Tubular motor with stroke accurate self-learning function and stroke learning method

Abstract

The application provides a tubular motor with stroke accurate self-learning function and a stroke learning method thereof, to solve the problems of poor positioning accuracy and unchangeable speed during operation of the existing tubular motor. The tubular motor system comprises an intelligent voice recognition unit, a DC motor speed regulation unit, a DC motor, a speed reducer, a current sensor, a temperature sensor and a magnetic encoder with multiple readout heads. The intelligent voice recognition unit is connected with the DC motor speed regulation unit through a serial interface, the DC motor speed regulation unit drives the DC motor, the current sensor is connected in series in the armature circuit of the DC motor, the DC motor is a double-ended output shaft motor, one end of the motor shaft is connected with the magnetic encoder with multiple readout heads, the other end of the motor shaft is connected with the speed reducer, the power is output through the speed reducer, the temperature sensor is attached to the DC motor, the DC motor speed regulation unit has a structure of double closed loop of speed and current, and the tubular motor system realizes the stroke accurate self-learning function through two processes of coarse positioning and fine positioning.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent equipment, and particularly relates to a tubular motor with stroke accurate self-learning function. BACKGROUND

[0002] With the development of industrial technology, tubular motors are widely used in garages, curtains, electric curtains and other occasions. However, the existing tubular motor has certain defects, mainly in the following aspects: firstly, the existing tubular motor usually uses a mechanical type limiter to solve the stroke adjustment problem, which has the disadvantage that the limiting mechanism is relatively complex and the limiting adjustment is relatively cumbersome, which has a great influence on the actual application. Secondly, when the existing tubular motor is running, due to the variable speed during operation, when reaching the upper and lower limits, the speed is too high, which is easy to cause wear of the limiting device. Thirdly, when the existing tubular motor positions the initial maximum stroke, due to the too fast speed, the positioning accuracy is poor. SUMMARY

[0003] In view of the above shortcomings, the technical problem to be solved by the present application is to provide a tubular motor with improved positioning accuracy and variable speed during operation.

[0004] To solve the above technical problems, the technical scheme adopted by the present application is,

[0005] A tubular motor with stroke accurate self-learning function, comprising an intelligent voice recognition unit, a DC motor speed regulation unit, a DC motor, a speed reducer, a current sensor, a temperature sensor and a multi-read head magnetic encoder, the intelligent voice recognition unit is connected with the DC motor speed regulation unit through a serial interface, the DC motor speed regulation unit controls the work of the DC motor, the speed reducer is connected with the DC motor, the current sensor is connected in series in the armature circuit of the DC motor, the DC motor is a double-end output shaft motor, the multi-read head magnetic encoder is installed at one end of the motor shaft, the speed reducer is installed at the other end of the motor shaft, and the temperature sensor is attached to the DC motor; the DC motor speed regulation unit has a speed and current double closed loop structure; the tubular motor realizes the stroke accurate self-learning function through two processes of coarse positioning and fine positioning.

[0006] Further, the current sensor detects the armature current of the DC motor, sends the current feedback signal to the DC motor speed regulation unit, and realizes the limitation of the locked-rotor current and locked-rotor torque of the DC motor through the current feedback signal, realizing the locked-rotor function of the DC motor.

[0007] Further, the multi-read head magnetic encoder comprises a stator and a rotor, the stator is a circular circuit board, the circuit board is uniformly distributed with Hall switch elements, and the rotor is a multi-segment magnetized magnetic ring, and the inner circumference of the magnetic ring is embedded with a magnetic separation sleeve.

[0008] Further, the output signals of the magnetic encoders of the multiple readout heads are sent to the DC motor speed regulating unit through a parallel interface to detect the rotation angle of the DC motor and the total stroke of the tubular motor.

[0009] Further, the magnetic encoders of the multiple readout heads calculate the rotation speed of the DC motor to form a DC motor rotation speed feedback signal to realize closed-loop speed control of the DC motor.

[0010] Further, the tubular motor is powered by a power adapter.

[0011] Further, the tubular motor further comprises a motor sleeve, a transmission shaft, and a connecting ring, the intelligent voice recognition unit, the DC motor speed regulating unit, and the multiple readout heads of the magnetic encoders are installed at the rear end of the DC motor, the reducer is installed at the front end of the DC motor, the transmission shaft is connected with the output shaft of the reducer, the connecting ring is fixedly connected at the end of the transmission shaft, and the motor sleeve is sleeved outside the intelligent voice recognition unit, the DC motor speed regulating unit, the reducer, and the connecting shaft.

[0012] Further, a bearing support and a motor fixing support are formed in the motor sleeve, a bearing is installed in the bearing support, the transmission shaft is installed in the bearing, and the DC motor is fixedly installed in the motor sleeve through the motor fixing support.

[0013] A stroke learning method of a tubular motor with stroke accurate self-learning function, comprising the following steps,

[0014] (I) The DC motor speed regulating unit controls the DC motor to run at a normal running speed until the positioning terminal point is reached, and the positioning distance is continuously recorded;

[0015] (II) Determine whether the motor has reached the locked-rotor point. If the locked-rotor point is reached, run step (III). If the locked-rotor point is not reached, run step (I);

[0016] (III) The DC motor speed regulating unit controls the DC motor to run in reverse, leaving the locked-rotor point, and continuously recording the positioning distance;

[0017] (IV) Determine whether the motor has left the locked-rotor point. If the locked-rotor point is left, run step (V). If the locked-rotor point is not left, run step (III);

[0018] (V) After the DC motor leaves the locked-rotor point, control the DC motor to run in reverse again at a low speed towards the locked-rotor point, and continuously record the positioning distance;

[0019] (VI) Determine whether the motor has reached the locked-rotor point. If the locked-rotor point is reached, the positioning distance at this time is the accurate positioning stroke, and the stroke accurate self-learning is ended. If the locked-rotor point is not reached, run step (V).

[0020] The tubular motor has stroke accurate self-learning function, effectively solves the problems of poor positioning accuracy of the tubular motor and unchangeable speed in the operation process. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a system block diagram of the tubular motor with stroke accurate self-learning function.

[0022] Figure 2 is a DC motor double closed loop control principle diagram.

[0023] Figure 3 is a stroke self-learning flow chart of the tubular motor with stroke accurate self-learning function.

[0024] Figure 4 is a system assembly drawing of the tubular motor with stroke accurate self-learning function.

[0025] Figure 5 is an outline schematic diagram of the tubular motor with stroke accurate self-learning function.

[0026] Reference signs: mounting sleeve 1, DC motor 2, speed reducer 3, transmission shaft 4, bearing support 5, bearing 6, motor fixing support 7, motor sleeve 8, connecting ring 9. DETAILED DESCRIPTION

[0027] The application will be further described below in combination with the drawings.

[0028] A tubular motor with stroke accurate self-learning function comprises an intelligent voice recognition unit, a DC motor speed regulation unit, a DC motor 2, a speed reducer 3, a current sensor, a temperature sensor and a multi-read head magnetic encoder. The intelligent voice recognition unit is provided with a receiver and a loudspeaker. The receiver is used for receiving voice information and sending it to the intelligent voice recognition unit. The loudspeaker is used for responding to the received voice command. The intelligent voice recognition unit is used for recognizing the voice information of the receiver and converting it into a command signal, which is sent to the DC motor speed regulation unit through a serial port. The DC motor speed regulation unit is used for receiving the output signals of the intelligent voice recognition unit and the multi-read head magnetic encoder, generating a control command of the DC motor according to these signals and sending the control command to the DC motor. The DC motor is used for outputting torque to drive the speed reducer to rotate. The current sensor is used for current feedback, sending a current feedback signal to the DC motor speed regulation unit. The speed reducer is used for transmitting and increasing torque to drive the output shaft to move. The multi-read head magnetic encoder is used for recording the running distance and calculating the rotating speed of the DC motor to form a speed feedback signal of the motor. The temperature sensor is used for monitoring the temperature of the DC motor 2. When the temperature of the DC motor is too high, the DC motor is powered off to prevent the DC motor from being burned out due to over-temperature.

[0029] The intelligent voice recognition unit is connected with the DC motor speed regulation unit through a serial interface, the DC motor speed regulation unit controls the DC motor 2 to work, the reducer 3 is connected with the DC motor, and power is output after speed reduction through the reducer. The current sensor is connected in series in the armature circuit of the DC motor, and feeds back the current signal to the DC motor speed regulation unit. The DC motor is a double-ended shaft motor, and a multi-reading head magnetic encoder is installed at one end of the motor shaft. The reducer is installed at the other end of the motor shaft, so that the components on the DC motor are more reasonably installed. The temperature sensor is attached to the DC motor for monitoring the working temperature of the DC motor. The DC motor speed regulation unit has a speed and current double-loop structure, which protects the DC motor through speed and current, and improves the service life of the DC motor. The tubular motor realizes the stroke accurate self-learning function through coarse positioning and fine positioning processes.

[0030] A stroke learning method of a tubular motor with stroke accurate self-learning function, comprising the following steps,

[0031] (I) The DC motor speed regulation unit controls the DC motor to run at a normal running speed until the positioning terminal point is reached, and the positioning distance is continuously recorded;

[0032] (II) Determine whether the motor reaches the locked-rotor point. If the locked-rotor point is reached, run step (III). If the locked-rotor point is not reached, run step (I);

[0033] (III) The DC motor speed regulation unit controls the DC motor to run in reverse, and the locked-rotor point is escaped, and the positioning distance is continuously recorded;

[0034] (IV) Determine whether the motor escapes the locked-rotor point. If the locked-rotor point is escaped, run step (V). If the locked-rotor point is not escaped, run step (III);

[0035] (V) When the DC motor escapes the locked-rotor, the DC motor is controlled to rotate in reverse again, and runs at low speed to the locked-rotor point, and the positioning distance is continuously recorded;

[0036] (VI) Determine whether the motor reaches the locked-rotor point. If the locked-rotor point is reached, the positioning distance at this time is the accurate positioning stroke, and the stroke accurate self-learning is ended. If the locked-rotor point is not reached, run step (V).

[0037] The motor is coarsely positioned through step (I), and the motor is accurately positioned and learned through steps (II) to (VI), effectively solving the problem of poor positioning accuracy of the tubular motor.

[0038] The current sensor detects the armature current of the direct current motor, sends a current feedback signal to the direct current motor speed regulating unit, and limits the direct current motor locked-rotor current and locked-rotor torque through the current feedback signal, so as to realize the locked-rotor function of the direct current motor and facilitate the motor to pass through the locked-rotor point for stroke accurate self-learning.

[0039] The multi-readout-head magnetic encoder comprises a stator and a rotor, the stator is a circular circuit board, the circuit board is uniformly distributed with Hall switch elements, and the rotor is a multi-segment magnetized magnetic ring, the inner circumference of the magnetic ring is embedded with a magnetic separation sleeve, which facilitates recording of running distance and calculation of the rotating speed of the direct current motor, and forms a speed feedback signal of the motor.

[0040] The output signal of the multi-readout-head magnetic encoder is sent to the direct current motor speed regulating unit through a parallel interface, so as to detect the rotating angle of the direct current motor and the total stroke of the tubular motor.

[0041] The multi-readout-head magnetic encoder calculates the rotating speed of the direct current motor through the rotating angle of the direct current motor and the total stroke of the tubular motor, forms a rotating speed feedback signal of the direct current motor, and realizes closed-loop speed regulating control of the direct current motor.

[0042] The tubular motor is powered by a general power adapter, which facilitates power supply of the tubular motor and reduces the safety hazards caused by built-in power supply.

[0043] The tubular motor further comprises a motor sleeve 8, a transmission shaft 4 and a connecting ring 9, the intelligent voice recognition unit, the direct current motor speed regulating unit and the multi-readout-head magnetic encoder are installed at the rear end of the direct current motor through the mounting sleeve 1, the mounting sleeve 1 is arranged to facilitate storage and protection of the intelligent voice recognition unit, the direct current motor speed regulating unit and the multi-readout-head magnetic encoder, the reducer 3 is installed at the front end of the direct current motor 2, the transmission shaft 4 is connected with the output shaft of the reducer 3, the connecting ring 9 is fixedly connected to the end of the transmission shaft 4, the connecting ring 9 is arranged to facilitate connection of the transmission shaft 4 with external components, and the motor sleeve 8 is arranged outside the intelligent voice recognition unit, the direct current motor speed regulating unit, the reducer and the connecting shaft, so as to facilitate protection of the components in the tubular motor through the motor sleeve 8.

[0044] The motor sleeve 8 is formed with a bearing support 5 and a motor fixing support 7, the bearing 6 is installed in the bearing support 5, the transmission shaft 4 is installed in the bearing 6, and the direct current motor is fixedly installed in the electrode sleeve through the motor fixing support 7, so as to facilitate installation of the components of the tubular motor through the electrode sleeve 8.

[0045] In the working process of the tubular motor system, the DC motor is operated in a variable speed curve, in this embodiment, the speed regulation of the DC motor speed regulation unit includes a speed-up section, a constant speed section, a speed-down section and a low-speed positioning section, the speed-up section is used to start when the motor is just started and the distance from the target position is far, to improve the working efficiency of the tubular motor, the constant speed section is used to keep the motor running at a faster speed, the speed-down section corresponds to the speed-up section, and is used to reduce the faster working speed to the low-speed positioning section, the low-speed positioning section is started when it is close to the target position, and the positioning accuracy of the tubular motor is improved by using a lower running speed, so that the tubular motor can adapt to different working requirements.

[0046] The above description of disclosed embodiments enables one skilled in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application; therefore, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0047] Although the terms corresponding to the reference signs in the drawings are used more frequently herein, the possibility of using other terms is not excluded; the use of these terms is only for the convenience of describing and explaining the essence of the application; any additional limitation by interpreting them is contrary to the spirit of the application.

Claims

1. A tubular motor having a stroke-accurate self-learning function, characterized by The application relates to a tubular motor, which comprises an intelligent voice recognition unit, a direct current motor speed regulating unit, a direct current motor, a speed reducer, a current sensor, a temperature sensor and a magnetic encoder with multiple readout heads.

2. The tubular motor with stroke-precision self-learning function according to claim 1, characterized in that, The current sensor detects the armature current of the direct current motor, sends a current feedback signal to the direct current motor speed regulating unit, and realizes the limitation of the locked-rotor current and locked-rotor torque of the direct current motor through the current feedback signal, so that the locked-rotor function of the direct current motor is realized.

3. The tubular motor with stroke-precision self-learning function according to claim 1, characterized in that, The magnetic encoder with multiple readout heads comprises a stator and a rotor, the stator is a circular circuit board, the circuit board is uniformly distributed with Hall switch elements, and the rotor is a magnetic ring which is magnetized in multiple sections and which is embedded with a magnetic separation sleeve on the inner circumference.

4. The tubular motor with stroke-precision self-learning function according to claim 1 or 3, characterized in that, The output signal of the magnetic encoder with multiple readout heads is sent to the direct current motor speed regulating unit through a parallel interface to detect the rotation angle, rotation speed of the direct current motor and the total stroke of the tubular motor.

5. The tubular motor with stroke-precision self-learning function according to claim 1, characterized in that, The tubular motor further comprises a motor sleeve, a transmission shaft and a connecting ring, the intelligent voice recognition unit, the direct current motor speed regulating unit and the magnetic encoder with multiple readout heads are installed at the rear end of the direct current motor, the speed reducer is installed at the front end of the direct current motor, the transmission shaft is connected with the output shaft of the speed reducer, the connecting ring is fixedly connected at the end of the transmission shaft, and the motor sleeve is arranged outside the intelligent voice recognition unit, the direct current motor speed regulating unit, the speed reducer and the connecting shaft.

6. The tubular motor with stroke-precision self-learning function according to claim 5, characterized in that, A bearing support and a motor fixing support are formed in the motor sleeve, a bearing is installed in the bearing support, the transmission shaft is installed in the bearing, and the direct current motor is fixedly installed in the motor sleeve through the motor fixing support.

7. The tubular motor with stroke-precision self-learning function according to claim 1, characterized in that, The tubular motor is powered by a power adapter.

8. A stroke learning method of a tubular motor having a stroke precision self-learning function, applied to the tubular motor according to any one of claims 1 to 7, characterized by, The application further discloses a method for realizing the stroke accurate self-learning function of the tubular motor. Step one: the direct current motor speed regulating unit controls the direct current motor to run at a normal running speed until the positioning terminal point is reached, and the positioning distance is continuously recorded; Step two: whether the motor reaches the locked-rotor point is judged, if yes, step three is run, if not, step one is run; Step three: the direct current motor speed regulating unit controls the direct current motor to run reversely, and the locked-rotor point is departed from, and the positioning distance is continuously recorded; Step four: whether the motor is departed from the locked-rotor point is judged, if yes, step five is run, if not, step three is run; Step five: after the direct current motor is departed from the locked-rotor point, the direct current motor is controlled to run reversely at a low speed to the locked-rotor point, and the positioning distance is continuously recorded; Step six: whether the motor reaches the locked-rotor point is judged, if yes, the positioning distance is the accurate positioning stroke, and the stroke accurate self-learning is ended, if not, step five is run.

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