CN211266698U

CN211266698U - Closed-loop stepping module system with linear encoder

Info

Publication number: CN211266698U
Application number: CN201922349281.2U
Authority: CN
Inventors: 曾凯; 张亚辉; 张栋
Original assignee: Shanghai Mingzhi Paibosi Automation Technology Co ltd
Current assignee: Shanghai Mingzhi Paibosi Automation Technology Co ltd
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2020-08-14
Anticipated expiration: 2029-12-24

Abstract

The utility model relates to a step-by-step module system of closed loop with linear encoder, the system includes motor drive ware and motor controller, motor installing support and base and installs step motor, lead screw, nut, guide rail and the load slider on motor installing support and base respectively, motor controller pass through motor drive ware and be connected with step motor, step motor pass through the lead screw and be connected with the nut transmission, the nut drive the load slider at the guide rail motion, the system still include linear encoder magnetic stripe and linear encoder module, the linear encoder magnetic stripe install on the shell inside wall of motor installing support and base, linear encoder module and linear encoder magnetic stripe set up relatively and be connected with the nut. Compared with the prior art, the utility model has the advantages of the motion precision of the step-by-step module of straight line has been promoted by a wide margin.

Description

Closed-loop stepping module system with linear encoder

Technical Field

The utility model relates to a closed loop step module system and control method thereof especially relate to a closed loop step module system with linear encoder.

Background

The Stepping Motor (Stepping Motor) is often connected with some linear transmission mechanisms, guide rails and the like due to the good low-speed motion response characteristic, is widely applied to various machines and equipment and is used as an actuating mechanism of linear motion to convert a control signal into the linear motion, so that the given distance of the motion of the actuating mechanism is controlled, and the thrust capable of effectively driving a load is generated.

However, this conventional integration and mechanism design has major drawbacks: on one hand, because the stepping motor is usually controlled in an open-loop mode, the problems of step loss, overshoot, locked rotor and the like generated in the motion process of the mechanism are difficult to find, and the dynamic response capability of the open-loop mode is also very low. In addition, because the whole module system has transmission mechanisms such as a screw rod, a nut and a guide rail, the transmission mechanisms are not free from gaps with different degrees, and linear motion accumulated errors with different degrees exist, so that the linear motion precision of the whole system is not high.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a step-by-step module system of closed loop with linear encoder in order to overcome the defect that above-mentioned prior art exists, above-mentioned shortcoming can effectively be overcome to this method, all has great promotion in the aspect of precision, stationarity and system dynamic response.

The purpose of the utility model can be realized through the following technical scheme:

the utility model provides a step-by-step module system of closed loop with linear encoder, includes motor drive and motor controller, motor installing support and base and installs step motor, lead screw, nut, guide rail and the load slider on motor installing support and base respectively, motor controller pass through motor drive and be connected with step motor, step motor pass through the lead screw and be connected with the nut transmission, the nut drive the load slider at the guide rail motion, the system still include linear encoder magnetic stripe and linear encoder module, the linear encoder magnetic stripe install on the shell inside wall of motor installing support and base, linear encoder module and linear encoder magnetic stripe set up relatively and be connected with the nut.

Preferably, the motor mounting bracket and the inner side wall of the shell of the base are provided with grooves for mounting magnetic stripes of the linear encoder.

Preferably, the distance between the center of the magnetic stripe of the linear encoder positioned by the groove and the center of the encoder module is less than 0.3 mm.

Preferably, the system further comprises an encoder mounting end block, the linear encoder module is embedded in the encoder mounting end block, and the encoder mounting end block is connected with the nut through a nut.

Preferably, the screw is a trapezoidal screw or a ball screw.

Preferably, the nut is a trapezoidal nut or a ball nut.

Preferably, the linear encoder module adopts a magnetic linear sensor chip, and the interior of the magnetic linear sensor chip is formed by a Hall element array.

Preferably, the mounting base of the magnetic stripe of the linear encoder is made of aluminum or other non-magnetic materials.

Preferably, the mounting base of the linear encoder module is made of aluminum or other non-magnetic materials.

Compared with the prior art, the utility model has the advantages of it is following:

1. the utility model discloses promoted the motion precision of the step-by-step module of straight line by a wide margin, improved within 0.01mm from the repeated positioning accuracy about 0.1mm, improved an order of magnitude with the precision of using, brought huge value in fields such as consumer electronics and automation.

2. The utility model discloses can make the user know the running state of linear motion module in real time at the in-process of system's motion to the step-out of having avoided the mechanism to produce in the motion process overshoots, locked rotor scheduling problem.

Drawings

Fig. 1 is a schematic view of the internal structure of the present invention;

fig. 2 is a schematic side view of the present invention.

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 some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in fig. 1, a closed-loop stepping module system with linear encoder, including motor driver 9 and motor controller 10, motor installing support and base 4 and install step motor 1, lead screw 2, nut 3, guide rail 5 and load slider 6 on motor installing support and base 4 respectively, motor controller 10 be connected with step motor 1 through motor driver 9, step motor 1 be connected with the transmission of nut 3 through lead screw 2, nut 3 drive load slider 6 and move at guide rail 5, the system still include linear encoder magnetic stripe 7 and linear encoder module 8, linear encoder magnetic stripe 7 install on the shell inside wall of motor installing support and base 4, linear encoder module 8 set up and be connected with nut 3 with linear encoder magnetic stripe 7 relatively.

The motor driver 9 and the motor controller 10 can be integrated or can be separated into two parts; and grooves 11 for mounting the magnetic strips 7 of the linear encoder are formed in the inner side walls of the motor mounting bracket and the shell of the base 4. The distance between the center of the groove 11 and the center of the encoder module 8 is less than 0.3mm, and the groove 11 can help to determine the relative position of the magnetic stripe 7 of the linear encoder. Wherein the linear encoder module 8 can slide linearly inside the linear module along the load slide 6 on the guide rail 5.

As shown in fig. 2, the system further comprises an encoder mounting end block 12, the linear encoder module 8 is embedded in the encoder mounting end block 12, and the encoder mounting end block 12 is connected with the nut 3 through two screws.

The screw rod 2 is a trapezoidal screw rod or a ball screw rod; the nut 3 is a trapezoidal nut or a ball nut.

The linear encoder module 8 adopts a magnetic linear sensor chip, and the interior of the linear encoder module is composed of a Hall element array.

The mounting base of the magnetic stripe 7 of the linear encoder is made of aluminum or other non-magnetic materials; the mounting base of the linear encoder module 8 is made of aluminum or other non-magnetic materials.

The linear encoder magnetic stripe is installed on the inside shell inner wall of module, at the relative local installation linear encoder module of magnetic stripe, and guarantees the scope at whole sharp stroke by mechanical structure, linear encoder magnetic stripe 7 and linear encoder module 8 between the clearance variation range be 0.02 ~ 0.2mm, linear encoder magnetic stripe 7's installation base plane degree be less than 0.15, linear encoder magnetic stripe 7 and linear encoder module 8 between the clearance tolerance be less than +/-0.1 mm.

The utility model discloses a theory of operation: the controller produces control signal at system's working process, thereby control signal gives drive circuit drive step motor rotatory, and step motor is driven by the driver according to the controller signal, and the rotatory angle of formulating under certain speed drives the rotatory angle of formulating of lead screw simultaneously, drives the nut under given speed, linear motion appointed distance length by the transmission pair simultaneously. The functional goal of the system is that the nut drives the load to perform actual motion under the motion trajectory planning given by the customer, and whether the final system working performance is good depends on the dynamic characteristic of linear motion and the motion precision. In the process of linear motion of the system, the linear encoder module 8 feeds back real-time position information to the motor controller 10 or the motor driver 9 by sensing a magnetic field signal of the magnetic stripe 7 of the linear encoder, and the motor controller 10 or the motor driver 9 forms closed-loop control according to the position signal fed back by the linear encoder module 8, wherein the closed-loop control range comprises a speed ring and a position ring, so that higher control precision and closed-loop control performance are achieved.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope of the present invention, and these modifications or replacements should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A closed-loop stepping module system with a linear encoder comprises a motor driver (9), a motor controller (10), a motor mounting bracket, a base (4), a stepping motor (1), a screw rod (2), a nut (3), a guide rail (5) and a load sliding block (6) which are respectively mounted on the motor mounting bracket and the base (4), wherein the motor controller (10) is connected with the stepping motor (1) through the motor driver (9), the stepping motor (1) is in transmission connection with the nut (3) through the screw rod (2), the nut (3) drives the load sliding block (6) to move on the guide rail (5), the system is characterized by further comprising a linear encoder magnetic stripe (7) and a linear encoder module (8), the linear encoder magnetic stripe (7) is mounted on the inner side wall of a shell of the motor mounting bracket and the base (4), the linear encoder module (8) is opposite to the linear encoder magnetic strip (7) and is connected with the nut (3).

2. The closed-loop stepping module system with the linear encoder as claimed in claim 1, wherein the motor mounting bracket and the inner side wall of the housing of the base (4) are provided with grooves (11) for mounting the magnetic strips (7) of the linear encoder.

3. Closed loop stepping module system according to claim 2, wherein the center of the linear encoder magnetic strip (7) positioned by the groove (11) is less than 0.3mm from the center of the encoder module (8).

4. The closed-loop stepping module system with the linear encoder as claimed in claim 1, further comprising an encoder mounting end block (12), wherein the linear encoder module (8) is embedded in the encoder mounting end block (12), and the encoder mounting end block (12) is connected with the nut (3) through a nut.

5. The closed-loop stepping module system with the linear encoder as claimed in claim 1, wherein the lead screw (2) is a trapezoidal lead screw or a ball screw.

6. Closed loop stepping module system with linear encoder according to claim 1, characterized in that said nut (3) is a trapezoidal nut or a ball nut.

7. The closed-loop stepping module system with the linear encoder as claimed in claim 1, wherein the linear encoder module (8) is a magnetic linear sensor chip, and the interior of the linear encoder module is formed by a Hall element array.

8. The closed-loop stepping module system with the linear encoder as claimed in claim 1, wherein the mounting base of the magnetic stripe (7) of the linear encoder is made of aluminum.

9. The closed-loop stepping module system with the linear encoder as claimed in claim 1, wherein the mounting base of the linear encoder module (8) is made of aluminum.