Stepping motor driving method, stepping motor driving device and small mechanical arm

Abstract

The invention relates to the technical field of stepping motor driving, and concretely relates to a stepping motor driving method, a stepping motor driving device and a small mechanical arm. A drivingplate controls a stepping motor to move according to a received signal, can receive a modbus signal and a pulse signal, and can control the stepping motor at intervals in a modbus command mode and apulse command mode; when the driving plate receives the modbus signal, the driving plate controls the stepping motor in the modbus command mode; when the driving plate receives the pulse signal, the driving plate controls the stepping motor in the pulse command mode; and the driving plate can receive a closed-loop adjusting signal which is sent by an encoder and is used for carrying out closed-loop adjustment on the stepping motor and carrying out closed-loop adjustment on the stepping motor. According to the scheme provided by the invention, the small mechanical arm has the advantages of being high in motion precision, high in motion speed, stable and smooth in motion process and capable of flexibly controlling the motion trail.

Description

technical field [0001] The invention relates to the technical field of stepping motor driving, in particular to a stepping motor driving method, a stepping motor driving device and a small mechanical arm. Background technique [0002] The small mechanical arm is composed of multiple connecting arms and motors connected between the connecting arms. The multiple motors rotate in coordination to make the mechanical arm complete the required actions. [0003] At present, most of the mechanical arms are controlled by the mechanical cooperation of the servo motor and the harmonic reducer. The above-mentioned cooperation has the advantage of high precision, but the cost is also very high. In some application scenarios, such as general industrial use and small robotic arms used for teaching, the requirements for precision are not very high, and the solution of servo motors with harmonic reducers is too costly for such use scenarios , As a result, many companies and universities can...

AI Technical Summary

Problems solved by technology

If the former is single-controlled, it will appear that it is not easy to change directly when expanding functions or higher requirements. For example, when the stepper motor needs to perform interpolation work, if it is controlled by communication, it takes time to respond due to communication. The requirement for interpolation is that no time delay is allowed in the middle, so the requirement cannot be met.

If the latter is single-controlled, then the parameter settings must be hard-coded in advance, and it cannot be controlled flexibly, and there is no information such as position feedback, so it can only be controlled simply

[0006]There is no small-scale robotic arm based on stepping motors that can simultaneously have the advantages of high motion precision, fast motion speed, and the ability to control the motion trajectory

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