 2 is realized through the matching of the buckle and the clamping groove.
Example five:
in this embodiment, an encoder may be integrated in the drive control device of the integrated motor, and the encoder may be a magnetic encoder, a photoelectric encoder, or the like. For ease of understanding, the magnetic encoder is exemplified in the present embodiment.
In the drive control equipment, the magnetic encoder that sets up needs to form magnetic cooperation with the magnetic sheet that sets up on the step motor body so that the magnetic encoder carries out information acquisition. Therefore, when the drive control equipment is connected with the stepping motor body to form the integrated motor, the accurate positioning of the magnetic encoder on the drive control equipment and the magnetic sheet on the stepping motor body is very important, if the magnetic encoder and the magnetic sheet on the stepping motor body cannot form effective magnetic cooperation after the drive control equipment and the stepping motor body are connected, the acquisition of the information of the magnetic encoder is influenced, and therefore the accurate and effective control on the stepping motor body is influenced.
To solve the above problem, the embodiment provides an integrated motor structure for ensuring the accurate positioning of the magnetic encoder on the drive control device and the magnetic sheet on the stepping motor body. The drive control equipment comprises a housing, a circuit board and a support, wherein the support, the circuit board and the housing are sequentially fixed on the rear end of the stepping motor body from bottom to top; the circuit board is the circuit board back with the relative one side of support, still is provided with the magnetic encoder on the circuit board back, and the region corresponding with the magnetic encoder on the support is provided with the first through-hole that supplies this magnetic encoder to gather information. The integrated motor also comprises a concentric positioning boss which is arranged between the bracket and the rear end of the stepping motor body, is concentric with the first through hole and the second through hole and is hollow; when the bracket is fixed at the rear end of the stepping motor body, the first through hole and the second through hole are aligned and connected through the concentric positioning boss, and the magnetic encoder corresponding to the phase position of the first through hole is in magnetic fit with the magnetic sheet on the rear shaft of the motor in the second through hole.
In this embodiment, the concentric positioning boss may be fixedly disposed on the bracket, or may be fixedly disposed on the rear end surface of the stepping motor body. For ease of understanding, the following description will be made with four setting examples, respectively.
Example one: one surface of the bracket, which is close to the stepping motor body, is the back surface of the bracket, and the concentric positioning boss is arranged on the back surface of the bracket around the first through hole; the inner diameter of the opening of the second through hole close to the back of the bracket is matched with the outer diameter of the concentric positioning boss; when the bracket is fixed at the rear end of the stepping motor body, the concentric positioning boss is embedded into the second through hole, so that the first through hole and the second through hole are connected in an aligned manner; because the concentric positioning boss and the first through hole for the magnetic encoder to penetrate into the collected information are concentrically arranged, the concentric positioning boss is easy to process and high in processing precision. Meanwhile, the second through hole formed in the end face of the rear end of the stepping motor body is easy to machine, machining precision can be well guaranteed, and therefore the magnetic encoder penetrating into the first through hole and the magnetic sheet in the second through hole can be guaranteed to be accurately aligned to form effective magnetic matching through aligning matching of the concentric positioning boss and the second through hole, and accurate collection of information of the magnetic encoder is guaranteed. Optionally, in this example, an annular step may be further disposed on a side surface of the ring inside the second through hole, so that the concentric positioning boss is used as a protection step surface when being embedded in the second through hole, damage caused by too deep insertion into the second through hole is avoided, and reliability of transfer matching is further improved.
Example two:
the concentric positioning boss is arranged on the back surface of the bracket around the first through hole; a second concentric positioning groove with the diameter matched with that of the concentric positioning boss is arranged on the end face of the rear end of the stepping motor body around the second through hole; when fixing the support at step motor body rear end, the concentric positioning boss imbeds the concentric positioning groove of second, realizes that first through-hole and the alignment of second through-hole lead to be connected to guarantee that the magnetic encoder that penetrates in the first through-hole and the magnetic sheet in the second through-hole are accurate to counterpoint and form effectual magnetic cooperation.
Example three: the concentric positioning boss is arranged on the end face of the rear end of the stepping motor body around the second through hole; the inner diameter of an opening of the first through hole, which is close to the end face of the rear end of the stepping motor body, is matched with the outer diameter of the concentric positioning boss; when the support is fixed at the rear end of the stepping motor body, the concentric positioning boss is embedded into the first through hole, and the first through hole is connected with the second through hole in an aligned mode. Optionally, in this example, an annular step may also be provided on the side of the ring inside the first through hole, so that the concentric positioning boss is embedded in the first through hole as a protective step surface.
Example four:
the concentric positioning boss is arranged on the end face of the rear end of the stepping motor body around the second through hole; a first concentric positioning groove with the diameter matched with that of the concentric positioning boss is arranged on the back of the bracket around the first through hole; when the support is fixed at the rear end of the stepping motor body and the concentric positioning boss is embedded into the first concentric positioning groove, the first through hole is aligned and connected with the second through hole.
Certainly, in this embodiment, the concentric positioning boss may not be fixed on the bracket, nor fixed on the end surface of the rear end of the stepping motor body, and may be used as a flexible positioning member, the outer diameters of both ends of the concentric positioning boss are respectively adapted to the inner diameters of the first through hole and the second through hole, and both ends of the concentric positioning boss are respectively embedded into the first through hole and the second through hole during assembly to realize the alignment connection of the first through hole and the second through hole. Optionally, in this example, annular steps may be provided on the ring sides inside the first through hole and the second through hole, respectively, so that the concentric positioning bosses serve as protection step surfaces when being embedded in the first through hole and the second through hole.
In this embodiment, the magnetic sheet rotates along with the rotation of motor rear axle on the motor rear axle, and the fixed mode of magnetic sheet on the motor rear axle can set up in a flexible way. For ease of understanding, the following description is made in connection with a fixed example. In this example, be provided with fixed cover on the motor rear axle, the one end of fixed cover cup joints on the one end that the motor rear axle is close to the support for fixed cover rotates along with the rotation of motor rear axle, and the internal diameter and the magnetic sheet external diameter phase-match of the other end of fixed cover, magnetic sheet block are in fixed cover, thereby make magnetic sheet and fixed cover rotate along with the rotation of motor rear axle together.
In another example of this embodiment, the end of the motor rear axle close to the bracket is provided with a fixing hole with an inner diameter matched with the outer diameter of the magnetic sheet, and the magnetic sheet is clamped in the fixing hole, so that the magnetic sheet and the fixing sleeve rotate together along with the rotation of the motor rear axle.
For ease of understanding, the present embodiment is illustrated below with reference to the integrated motor structure shown in fig. 1 to 7.
Referring to fig. 3 to 5, a magnetic encoder 125 is disposed on the back of the circuit board 12 of the driving control device, a first through hole 110 is disposed on the bracket 11 and opposite to the magnetic encoder 125, a concentric positioning boss 115 is disposed on the back of the bracket around the first through hole 110, a second through hole 22 is disposed at the rear end of the stepping motor body 2, a motor rear shaft 21 of the stepping motor body 2 is disposed in the second through hole 22, and an annular step 221 is disposed on the side of the ring inside the second through hole 22. The stepping motor body further comprises a fixing sleeve 23, the material of the fixing sleeve 23 can be flexibly set, for example, a copper fixing sleeve and the like can be adopted, one end of the fixing sleeve 23 is sleeved on the motor rear shaft 21, the inner diameter of the other end of the fixing sleeve is matched with the outer diameter of the magnetic sheet 24, and the magnetic sheet 24 is a circular magnetic sheet and is clamped in the fixing sleeve 23. Of course, the magnetic sheet 24 is not limited to a circular magnetic sheet, and its specific shape can be flexibly changed as long as it can form an effective magnetic fit with the magnetic encoder 125 along with the rotation of the motor rear shaft 21 so as to allow the magnetic encoder to perform accurate information acquisition. When the magnetic encoder is installed, the concentric positioning boss 115 is embedded into the second through hole 22, the annular step 221 plays a role of protection, and the magnetic encoder 125 corresponding to the phase position of the first through hole 110 is in magnetic fit with the magnetic sheet 24 on the motor rear shaft 21.
In the embodiment, in order to further realize accurate positioning, the assembly precision is ensured. Optionally, at least one first auxiliary positioning hole may be disposed on the end face of the rear end of the stepping motor body, the first auxiliary positioning hole may be disposed at any position around the second through hole 22, a first auxiliary positioning column corresponding to the first auxiliary positioning hole is further disposed on the back of the support, and when the support is fixed to the rear end of the stepping motor body, the first auxiliary positioning column is embedded into the first auxiliary positioning hole. Like this through concentric location boss and second through-hole counterpoint cooperation guarantee to penetrate the magnetic encoder in the first through-hole and the second through-hole magnetic sheet in accurate counterpoint form effectual magnetic fit, still can further promote the assembly precision between the two through the cooperation of first auxiliary location hole and first auxiliary location post, avoid in the commentaries on classics joining in marriage the in-process because take place relative rotation between support and the step motor body and lead to assembling not accurate enough.
For example, in one example, the number of the first auxiliary positioning holes provided on the rear end surface of the stepping motor body may be one. In another example, the first auxiliary positioning holes arranged on the end surface of the rear end of the stepping motor body can include at least two, and the at least two first auxiliary positioning holes are respectively positioned on two sides of the second through hole; the number of the first auxiliary positioning columns is equal to that of the first auxiliary positioning holes, and the number and the positions of the first auxiliary positioning columns and the first positioning holes are matched one by one.
Optionally, in this embodiment, a surface of the bracket away from the stepping motor body is a front surface of the bracket, a second auxiliary positioning column is disposed on the front surface of the bracket, a second auxiliary positioning hole corresponding to the second auxiliary positioning column is disposed on the circuit board, and when the circuit board is mounted, the second auxiliary positioning column is embedded into the second auxiliary positioning hole to fix the circuit board. The second auxiliary positioning column is matched with the second auxiliary positioning hole, so that the circuit board is fixed, and meanwhile, the circuit board can be positioned, and a magnetic encoder on the circuit board is accurately matched with the first through hole. In order to improve the positioning accuracy, the first auxiliary positioning column and the second auxiliary positioning column may be disposed at positions corresponding to each other.
For ease of understanding, the present embodiment is illustrated below with reference to the integrated motor structure shown in fig. 1 to 7. Two first auxiliary positioning holes 25 are arranged on the end face 20 of the rear end of the stepping motor body, and the two first auxiliary positioning holes 25 are arranged diagonally on the end face 20 of the rear end of the stepping motor body. Two first auxiliary positioning posts 111 are arranged on the back of the support 11 opposite to the two first auxiliary positioning holes 25, two second auxiliary positioning posts 112 are arranged on the back of the support 11 opposite to the first auxiliary positioning holes 25, the first auxiliary positioning posts 111 and the second auxiliary positioning posts 112 are coaxially arranged, and a second auxiliary positioning hole 127 is arranged on the circuit board 12 opposite to the second auxiliary positioning posts 112. When the magnetic encoder is installed, the second auxiliary positioning column 112 passes through the second auxiliary positioning hole 127 on the circuit board 12, the concentric positioning boss 115 is embedded into the second through hole 22, and the magnetic encoder 125 corresponding to the phase position of the first through hole 110 is magnetically matched with the magnetic sheet 24 on the motor rear shaft 21. The first auxiliary positioning posts 111 are embedded in the corresponding first auxiliary positioning posts 111 on the rear end surface 20 of the stepping motor body, and together with the concentric positioning bosses 115, the first auxiliary positioning posts 111 accurately position the support 11 and the circuit board 12. Thereby guarantee that magnetic encoder 125 on circuit board 12 and the magnetic sheet 24 on step motor body 2 form accurate counterpoint cooperation, and then guarantee the accurate collection of magnetic encoder 125 information.
Example six:
on the basis of the above embodiment, when the drive control device is connected with the stepping motor body to form the integrated motor, the magnetic encoder on the drive control device and the magnetic sheet on the stepping motor body are ensured to be aligned accurately to form effective magnetic matching. The embodiment provides another integrated motor structure for ensuring the accurate positioning of the magnetic encoder on the drive control equipment and the magnetic sheet on the stepping motor body.
In this embodiment, the surface of the circuit board opposite to the end surface of the rear end of the stepping motor body is the back surface of the circuit board, and the back surface of the circuit board is provided with a magnetic encoder connected with the drive control circuit;
a second through hole is formed in the end face of the rear end of the stepping motor body, and a motor rear shaft and a magnetic sheet fixed on the motor rear shaft are arranged in the second through hole; a positioning column is also arranged on the end surface of the rear end of the stepping motor body;
the circuit board is provided with a second positioning through hole which is opposite to the positioning column in position and the inner diameter of which is matched with the outer diameter of the positioning column, when the circuit board is installed, the positioning column penetrates through the second positioning through hole on the circuit board, and the magnetic encoder on the circuit board is in magnetic fit with the magnetic sheet in the second through hole; thereby ensuring accurate acquisition of the information of the magnetic encoder.
In an example of this embodiment, a first circuit board bearing protrusion may be directly disposed on at least one positioning column, and after the positioning column passes through a second positioning through hole on the circuit board, the circuit board abuts against the first circuit board bearing protrusion, that is, the first circuit board bearing protrusion limits and supports the circuit board, so that the circuit board is stably fixed between the rear end of the stepping motor body and the housing.
In another example of this embodiment, at least one second circuit board bearing protrusion is disposed on the end surface of the rear end of the stepping motor body, and after the positioning column passes through the second positioning through hole on the circuit board, the circuit board abuts against the second circuit board bearing protrusion, that is, the first circuit board bearing protrusion limits and supports the circuit board, so that the circuit board is stably fixed between the rear end of the stepping motor body and the housing.
It should be understood that, in some application scenarios, a first circuit board bearing protrusion may be disposed on at least one positioning column, and at least one second circuit board bearing protrusion may be disposed on the rear end surface of the stepping motor body, so that the first circuit board bearing protrusion and the second circuit board bearing protrusion are used to limit and support the circuit board at the same time.
Optionally, in order to improve reliability and stability of supporting the circuit board, a first circuit board bearing protrusion may be disposed on each positioning column, and the first circuit board bearing protrusion and the positioning column may be made of the same material and may be integrally formed. Different materials may also be used.
Optionally, in some examples, the circuit board may be limited and supported in a manner that at least one second circuit board bearing protrusion is disposed on the end face of the rear end of the stepping motor body, and the second circuit board bearing protrusion may be disposed around the second through hole in a middle area on the end face of the rear end of the stepping motor body; of course, the second circuit board bearing bulges can also be arranged around the edge on the end face of the rear end of the motor body, and the number of the second circuit board bearing bulges can be flexibly arranged. For example, when the intermediate area located on the rear end surface of the stepping motor body is disposed around the second through hole, a second circuit board bearing projection having a diameter large enough to stably support the circuit board may be provided. In addition, the second circuit board bearing protrusion in this embodiment may be formed integrally with the rear end of the stepping motor body, or may be separately formed, and may be made of metal, or other materials with strength enough to meet the requirement of supporting strength.
In another example of the present embodiment, the drive control apparatus may further include a bracket provided between the circuit board and the rear end face of the stepping motor body. A first through hole for the magnetic encoder to collect information is formed in the region, corresponding to the magnetic encoder, of the support; a second through hole corresponding to the first through hole is formed in the end face of the rear end of the stepping motor body, and a motor rear shaft and a magnetic sheet fixed on the motor rear shaft are arranged in the second through hole (the specific fixing mode can adopt but is not limited to the mode shown in the embodiment); the bracket is provided with a first positioning through hole opposite to the positioning column, and the inner diameter of the first positioning through hole can be matched with the outer diameter of the positioning column or slightly larger than the outer diameter of the positioning column; the circuit board is provided with a second positioning through hole which is opposite to the positioning column in position and has an inner diameter matched with the outer diameter of the positioning column, when the circuit board is installed, the positioning column sequentially penetrates through the first positioning through hole on the support and the second positioning through hole on the circuit board, and the magnetic encoder on the circuit board forms magnetic cooperation with the magnetic sheet in the second through hole through the first through hole, so that the accurate acquisition of the information of the magnetic encoder is ensured.
Optionally, in order to further realize accurate positioning, the assembly precision is ensured. In this embodiment, at least one first auxiliary positioning hole may be further disposed on the rear end surface of the stepping motor body, the first auxiliary positioning hole may be disposed at any position around the second through hole 22, a first auxiliary positioning post corresponding to the first auxiliary positioning hole is further disposed on the back surface of the bracket, and when the bracket is fixed at the rear end of the stepping motor body, the first auxiliary positioning post is embedded into the first auxiliary positioning hole. Like this through concentric location boss and second through-hole counterpoint cooperation guarantee to penetrate the magnetic encoder in the first through-hole and the second through-hole magnetic sheet in accurate counterpoint form effectual magnetic fit, still can further promote the assembly precision between the two through the cooperation of first auxiliary location hole and first auxiliary location post, avoid in the commentaries on classics joining in marriage the in-process because take place relative rotation between support and the step motor body and lead to assembling not accurate enough.
For example, in one example, the number of the first auxiliary positioning holes provided on the rear end surface of the stepping motor body may be one. In another example, the first auxiliary positioning holes arranged on the end surface of the rear end of the stepping motor body can include at least two, and the at least two first auxiliary positioning holes are respectively positioned on two sides of the second through hole; the number of the first auxiliary positioning columns is equal to that of the first auxiliary positioning holes, and the number and the positions of the first auxiliary positioning columns and the first positioning holes are matched one by one.
Optionally, in this embodiment, a surface of the bracket away from the stepping motor body is a front surface of the bracket, a second auxiliary positioning column is disposed on the front surface of the bracket, a second auxiliary positioning hole corresponding to the second auxiliary positioning column is disposed on the circuit board, and when the circuit board is mounted, the second auxiliary positioning column is embedded into the second auxiliary positioning hole to fix the circuit board. The second auxiliary positioning column is matched with the second auxiliary positioning hole, so that the circuit board is fixed, and meanwhile, the circuit board can be positioned, and a magnetic encoder on the circuit board is accurately matched with the first through hole. In order to improve the positioning accuracy, the first auxiliary positioning column and the second auxiliary positioning column may be disposed at positions corresponding to each other.
It should be understood that, in this embodiment, the forming manner of the positioning column on the end surface of the rear end of the stepping motor body can be flexibly selected. For example, the positioning post may be integrally formed with the stepping motor body. In another example of this embodiment, the positioning column may be a pin, a pin hole for the pin to be inserted into to fix the pin is disposed on the end surface of the rear end of the stepping motor body, when the stepping motor is installed, the pin passes through the second positioning through hole on the circuit board, or the pin sequentially passes through the first positioning through hole on the bracket and the second positioning through hole on the circuit board, and the magnetic encoder on the circuit board forms magnetic fit with the magnetic sheet in the second through hole; thereby ensuring accurate acquisition of the information of the magnetic encoder.
In each of the above examples of the embodiment, the number of the positioning pillars disposed on the rear end surface of the stepping motor body can be flexibly set, and the position of each positioning pillar on the rear end surface of the stepping motor body can also be flexibly set, for example, any position around the second through hole on the rear end surface of the stepping motor body can be flexibly set. For ease of understanding, the positioning posts are implemented by means of pins, described below in connection with an example of arrangement. In this example, two pin holes are arranged on the end surface of the rear end of the stepping motor body, and at least two pin holes are respectively located on two opposite sides of the second through hole. The number and the positions of the pins and the pin holes are in one-to-one correspondence. In addition, in this embodiment, the number of the pins and the pin holes can be flexibly set, and the material and the shape of the pins can also be flexibly set.
For example, in an example of the present embodiment, three pin holes are provided on the rear end surface of the stepping motor body, and the centers of the three pin holes are not on a straight line.
For another example, in an example of the present embodiment, two pin holes are provided on the rear end surface of the stepping motor body, and the two pin holes are diagonally provided.
For another example, in an example of the present embodiment, four pin holes are provided on the rear end surface of the stepping motor body, and connecting lines of the four pin holes enclose a rectangle.
For ease of understanding, the present embodiment will be described below with reference to an integrated motor structure shown in fig. 8 to 9.
Referring to fig. 8 to 9, a magnetic encoder 125 is disposed on the back of the circuit board 12 of the drive control device, a first through hole 110 is disposed on the bracket 11 and corresponds to the magnetic encoder 125, first positioning through holes 116 are disposed on the bracket 11 and correspond to the number and the position of the pins, second positioning through holes 128 are disposed on the circuit board 12 and correspond to the number and the position of the pins, a second through hole 22 is disposed at the rear end of the stepping motor body 2, and the motor rear shaft 21 of the stepping motor body 2 is disposed in the second through hole 22. The stepping motor body further comprises a fixing sleeve 23, the material of the fixing sleeve 23 can be flexibly set, for example, a copper fixing sleeve and the like can be adopted, one end of the fixing sleeve 23 is sleeved on the motor rear shaft 21, the inner diameter of the other end of the fixing sleeve is matched with the outer diameter of the magnetic sheet 24, and the magnetic sheet 24 is a circular magnetic sheet and is clamped in the fixing sleeve 23. Of course, the magnetic sheet 24 is not limited to a circular magnetic sheet, and the specific shape thereof can be flexibly changed as long as it can form an effective magnetic fit with the magnetic encoder 125 along with the rotation of the motor rear shaft 21, so that the magnetic encoder can perform accurate information acquisition, and the stepping motor body rear end face 20 is provided with a pin hole (not shown) and a pin 26 disposed in the pin hole. When the magnetic encoder is installed, the pin 26 on the end face 20 at the rear end of the stepping motor body sequentially passes through the corresponding first positioning through hole 116 on the bracket 11 and the corresponding second positioning through hole 128 on the circuit board 12, and the magnetic encoder 125 corresponding to the phase position of the first through hole 110 and the magnetic sheet 24 on the motor rear shaft 21 form accurate magnetic fit, so that accurate acquisition of information of the magnetic encoder 125 is ensured.
Of course, it should be understood that the positioning column and the positioning through hole in this embodiment may be flexibly combined with the concentric positioning boss in the third embodiment to achieve accurate positioning of the bracket and the circuit board, so as to reduce the installation deviation of the magnetic encoder as much as possible, improve the accuracy of information acquisition of the magnetic encoder, and further ensure accurate control of the stepping motor body according to the information acquired by the magnetic encoder.
Example seven:
in an example of this embodiment, a winding through hole is further provided on the bracket, the winding through hole allows the winding of the stepping motor body to pass through and be connected with the circuit board, and/or a notch is provided on the bracket near at least one side surface, the notch allows the winding of the stepping motor body to pass through and be connected with the circuit board. The length of the wire winding connecting the stepping motor body and the circuit board is greatly shortened compared with the scheme that the existing driver and the motor body are separately arranged, so that the cost can be reduced, and the anti-interference performance is improved. And the shape and the specific arrangement position of the winding through hole in the embodiment can be flexibly set.
For example, referring to the integrated motor structure shown in fig. 4, a winding through hole 117 is formed on the bracket 11, and a winding (not shown) on the stepping motor body 2 can pass through the winding through hole 117 and be connected to a corresponding connection point on the circuit board 12.
In this embodiment, the one side that step motor body was kept away from to the support is the support openly, still is provided with the support boss on the support openly, and the circuit board back supports to lean on support boss and support openly between form components and parts accommodation space during the installation, and components and parts on the circuit board back are located this components and parts accommodation space. In this embodiment, the top end of the second auxiliary positioning column disposed on the bracket is higher than the supporting surface of the supporting boss (i.e. the surface contacting with the circuit board). The number and the specific setting of the support boss that set up on the support front in this embodiment can set up in a flexible way. For example, at least two supporting bosses can be arranged on the front surface of the bracket, and the at least two supporting bosses are positioned on two opposite sides of the front surface of the bracket to form effective support for the circuit board; or simultaneously arranging support bosses on two opposite sides of the front surface of the bracket and in the middle area of the front surface of the bracket; or at least one annular support boss may be provided only in the intermediate region on the front face of the support to form a support with the circuit board. For example, one example may provide an annular support boss or polygonal support boss (e.g., polygonal support boss that may include but is not limited to triangular, quadrilateral, hexagonal cross-section, etc.) having an inner diameter that is large enough to support the circuit board stably in the middle region on the front side of the bracket, although more than two annular support bosses or polygonal support bosses having a relatively small inner diameter and being distributed in locations that are sufficient to support the circuit board stably may be provided.
For example, referring to the integrated motor structure shown in fig. 3-9, a support boss 113 is disposed on the bracket 11, when the integrated motor structure is mounted, the back surface of the circuit board 12 abuts against a gap between the support boss 113 and the bracket 11 to form a component accommodating space, and a component disposed on the back surface of the circuit board 12 is located in the component accommodating space. Optionally, in order to reduce the size of the driving control device as much as possible, for a component with a large size arranged on the back surface of the circuit board 12, when the size of the component is larger than the component accommodating space, a placing through hole may be further arranged on the bracket at a position opposite to the component for accommodating the electronic component. For example, as shown in fig. 3 to 8, a placing through hole 114 is provided on the bracket 11, and the placing through hole 114 passes through the corresponding electronic component on the back surface of the circuit board 12, so as to reduce the axial dimension of the circuit board 12 after being assembled with the bracket 11 and improve the integration level of the drive control device.
In this embodiment, also can set up housing height location boss in the inboard of housing, the circuit board openly supports and forms components and parts accommodation space between the medial surface that leans on housing height location boss and housing terminal surface during the installation, and the components and parts on the circuit board openly are located this components and parts accommodation space. Therefore, the circuit board can be fastened and fixed by the cover shell height positioning boss and the support boss on the support. The specific number and arrangement of the housing height positioning bosses in this embodiment can be flexibly set, for example, the number and position of the housing height positioning bosses in one example can correspond to the support bosses on the bracket one by one. And in this embodiment, to the great components and parts of size on the circuit board openly, can set up in the accommodation space of its size assorted indent in order to hold this components and parts in housing terminal surface inboard. For example, referring to the integrated motor structure shown in fig. 3-8, a housing height positioning boss 138 is disposed on the inner side of the housing 13, when the integrated motor structure is mounted, the front surface of the circuit board 12 abuts against a gap between the housing height positioning boss and the housing 13 to form a component accommodating space, and a component disposed on the front surface of the circuit board 12 is located in the component accommodating space. Be provided with on the cover terminal surface inboard and lead to the holding space of accepting electric capacity 124 indent to the great components and parts of size such as electric capacity 124 are placed, further promote drive control equipment's integrated level.
Referring to the integrated motor structure shown in fig. 3-9, in the present embodiment, an indicator light 133 may be further disposed on the front surface of the circuit board 12, an indicator light window 134 may be further disposed on the end surface of the housing 13, and light emitted by the indicator light 133 on the circuit board 12 may be viewed through the indicator light window 134, so as to know the working condition of the indicator light 133. The indicator light may be an indicator light for indicating various alarm information or operation status.
In some examples of the present embodiment, a display unit window for mounting a display unit is provided on the housing, the display unit is connected to a driving control circuit on the circuit board for displaying various information, including but not limited to various status and/or alarm information, and the display unit in the present embodiment may be a liquid crystal display unit or an OLED display unit. It should be understood that, in the embodiment, the indicator light window and/or the display unit window can be flexibly and selectively arranged on the housing according to requirements.
In one example of the present embodiment, the support 11 may be, but is not limited to, an insulating material support, such as, but not limited to, various plastic supports or ceramic supports.
In an example of the present embodiment, the bracket 11 may be, but is not limited to, a bracket with a low thermal conductivity material and a thermal conductivity lower than a preset thermal conductivity threshold, so that heat between the circuit board 12 and the stepping motor body 2 can be isolated, and heat resistance and reliability of the integrated motor can be improved.
In the present embodiment, the dimensions between the bracket 11, the circuit board 12, and the cover 13 can be flexibly set. In an example, after the support 11, the circuit board 12 and the housing 13 are fixed to the rear end of the stepping motor body 2 from bottom to top in sequence, at least one side of the support is located in the housing, that is, at least one side of the support is exposed out of the housing, and the side can be provided with various information, such as product model, performance and LOGO information, and can also be used for setting other identification information. For example, referring to fig. 1-2, the bracket 11 of the integrated motor shown in the figures has only one side exposed out of the housing and may be flush or substantially flush with the side of the housing. For another example, referring to fig. 10, the bracket 11 of the integrated motor has two side surfaces exposed outside the casing and flush or substantially flush with the side surfaces of the casing, and the other two side surfaces are located inside the casing. In other examples, the bracket of the integrated motor may have three sides, four sides (i.e., all sides) exposed from the housing, and may be flush or substantially flush with the sides of the housing. The arrangement can ensure the integrity of the integrated motor after being installed and flexibly set various information.
Example eight:
the drive control equipment can constantly carry out energy conversion at the course of the work, and there is the loss in the in-process of energy conversion, and most loss can convert the heat into and give out. In order to prevent the step motor from being affected by the operation in the environment with too high temperature for a long time and reduce the service life of the step motor, the embodiment further provides a heat dissipation structure capable of effectively dissipating heat generated in the working process of the driving control device on the basis of the integrated motor structure shown in the above embodiments.
Referring to fig. 1 to 9, the housing 13 includes a housing body, the circuit board 12 is disposed in the housing body, at least one heat conduction boss 137 corresponding to the area of the heat generating component 126 on the circuit board 12 is disposed inside the housing body, and the heat conduction boss 137 extends toward the circuit board 12. In the working process of the integrated motor, the heating element of the drive control circuit can generate heat to raise the temperature, and therefore, the position of the heat conduction boss 137 in the embodiment corresponds to the region where the heating element 126 on the circuit board 12 is located, so that the heat generated by the heating element 126 can be conducted to the housing body through the heat conduction boss 137, and further the heat is dissipated to the air through the housing body, and the heat dissipation effect is achieved.
Optionally, in this embodiment, the heat conducting boss 137 and the heating element 126 on the circuit board 12 may be in direct contact, which is convenient for fast heat conduction, in some examples, a heat conducting medium may also be disposed between the heating element 126 and the heat conducting boss 137, and the heat conducting medium may be a heat conducting medium material with good heat conducting performance and elasticity, so as to ensure heat conducting efficiency, and simultaneously improve reliability of assembly, and avoid damage to the heating element caused by the heat conducting boss. In this embodiment, one heat conduction boss 137 may correspond to a plurality of heating elements 126, or a plurality of heat conduction bosses 137 may correspond to one heating element 126, or one heat conduction boss 137 may correspond to one heating element 126. The method can be flexibly set according to requirements. For example, in one example, the number of the heat conducting bosses 137 may be equal to the number of the heating elements 126 on the circuit board 12, so that each heating element 126 corresponds to one heat conducting boss 137, the heat conducting area of the driving control device is increased, and thus, the heat conducting bosses 137 in contact with the heating elements 126 can conduct heat to air through natural heat exchange, that is, heat conduction and heat dissipation are performed, thereby avoiding heat accumulation of the heating elements in continuous operation and influencing the service life of the integrated motor.
It should be noted that the end face of the housing 13 is a face opposite to the end face 20 of the back end of the stepping motor body, the side face of the housing 13 is a face parallel to the motor back shaft 21, and the heat conducting boss 137 is formed by extending from the inner side of the end face of the housing body to the direction of the circuit board 12. Of course, in some examples, at least one thermally conductive boss may also be formed extending from the inside of the casing in a direction toward the circuit board 12.
In this embodiment, the heat conducting boss 137 is made of a metal material, including but not limited to aluminum alloy, copper, iron, silver, and other metal materials with good heat conducting property; of course, other materials with good thermal conductivity can be used, and the material is not limited to the metal materials exemplified above. In one example, the material of the thermally conductive boss 137 and the material of the enclosure body may be the same, although different materials may be used. The housing body and the heat conduction boss can be produced by adopting an integrated forming process, and the housing body and the heat conduction boss processed in the way are integrated, so that the mounting is convenient, and the production efficiency can be improved.
In the embodiment, the metal or other material housing with the heat dissipation function is adopted, so that the heat dissipation of the circuit board is facilitated, the heat generated by the work of the stepping motor is reduced, and the stability of the product is improved.
Optionally, in an example of this embodiment, at least one set of heat dissipation fins may be further disposed on the outer side of the housing body, for example, a set of heat dissipation fins is disposed on an end surface of the housing, so that convection is formed between the inside of the drive control device and air, and heat dissipation is performed by using the heat dissipation fins on the basis of the heat conduction boss, so that the heat dissipation effect of the drive control device of the integrated motor is ensured by dual heat dissipation, and the heat dissipation effect is further improved.
Example nine:
the embodiment also provides an automatic control system, which comprises an execution mechanism and the integrated motor shown in the above embodiments, wherein the stepping motor main body is connected with the execution mechanism, and the drive control device controls the execution mechanism to execute corresponding actions through the stepping motor main body. The actuators in this embodiment may include, but are not limited to, devices for effecting sculpting, medical device control, robotic devices, and the like.
The foregoing is a more detailed description of the present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. To the utility model belongs to the technical field of ordinary technical personnel, do not deviate from the utility model discloses under the prerequisite of design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.

Claims (15)

1. A stepping motor control device is characterized by comprising a data interaction module, a data processing module and a control module which are sequentially in communication connection;
the data interaction module carries out data interaction with an upper controller of the stepping motor to acquire data or instructions;
the data processing module analyzes the data or the instruction acquired by the data interaction module and then sends the data or the instruction to the control module;
the control module controls the stepping motor to work in a corresponding working mode according to received data or instructions;
the control module comprises a closed-loop control unit, an analog-to-digital conversion unit, a filtering unit, a track smoothing unit, a motion track generation unit, an instruction storage and reading control unit and a working mode control unit, wherein the closed-loop control unit only comprises a current loop closed-loop control unit and a position loop closed-loop control unit;
and the working mode control unit calls corresponding units in the current loop closed-loop control unit, the position loop closed-loop control unit, the analog-to-digital conversion unit, the filtering unit, the track smoothing unit, the motion track generation unit, the instruction storage and reading control unit and the working mode control unit to control the stepping motor to work in a corresponding working mode.
2. The stepping motor control apparatus according to claim 1, further comprising at least one of an alarm module and a protection module respectively connected to said control module;
the alarm module gives an alarm when meeting set alarm conditions according to the working state of the stepping motor;
the protection module provides protection when meeting set protection conditions according to the working state of the stepping motor.
3. The stepping motor control device according to claim 1 or 2, wherein the stepping motor supports the torque operation mode, and when the stepping motor is in the torque operation mode, the operation mode control unit calls the current loop closed-loop control unit, the analog-to-digital conversion unit, and the filter unit.
4. The stepping motor control device according to claim 1 or 2, wherein the stepping motor supports the position operation mode, and when the stepping motor is in the position operation mode, the operation mode control unit invokes the current loop closed-loop control unit, the position loop closed-loop control unit, the analog-to-digital conversion unit, and the trajectory smoothing unit, and determines the speed by a position increment acquired by the position loop closed-loop control unit.
5. The stepping motor control device according to claim 1 or 2, wherein the stepping motor supports the bus type communication control operation mode, and when the stepping motor is in the bus type communication control operation mode, the operation mode control unit calls the current loop closed-loop control unit, the position loop closed-loop control unit, the filter unit, and the motion trajectory generation unit, and determines the speed by a position increment acquired by the position loop closed-loop control unit.
6. The stepping motor control device according to claim 1 or 2, wherein the stepping motor supports the programmable operation mode, and when the stepping motor is in the programmable operation mode, the operation mode control unit calls the current loop closed-loop control unit, the position loop closed-loop control unit, the analog-to-digital conversion unit, the filter unit, the motion trajectory generation unit, and the instruction storage and reading control unit, and determines the speed by a position increment acquired by the position loop closed-loop control unit.
7. The drive control equipment of the integrated motor is characterized in that the drive control equipment is connected with the stepping motor body to form the integrated motor, the drive control equipment comprises a housing, the end surface of the housing is opposite to the end surface of the rear end of the stepping motor body, and the side surface of the housing is parallel to a rotating shaft of the stepping motor body;
the drive control apparatus further comprises a circuit board disposed within the housing, the circuit board having a drive control circuit disposed thereon, the drive control circuit comprising the stepping motor control device according to any one of claims 1 to 6.
8. The drive control apparatus of an integrated motor according to claim 7, wherein an I/O connection unit connected to the drive control circuit is further provided on the circuit board, the I/O connection unit includes at least two I/O terminals, and a connection direction of the I/O terminals forms an angle with a side surface of the housing and is exposed to an outside of the housing from the side surface of the housing, so that an I/O terminal plug to be matingly connected to the I/O terminals is inserted.
9. The drive control device of the integrated motor according to claim 7, further comprising a support, wherein a surface of the circuit board opposite to the support is a back surface of the circuit board, the back surface of the circuit board is further provided with a magnetic encoder, a region of the support corresponding to the magnetic encoder is provided with a first through hole for the magnetic encoder to collect information,
a second through hole opposite to the first through hole is formed in the end face of the rear end of the stepping motor body, and a motor rear shaft and a magnetic sheet fixed on the motor rear shaft are arranged in the second through hole;
the integrated motor also comprises a concentric positioning boss which is arranged between the bracket and the rear end of the stepping motor body, is concentric with the first through hole and the second through hole and is hollow; when the support is fixed at the rear end of the stepping motor body, the first through hole and the second through hole are aligned and connected through the concentric positioning boss, and the magnetic encoder corresponding to the phase position of the first through hole is in magnetic fit with the magnetic sheet on the rear shaft of the motor in the second through hole.
10. The drive control device of the integrated motor according to claim 7, further comprising a bracket disposed between the circuit board and the rear end surface of the stepping motor body, wherein a surface of the circuit board opposite to the bracket is a back surface of the circuit board, the back surface of the circuit board is further provided with a magnetic encoder, and a region of the bracket corresponding to the magnetic encoder is provided with a first through hole for the magnetic encoder to collect information;
a second through hole corresponding to the first through hole in position is formed in the end face of the rear end of the stepping motor body, and a motor rear shaft and a magnetic sheet fixed on the motor rear shaft are arranged in the second through hole; a positioning column is further arranged on the end face of the rear end of the stepping motor body;
be provided with on the support with reference column position relative first positioning through-hole, be provided with on the circuit board with reference column position is relative, and its internal diameter with reference column external diameter assorted second positioning through-hole, during the installation, the reference column passes in proper order first positioning through-hole on the support and the second positioning through-hole on the circuit board, magnetic encoder on the circuit board passes through first through-hole with in the second through-hole the magnetic sheet forms the magnetic cooperation.
11. The drive control apparatus of an integrated motor according to claim 7, wherein a surface of the circuit board opposite to the end surface of the rear end of the stepping motor body is a back surface of the circuit board on which a magnetic encoder is provided;
a second through hole is formed in the end face of the rear end of the stepping motor body, and a motor rear shaft and a magnetic sheet fixed on the motor rear shaft are arranged in the second through hole; a positioning column is further arranged on the end face of the rear end of the stepping motor body;
the circuit board is provided with a second positioning through hole which is opposite to the positioning column in position and the inner diameter of which is matched with the outer diameter of the positioning column, when the circuit board is installed, the positioning column penetrates through the second positioning through hole on the circuit board, and the magnetic encoder on the circuit board is in magnetic fit with the magnetic sheet in the second through hole;
a first circuit board bearing bulge is arranged on at least one positioning column, and after the positioning column penetrates through a second positioning through hole on the circuit board, the circuit board is abutted against the first circuit board bearing bulge;
and/or the presence of a gas in the gas,
the stepping motor is characterized in that at least one second circuit board bearing bulge is arranged on the end face of the rear end of the stepping motor body, and after the positioning column penetrates through a second positioning through hole in the circuit board, the circuit board abuts against the second circuit board bearing bulge.
12. The drive control device of the integral motor according to any one of claims 7 to 11, wherein the circuit board is further provided with at least one target component, and is exposed to the outside of the housing through a through groove provided in an end surface of the housing.
13. The drive control apparatus of an integrated motor according to claim 12, wherein the target component includes a communication bus terminal and a dial switch, the communication bus terminal and the dial switch being respectively provided on opposite sides or adjacent sides on the circuit board, the through grooves including a first through groove and a second through groove that are located on opposite sides or adjacent sides on the end face of the housing and respectively correspond to the communication bus terminal and the dial switch; one end of the communication bus terminal, which is connected with the communication bus plug, is exposed outside through the first through groove, and the dial switch is exposed outside through the second through groove.
14. An integrated motor, characterized by comprising a stepping motor body and the drive control device according to any one of claims 7 to 12, wherein the rear end face of the stepping motor body is provided with a connecting screw hole for connecting with the drive control device, the housing and the circuit board are respectively provided with a screw through hole corresponding to the screw hole in position, and a connecting screw sequentially passes through the screw through holes on the housing and the circuit board and is screwed into the corresponding connecting screw hole on the rear end face of the stepping motor body to connect the housing, the circuit board and the stepping motor body into a whole;
the connecting screw holes on the end face of the rear end of the stepping motor body are two or three, and at least two connecting screw holes are arranged in a diagonal line mode.
15. An automated control system, comprising an actuator and an integrated motor as claimed in claim 14, wherein the stepper motor body is connected to the actuator, and the drive control device controls the actuator to perform corresponding actions through the stepper motor body.
CN201920301138.3U 2019-03-08 2019-03-08 Stepping motor control device, drive control equipment, integrated motor and automatic control system Active CN210111893U (en)

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Application Number Priority Date Filing Date Title
CN201920301138.3U CN210111893U (en) 2019-03-08 2019-03-08 Stepping motor control device, drive control equipment, integrated motor and automatic control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920301138.3U CN210111893U (en) 2019-03-08 2019-03-08 Stepping motor control device, drive control equipment, integrated motor and automatic control system

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109861600A (en) * 2019-03-08 2019-06-07 深圳市雷赛智能控制股份有限公司 Stepping motor control apparatus, drive control apparatus, integrated electric motor and system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109861600A (en) * 2019-03-08 2019-06-07 深圳市雷赛智能控制股份有限公司 Stepping motor control apparatus, drive control apparatus, integrated electric motor and system

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