Servo stepping motor self-adaptive to high and low temperature environments and control method thereof

Abstract

The invention relates to the technical field of servo stepping motors, and discloses a servo stepping motor self-adaptive to high and low temperature environments and a control method thereof.The servo stepping motor comprises a machine body and a temperature control element, the machine body comprises a stepping motor and a servo driver, a front shaft is arranged on one side of the stepping motor, an oil seal is arranged at the joint of the front shaft and the stepping motor, and the temperature control element is arranged on the machine body. The servo driver is fixed to the side, away from the front shaft, of the stepping motor. The temperature control piece is arranged on the outer side of the machine body in a sleeving mode, the temperature control piece is filled with cooling liquid, and the temperature control piece is electrically connected with the servo stepping motor; wherein the servo driver comprises an output module, a processing module and a storage module, and the output module, the processing module and the storage module are all integrated on the driver circuit board. According to the servo stepping motor, temperature control and motor performance are combined, so that the servo stepping motor can efficiently and stably operate in industrial, outdoor and extreme environments, the service life of equipment is prolonged, and the maintenance cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of servo stepper motors, and in particular to a servo stepper motor capable of self-adapting to high and low temperature environments and a control method thereof. Background Art

[0002] Servo stepper motors are widely used in industrial automation, robot control and precision instruments. Their performance stability in a variety of complex environments is particularly critical. As the application scenarios of industrial equipment become increasingly diverse, the equipment needs to withstand more extreme temperature environments, such as high-temperature factories, low-temperature outdoor construction, and occasions with rapid temperature changes. However, traditional stepper motors and servo drive systems often face the following problems in extreme temperature environments: (1) High temperature environment: Long-term operation of stepper motors can easily lead to overheating, which in turn damages the motor windings, lubricant aging, or seal failure. This not only affects the performance of the motor, but may also shorten the life of the equipment; (2) Low temperature environment: At extremely low temperatures, motor lubrication failure, component embrittlement, and cold start difficulties become the main problems, affecting system reliability and startup efficiency; (3) Dynamic temperature changes: Rapid temperature changes (such as day and night temperature differences in outdoor environments or sudden cooling in high-temperature industrial environments) will have an impact on the stability of motors and drives. Existing systems are difficult to adapt to such complex environments without temperature control measures.

[0003] Traditional servo stepper motors generally rely on simple heat dissipation design or external heat dissipation devices, which cannot dynamically adapt to temperature changes and have problems such as large size and high energy consumption. In addition, the existing temperature monitoring and fault detection functions are relatively simple and it is difficult to provide comprehensive environmental perception and fault warning.

[0004] Therefore, it is necessary to provide a servo stepper motor that is adaptive to high and low temperature environments and a control method thereof to solve the problem that the existing servo stepper motor is difficult to ensure stable performance in extreme high and low temperature and dynamic temperature difference environments. Summary of the invention

[0005] In view of this, the present invention proposes a servo stepper motor that is adaptive to high and low temperature environments and a control method thereof, aiming to solve the problem that the existing servo stepper motor is difficult to ensure stable performance in extreme high and low temperature and dynamic temperature difference environments.

[0006] On the one hand, the present invention provides a servo stepper motor capable of self-adapting to high and low temperature environments, comprising:

[0007] A machine body and a temperature control unit, wherein the machine body includes a stepper motor and a servo driver, a front shaft is arranged on one side of the stepper motor, an oil seal is arranged at the connection between the front shaft and the stepper motor, and the servo driver is fixed on the side of the stepper motor away from the front shaft; the temperature control unit is sleeved on the outside of the machine body, the interior of the temperature control unit is filled with coolant, and the temperature control unit is electrically connected to the servo stepper motor;

[0008] Wherein, the servo driver comprises an output module, a processing module and a storage module, and the output module, the processing module and the storage module are all integrated on a driver circuit board;

[0009] The output module includes an interface and a display unit, a plurality of interfaces are provided on the body of the servo driver, the interface is used to connect to an external device, and the display unit is used to display faults;

[0010] The processing module includes a temperature sensor and a temperature control unit, wherein at least two temperature sensors are provided, one of which is provided inside the machine body to measure the internal temperature information of the machine body, and the other temperature sensor is provided outside the machine body to measure the ambient temperature information, and the temperature control unit is used to adjust the coolant temperature according to the internal temperature information of the machine body and the ambient temperature information;

[0011] The storage module is used to store the operating parameters of the servo stepper motor.

[0012] Furthermore, when the temperature control unit is used to adjust the coolant temperature according to the internal temperature information of the machine body and the ambient temperature information, it includes:

[0013] A standard ambient temperature range and a standard machine body temperature range are preset, a temperature sensor collects the machine body temperature information and the ambient temperature information in real time, and controls the coolant temperature according to the machine body temperature information;

[0014] Determining whether to adjust the coolant temperature according to the ambient temperature information and the internal temperature information of the machine body, and if it is determined that adjustment is required, calculating the difference between the ambient temperature information and the standard ambient temperature range, and adjusting the coolant temperature according to the similarity between the difference and historical data;

[0015] After adjustment, the internal temperature information and the ambient temperature information are collected to determine whether the temperature control unit is faulty. If a fault occurs, a fault alarm is issued.

[0016] Furthermore, the standard ambient temperature range and the standard machine body temperature range are preset, the temperature sensor collects the machine body temperature information and the ambient temperature information in real time, and the coolant temperature is controlled according to the machine body temperature information, including:

[0017] If the internal temperature of the engine is within the standard engine temperature range, the current coolant temperature is kept unchanged;

[0018] If the internal temperature of the machine body is not within the standard machine body temperature range, the temperature average of the maximum temperature value and the minimum temperature value in the standard machine body temperature range is calculated, and the temperature of the coolant in the temperature control unit is controlled to be the temperature average.

[0019] Further, the determining whether to adjust the coolant temperature according to the ambient temperature information and the internal temperature information of the machine body includes:

[0020] If the ambient temperature information is within the standard ambient temperature range, and the internal temperature information is within the standard internal temperature range, it is determined that the coolant temperature is not to be adjusted;

[0021] If the ambient temperature information is within the standard ambient temperature range, and the internal temperature information is not within the standard internal temperature range, it is determined that the coolant temperature needs to be adjusted;

[0022] If the ambient temperature information is not within the standard ambient temperature range, it is determined that the coolant temperature needs to be adjusted.

[0023] Furthermore, if it is determined that adjustment is required, calculating the difference between the ambient temperature information and the standard ambient temperature range includes:

[0024] If the ambient temperature information is greater than the maximum value of the standard ambient temperature range, the difference C1 between the ambient temperature information and the maximum value of the standard ambient temperature range is calculated:

[0025] C1=W-Wmax;

[0026] Wherein, W represents the ambient temperature information, and Wmax represents the maximum value of the standard ambient temperature range;

[0027] If the ambient temperature information is less than the minimum value of the standard ambient temperature range, the difference C2 between the ambient temperature information and the minimum value of the standard ambient temperature range is calculated:

[0028] C2=W-Wmin;

[0029] Wherein, W represents the ambient temperature information, and Wmin represents the minimum value of the standard ambient temperature range.

[0030] Further, when the coolant temperature is adjusted according to the similarity between the difference and the historical data, it includes:

[0031] The similarity between the difference and the historical data is calculated by the following formula:

[0032]

[0033] In the above formula, S i 1 represents the similarity between the difference C1 between the ambient temperature information and the maximum value of the standard ambient temperature range and the historical i-th data, C1 represents the difference between the ambient temperature information and the maximum value of the standard ambient temperature range, and WC1i represents the difference between the ambient temperature information of the historical i-th data and the maximum value of the standard ambient temperature range;

[0034]

[0035] In the above formula, S i2 represents the similarity between the difference C2 between the ambient temperature information and the minimum value of the standard ambient temperature range and the historical i-th data, C2 represents the difference between the ambient temperature information and the minimum value of the standard ambient temperature range, and WC2i represents the difference between the ambient temperature information of the historical i-th data and the minimum value of the standard ambient temperature range.

[0036] Furthermore, when the coolant temperature is adjusted according to the similarity between the difference and the historical data, it also includes:

[0037] When there is data in the historical data whose similarity with C1 or C2 is greater than the similarity threshold, the historical coolant temperature corresponding to the similarity threshold is selected as the current coolant temperature;

[0038] When there is no data in the historical data whose similarity with C1 or C2 is greater than the similarity threshold, the coolant historical temperature corresponding to the maximum similarity value is used as the current coolant temperature.

[0039] Furthermore, after adjustment, the internal temperature information and the ambient temperature information are collected to determine whether the temperature control unit fails. If a failure occurs, a fault alarm is issued, including:

[0040] If the temperature of the engine body is within the standard engine body temperature range after the coolant temperature is adjusted, no fault alarm is issued;

[0041] If the internal temperature information of the machine body is still not within the standard machine body temperature range after the coolant temperature is adjusted, a fault alarm is issued, and the alarm information is displayed on the display unit, and is connected to the host computer through an interface and displayed on the host computer.

[0042] Furthermore, the driver circuit board is sprayed with conformal coating.

[0043] Compared with the prior art, the beneficial effect of the present invention is that the present invention can monitor the temperature changes inside and outside the machine body in real time by arranging temperature sensors inside and outside the machine body, and provide accurate data support for temperature control. This dual sensing mechanism enhances the adaptability to complex environments. Secondly, the temperature control unit is filled with coolant and electrically connected to the servo stepper motor, which can dynamically adjust the coolant temperature to ensure that the stepper motor effectively dissipates heat in a high temperature environment and maintains lubrication stability in a low temperature environment, thereby avoiding performance degradation or component damage caused by extreme temperatures. In addition, the integrated design of the servo drive (including output module, processing module and storage module) improves compactness and functional integration. The interface of the output module supports connection with external devices, and the display unit is used to feedback fault information in real time, which is convenient for maintenance and monitoring; the storage module records key working parameters, which is helpful for subsequent optimization of operation and fault analysis. In summary, the combination of temperature control and motor performance of the present invention enables the servo stepper motor to operate efficiently and stably in industrial, outdoor and extreme environments, while extending the service life of the equipment and reducing maintenance costs.

[0044] On the other hand, the present application also provides a servo stepper motor control method that is adaptive to high and low temperature environments, comprising:

[0045] A temperature control unit filled with coolant is sleeved on the outside of the machine body;

[0046] Temperature sensors are arranged inside and outside the machine body to measure the temperature information inside the machine body and the ambient temperature information respectively;

[0047] The coolant temperature is adjusted according to the internal temperature information and the ambient temperature information.

[0048] It can be understood that the servo stepper motor with self-adaptation to high and low temperature environments and the control method thereof provided in the present application have the same beneficial effects, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0050] Figure 1 A side view of a servo stepper motor that is self-adaptive to high and low temperature environments provided by an embodiment of the present invention;

[0051] Figure 2 A functional block diagram of a servo driver provided by an embodiment of the present invention;

[0052] Figure 3A flow chart of a servo stepper motor control method for adaptive high and low temperature environments provided by an embodiment of the present invention.

[0053] In the figure, 100, machine body; 110, stepper motor; 120, servo driver; 121, driver circuit board; 200, temperature control unit; 300, front axle; 400, oil seal. DETAILED DESCRIPTION

[0054] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0055] In some embodiments of the present application, see Figure 1-2 As shown, this embodiment provides a servo stepper motor that is self-adaptive to high and low temperature environments, including:

[0056] The machine body 100 and the temperature control unit 200, wherein the machine body 100 includes a stepper motor 110 and a servo driver 120, a front shaft 300 is arranged on one side of the stepper motor 110, an oil seal 400 is arranged at the connection between the front shaft 300 and the stepper motor 110, and the servo driver 120 is fixed on the side of the stepper motor 110 away from the front shaft 300; the temperature control unit 200 is sleeved on the outside of the machine body 100, the interior of the temperature control unit 200 is filled with coolant, and the temperature control unit 200 is electrically connected to the servo stepper motor;

[0057] The servo driver 120 includes an output module, a processing module and a storage module, and the output module, the processing module and the storage module are all integrated on the driver circuit board 121;

[0058] The output module includes an interface and a display unit. Several interfaces are provided on the body of the servo driver 120. The interfaces are used to connect external devices, and the display unit is used to display faults.

[0059] The processing module includes a temperature sensor and a temperature control unit. At least two temperature sensors are provided, one of which is provided inside the machine body to measure the temperature information inside the machine body, and the other temperature sensor is provided outside the machine body 100 to measure the ambient temperature information. The temperature control unit is used to adjust the coolant temperature according to the temperature information inside the machine body and the ambient temperature information.

[0060] The storage module is used to store the operating parameters of the servo stepper motor 110 .

[0061] It is understandable that the present invention can monitor the temperature changes inside and outside the machine body in real time by arranging temperature sensors inside and outside the machine body, and provide accurate data support for temperature control. This dual sensing mechanism enhances the adaptability to complex environments. Secondly, the temperature control unit 200 is filled with coolant and electrically connected to the servo stepper motor, which can dynamically adjust the coolant temperature to ensure that the stepper motor 110 effectively dissipates heat in a high temperature environment and maintains lubrication stability in a low temperature environment, thereby avoiding performance degradation or component damage caused by extreme temperatures. In addition, the integrated design of the servo driver 120 (including an output module, a processing module, and a storage module) improves the compactness and functional integration of the device. The interface of the output module supports connection with external devices, and the display unit is used to feedback fault information in real time, which is convenient for maintenance and monitoring; the storage module records key working parameters, which is helpful for subsequent optimization of operation and fault analysis. In summary, the temperature control device of the present invention is combined with the motor performance, so that the servo stepper motor 110 can operate efficiently and stably in industrial, outdoor and extreme environments, while extending the service life of the equipment and reducing maintenance costs.

[0062] Specifically, the stepper motor 110 of the present invention can be used for high / low temperature in the box, can meet the normal operation at -40°C to +65°C, and can meet the long-term normal use in high humidity or condensation environment; a sealing oil seal 400 is provided at the front axle 300 end of the stepper motor 110 to prevent the lubricating oil or grease of the reducer equipment from pouring in. The servo driver 120 is installed at the tail of the stepper motor 110, and the servo driver 120 and the motor are installed separately for easy independent maintenance. The communication protocol of the servo driver 120 includes but is not limited to Modbus RTU / CAN bus type, which has the advantages of high communication rate and long communication distance. The driver supports local program upload, download, upgrade and backup functions, and the interface setting can be connected to a human-computer interaction PC.

[0063] Preferably, a bearing fixing end cover is also provided on the body 100, which can prevent the bearing and the body 100 from friction damage during frequent start / stop conditions and prevent damage to the motor bearing; a cylindrical magnet is provided at the tail of the motor for use with an incremental magnetic encoder on the adaptor.

[0064] In some embodiments of the present application, when the temperature control unit is used to adjust the coolant temperature according to the internal temperature information and the ambient temperature information, it includes:

[0065] The standard ambient temperature range and the standard machine body temperature range are preset, and the temperature sensor collects the machine body temperature information and the ambient temperature information in real time, and controls the coolant temperature according to the machine body temperature information;

[0066] Determine whether to adjust the coolant temperature based on the ambient temperature information and the internal temperature information; if it is determined that adjustment is required, calculate the difference between the ambient temperature information and the standard ambient temperature range, and adjust the coolant temperature based on the similarity between the difference and historical data;

[0067] After the adjustment, the internal temperature information and the ambient temperature information are collected to determine whether the temperature control unit 200 is faulty. If a fault occurs, a fault alarm is issued.

[0068] It is understandable that in the embodiment of the present application, the temperature control unit realizes intelligent coolant temperature adjustment by real-time acquisition of body temperature information and ambient temperature information. First, by presetting the standard ambient temperature range and the standard body temperature range, it is possible to effectively determine whether the device is operating in an ideal state, simplify the temperature control logic, and improve the adjustment efficiency. Secondly, the coolant temperature is adjusted based on the difference between the ambient temperature and the standard range combined with the similarity of historical data, which can dynamically adapt to a variety of temperature control scenarios, ensure that the coolant temperature adjustment is more accurate, not only reduce the energy waste caused by excessive adjustment of the coolant temperature, but also optimize the device response speed and improve the overall operation stability of the equipment. In addition, after the adjustment, the body 100 and the ambient temperature are continuously monitored, and the temperature control unit 200 is detected in combination with real-time data to significantly improve the self-diagnosis ability of the device. Once an abnormality occurs, the fault alarm function can promptly remind the user to take repair measures to avoid further expansion of the fault or affect the performance of other components. Through this closed-loop control design, the present invention can not only effectively protect the motor in an extreme temperature environment, but also significantly reduce the maintenance cost and downtime risk, and is suitable for industrial automation and harsh environment application scenarios, reflecting the perfect combination of intelligence and reliability.

[0069] In some embodiments of the present application, a standard ambient temperature range and a standard machine body temperature range are preset, and a temperature sensor collects machine body temperature information and ambient temperature information in real time. When the coolant temperature is controlled according to the machine body temperature information, the method includes:

[0070] If the internal temperature of the machine body is within the standard temperature range, the current coolant temperature is kept unchanged;

[0071] If the internal temperature of the machine body is not within the standard machine body temperature range, the temperature average of the maximum temperature value and the minimum temperature value in the standard machine body temperature range is calculated, and the coolant temperature in the temperature control unit 200 is controlled to be the temperature average.

[0072] It can be understood that in the embodiments of the present application, by setting the standard ambient temperature and the standard machine body temperature range, and combining the temperature sensor to collect data in real time, the control logic of the coolant temperature is optimized, which has high efficiency and accuracy. If the temperature inside the machine body is within the standard range, there is no need to adjust the coolant temperature, which reduces energy consumption and unnecessary temperature control operations, and improves operating efficiency; when the temperature information inside the machine body exceeds the standard range, by calculating the mean of the temperature range and adjusting the coolant temperature to the mean, the balance between the cooling effect and the temperature stability is ensured, which not only simplifies the temperature control strategy, but also avoids the problem of overload of the temperature control unit 200 or fluctuation of the motor performance caused by frequent adjustment. In addition, the use of the mean value control method makes the adjustment of the coolant temperature more gentle and stable, which helps to extend the service life of the temperature control unit 200 and related components, thereby significantly improving the operating reliability and maintenance convenience of the machine body 100, and is suitable for industrial equipment that requires precise temperature management, showing the advantages of high efficiency, energy saving and stability.

[0073] In some embodiments of the present application, judging whether to adjust the coolant temperature according to the ambient temperature information and the internal temperature information includes:

[0074] If the ambient temperature information is within the standard ambient temperature range and the internal temperature information is within the standard internal temperature range, it is determined that the coolant temperature is not adjusted;

[0075] If the ambient temperature information is within the standard ambient temperature range, and the internal temperature information is not within the standard internal temperature range, it is determined that the coolant temperature needs to be adjusted;

[0076] If the ambient temperature information is not within the standard ambient temperature range, it is determined that the coolant temperature needs to be adjusted.

[0077] It is understandable that when both the ambient temperature information and the internal temperature information of the machine body are within the standard range, no adjustment is required, which avoids unnecessary energy consumption and temperature control operations, improves efficiency and extends the service life of the equipment. Secondly, when the ambient temperature is within the standard range but the internal temperature of the machine body exceeds the standard, the coolant adjustment function can be accurately identified and started to ensure the reliable operation of the motor under complex working conditions. In the case where the ambient temperature exceeds the standard range, the device will give priority to temperature control adjustment to avoid the impact of the external extreme environment on the performance of the machine body 100, which not only optimizes the accuracy and timeliness of the coolant temperature adjustment, but also improves the ability to adapt to complex temperature control scenarios, and enhances the stability and operational reliability of the motor in extreme environments.

[0078] In some embodiments of the present application, if it is determined that adjustment is required, the difference between the ambient temperature information and the standard ambient temperature range is calculated, including:

[0079] If the ambient temperature information is greater than the maximum value of the standard ambient temperature range, calculate the difference C1 between the ambient temperature information and the maximum value of the standard ambient temperature range:

[0080] C1=W-Wmax;

[0081] Wherein, W represents the ambient temperature information, and Wmax represents the maximum value of the standard ambient temperature range;

[0082] If the ambient temperature information is less than the minimum value of the standard ambient temperature range, calculate the difference C2 between the ambient temperature information and the minimum value of the standard ambient temperature range:

[0083] C2=W-Wmin;

[0084] Wherein, W represents the ambient temperature information, and Wmin represents the minimum value of the standard ambient temperature range.

[0085] In some embodiments of the present application, when adjusting the coolant temperature according to the similarity between the difference value and the historical data, it includes:

[0086] The similarity between the difference and historical data is calculated by the following formula:

[0087]

[0088] In the above formula, S i 1 represents the similarity between the difference C1 between the ambient temperature information and the maximum value of the standard ambient temperature range and the historical i-th data, C1 represents the difference between the ambient temperature information and the maximum value of the standard ambient temperature range, and WC1i represents the difference between the ambient temperature information of the historical i-th data and the maximum value of the standard ambient temperature range;

[0089]

[0090] In the above formula, S i2 represents the similarity between the difference C2 between the ambient temperature information and the minimum value of the standard ambient temperature range and the historical i-th data, C2 represents the difference between the ambient temperature information and the minimum value of the standard ambient temperature range, and WC2i represents the difference between the ambient temperature information of the historical i-th data and the minimum value of the standard ambient temperature range.

[0091] In some embodiments of the present application, when the coolant temperature is adjusted according to the similarity between the difference value and the historical data, it also includes:

[0092] When there is data in the historical data whose similarity with C1 or C2 is greater than the similarity threshold, the coolant historical temperature corresponding to the similarity threshold is selected as the current coolant temperature;

[0093] When there is no data in the historical data whose similarity with C1 or C2 is greater than the similarity threshold, the historical coolant temperature corresponding to the maximum similarity value is used as the current coolant temperature.

[0094] It can be understood that the present invention provides a quantitative basis for adjusting the coolant temperature by calculating the degree of deviation of the ambient temperature from the standard range through the difference, thereby ensuring the accuracy of the adjustment. Secondly, by matching the similarity with the historical data, it is possible to make full use of the existing operating experience to quickly determine the optimal coolant temperature, reduce complex calculations and adjustment time, and greatly improve the response speed of the device. When there is a high-similarity match in the historical data, the corresponding coolant temperature is directly called, which is both efficient and reliable; when there is no high-similarity match, the temperature corresponding to the maximum similarity value is selected as the basis for adjustment, ensuring that the adjustment process is always reasonable and close to the optimal value, realizing data-driven temperature control optimization, and having stronger adaptability in a changing environment, while reducing unnecessary energy consumption and equipment wear, and significantly improving the operating stability and service life of the motor.

[0095] In some embodiments of the present application, after adjustment, the internal temperature information and the ambient temperature information are collected to determine whether the temperature control unit 200 fails. If a failure occurs, a fault alarm is issued, including:

[0096] If the temperature of the engine body is within the standard engine body temperature range after the coolant temperature is adjusted, no fault alarm will be issued;

[0097] If the temperature information in the machine body is still not within the standard machine body temperature range after the coolant temperature is adjusted, a fault alarm is issued, and the alarm information is displayed on the display unit and connected to the host computer through the interface to be displayed on the host computer.

[0098] It can be understood that this embodiment collects the temperature information in the machine body and the ambient temperature information in real time after adjustment, determines the operating status of the temperature control unit 200, and issues a fault alarm when an abnormality is detected, demonstrating the technical advantages of intelligent monitoring and safety protection. First, by judging whether the temperature in the machine body has returned to the standard range, the effectiveness of the coolant temperature adjustment can be quickly verified, thereby improving the operating efficiency. Secondly, when the coolant adjustment is invalid and the temperature of the machine body 100 has not returned to normal, a fault alarm will be triggered in time, and displayed through the display unit, and the alarm information will be synchronized to the host computer through the interface, so that the operator can quickly locate the source of the problem and take targeted measures, thereby improving the accuracy and response speed of fault monitoring, and effectively avoiding equipment damage or performance degradation caused by abnormal temperature control unit 200. In addition, through the real-time monitoring function of the host computer, remote diagnosis and maintenance are facilitated, and the reliability and management efficiency of equipment operation are improved.

[0099] In some embodiments of the present application, the driver circuit board 121 is sprayed with conformal coating.

[0100] It is understandable that the driver circuit board 121 is sprayed with three-proof paint (waterproof, dustproof, and anti-corrosion), which significantly improves the environmental adaptability and service life of the device. The three-proof paint can effectively isolate moisture, dust, and chemicals from eroding the circuit board, especially in harsh environments with high humidity, high dust, or corrosive gases, avoiding problems such as circuit short circuits, component aging or failure. In addition, the protective effect of the three-proof paint can reduce the maintenance frequency of the circuit board and reduce the operating failure rate, thereby improving the overall reliability and safety of the device.

[0101] Specifically, the driver circuit board 121 is coated with a three-proof paint, which can meet the requirements of long-term normal use in a high humidity or condensation environment.

[0102] It can be understood that the heating and cooling of the coolant is achieved through a circulation control system, which consists of a circulation pump, a heating device, a cooling device and a control module. The circulation pump drives the coolant to flow in the temperature control unit and adjusts the body temperature through heat exchange; when the body temperature is lower than the preset range, the heating device heats the coolant, and the circulating pump transports the heated coolant to the body surface for rapid temperature increase; when the body temperature is higher than the preset range, the cooling device lowers the coolant temperature, and then the circulation pump transports it to the body surface to absorb heat for cooling; the control module, that is, the temperature control unit, is connected to two temperature sensors, collects the body and ambient temperature in real time, adjusts the temperature of the heating device or the cooling device, that is, adjusts the temperature of the coolant according to the data, and optimizes the control in combination with historical data to ensure that the temperature quickly returns to the standard range. If the adjustment fails, a fault alarm is triggered, and the information is prompted to the operator through the display unit or interface, thereby realizing stable and reliable operation of the servo stepper motor in high and low temperature environments.

[0103] On the other hand, see Figure 3 As shown, the present application also provides a servo stepper motor control method that is adaptive to high and low temperature environments, which is applied to the above-mentioned servo stepper motor that is adaptive to high and low temperature environments, and includes the following steps:

[0104] S100, placing a temperature control unit filled with coolant on the outside of the machine body;

[0105] S200, setting temperature sensors inside and outside the machine body to measure the temperature information inside the machine body and the ambient temperature information respectively;

[0106] S300: Adjust the coolant temperature according to the internal temperature information and the ambient temperature information.

[0107] It is understandable that the present invention provides a temperature control unit 200 filled with coolant on the outside of the body 100, and installs temperature sensors inside and outside the body respectively, monitors the temperature inside the body and the ambient temperature information in real time, and dynamically adjusts the coolant temperature according to the temperature data, thereby demonstrating the technical advantages of precise control and efficient heat dissipation. This method can quickly respond to changes in the environment and the temperature inside the body, ensuring that the motor always maintains a stable operating state in high and low temperature environments, and avoiding performance degradation or equipment damage due to overheating or overcooling. At the same time, through the distributed temperature monitoring and control design, the overall improvement of the motor's operating efficiency and reliability is achieved, effectively adapting to complex working conditions. In addition, the method has a simple structure and clear control logic, and can be widely used in industries, agriculture and other fields with changeable temperature environments, providing a solid guarantee for motor performance optimization and life extension.

[0108] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0109] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0110] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0111] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A servo stepper motor that is self-adaptive to high and low temperature environments, characterized in that: include: A machine body and a temperature control unit, wherein the machine body includes a stepper motor and a servo driver, a front shaft is arranged on one side of the stepper motor, an oil seal is arranged at the connection between the front shaft and the stepper motor, and the servo driver is fixed on the side of the stepper motor away from the front shaft; the temperature control unit is sleeved on the outside of the machine body, the interior of the temperature control unit is filled with coolant, and the temperature control unit is electrically connected to the servo stepper motor; Wherein, the servo driver comprises an output module, a processing module and a storage module, and the output module, the processing module and the storage module are all integrated on a driver circuit board; The output module includes an interface and a display unit, a plurality of interfaces are provided on the body of the servo driver, the interface is used to connect to an external device, and the display unit is used to display faults; The processing module includes a temperature sensor and a temperature control unit, wherein at least two temperature sensors are provided, one of which is provided inside the machine body to measure the internal temperature information of the machine body, and the other temperature sensor is provided outside the machine body to measure the ambient temperature information, and the temperature control unit is used to adjust the coolant temperature according to the internal temperature information of the machine body and the ambient temperature information; The storage module is used to store the operating parameters of the servo stepper motor.

2. The servo stepper motor capable of adapting to high and low temperature environments according to claim 1, characterized in that: The temperature control unit is used to adjust the coolant temperature according to the internal temperature information and the ambient temperature information, and includes: A standard ambient temperature range and a standard machine body temperature range are preset, a temperature sensor collects the machine body temperature information and the ambient temperature information in real time, and controls the coolant temperature according to the machine body temperature information; Determining whether to adjust the coolant temperature according to the ambient temperature information and the internal temperature information of the machine body, and if it is determined that adjustment is required, calculating the difference between the ambient temperature information and the standard ambient temperature range, and adjusting the coolant temperature according to the similarity between the difference and historical data; After adjustment, the internal temperature information and the ambient temperature information are collected to determine whether the temperature control unit is faulty. If a fault occurs, a fault alarm is issued.

3. The servo stepper motor capable of adapting to high and low temperature environments according to claim 2 is characterized in that: The standard ambient temperature range and the standard machine body temperature range are preset, the temperature sensor collects the machine body temperature information and the ambient temperature information in real time, and the coolant temperature is controlled according to the machine body temperature information, including: If the internal temperature of the engine is within the standard engine temperature range, the current coolant temperature is kept unchanged; If the internal temperature of the machine body is not within the standard machine body temperature range, the temperature average of the maximum temperature value and the minimum temperature value in the standard machine body temperature range is calculated, and the temperature of the coolant in the temperature control unit is controlled to be the temperature average.

4. The servo stepper motor capable of self-adapting to high and low temperature environments according to claim 3 is characterized in that: The determining whether to adjust the coolant temperature according to the ambient temperature information and the internal temperature information of the machine body includes: If the ambient temperature information is within the standard ambient temperature range, and the internal temperature information is within the standard internal temperature range, it is determined that the coolant temperature is not to be adjusted; If the ambient temperature information is within the standard ambient temperature range, and the internal temperature information is not within the standard internal temperature range, it is determined that the coolant temperature needs to be adjusted; If the ambient temperature information is not within the standard ambient temperature range, it is determined that the coolant temperature needs to be adjusted.

5. The servo stepper motor capable of self-adapting to high and low temperature environments according to claim 4, characterized in that: If it is determined that adjustment is required, calculating the difference between the ambient temperature information and the standard ambient temperature range includes: If the ambient temperature information is greater than the maximum value of the standard ambient temperature range, the difference C1 between the ambient temperature information and the maximum value of the standard ambient temperature range is calculated: C1=W-Wmax; Wherein, W represents the ambient temperature information, and Wmax represents the maximum value of the standard ambient temperature range; If the ambient temperature information is less than the minimum value of the standard ambient temperature range, the difference C2 between the ambient temperature information and the minimum value of the standard ambient temperature range is calculated: C2=W-Wmin; Wherein, W represents the ambient temperature information, and Wmin represents the minimum value of the standard ambient temperature range.

6. The servo stepper motor capable of self-adapting to high and low temperature environments according to claim 5, characterized in that: The step of adjusting the coolant temperature according to the similarity between the difference and the historical data includes: The similarity between the difference and the historical data is calculated by the following formula: In the above formula, Si 1 represents the similarity between the difference C1 between the ambient temperature information and the maximum value of the standard ambient temperature range and the historical i-th data, C1 represents the difference between the ambient temperature information and the maximum value of the standard ambient temperature range, and WC1i represents the difference between the ambient temperature information of the historical i-th data and the maximum value of the standard ambient temperature range; In the above formula, Si2 represents the similarity between the difference between the ambient temperature information and the minimum value of the standard ambient temperature range and C2 and the historical i-th data, C2 represents the difference between the ambient temperature information and the minimum value of the standard ambient temperature range, and WC2i represents the difference between the ambient temperature information of the historical i-th data and the minimum value of the standard ambient temperature range.

7. The servo stepper motor capable of self-adapting to high and low temperature environments according to claim 6, characterized in that: When the coolant temperature is adjusted according to the similarity between the difference and the historical data, it also includes: When there is data in the historical data whose similarity with C1 or C2 is greater than a similarity threshold, the historical coolant temperature corresponding to the similarity threshold is selected as the current coolant temperature; When there is no data in the historical data whose similarity with C1 or C2 is greater than the similarity threshold, the historical coolant temperature corresponding to the maximum similarity value is used as the current coolant temperature.

8. The servo stepper motor capable of self-adapting to high and low temperature environments according to claim 7, characterized in that: After adjustment, the internal temperature information and the ambient temperature information are collected to determine whether the temperature control unit is faulty. If a fault occurs, a fault alarm is issued, including: If the temperature of the engine body is within the standard engine body temperature range after the coolant temperature is adjusted, no fault alarm is issued; If the internal temperature information of the machine body is still not within the standard machine body temperature range after the coolant temperature is adjusted, a fault alarm is issued, and the alarm information is displayed on the display unit, and is connected to the host computer through an interface and displayed on the host computer.

9. The servo stepper motor capable of self-adapting to high and low temperature environments according to claim 8, characterized in that: The driver circuit board is sprayed with three-proof paint.

10. A servo stepper motor control method capable of self-adapting to high and low temperature environments, applied to the servo stepper motor capable of self-adapting to high and low temperature environments as claimed in any one of claims 1 to 9, characterized in that: include: A temperature control unit filled with coolant is sleeved on the outside of the machine body; Temperature sensors are arranged inside and outside the machine body to measure the temperature information inside the machine body and the ambient temperature information respectively; The coolant temperature is adjusted according to the internal temperature information and the ambient temperature information.

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