Feedback device and feedback method of linear steering engine

Abstract

The invention provides a feedback device of a linear steering engine, and the feedback device comprises two magnets which are respectively arranged on a driven gear and a reduction gear; the two magnetic rotary encoders are in magnetic connection with the two magnets, and the two magnetic rotary encoders can measure the rotation angles of the two magnets after the two magnets rotate by at least one time of the number of turns of the whole circle; the controller is electrically connected with the two magnetic rotary encoders, the controller can calculate the number of rotation turns of the driven gear and the number of rotation turns of the reduction gear according to the rotation angles of the two magnets, and the position of the displacement end of the lead screw module is obtained according to the number of rotation turns of the driven gear and the rotation angles of the driven gear. Or the position of the displacement end of the lead screw module is obtained according to the number of rotation turns of the reduction gear and the rotation angle of the reduction gear; compared with an existing feedback device, the feedback device is simple in structure, small in size, small in occupied space in use, low in price and easy to implement.

Description

Technical Field

[0001] The present invention belongs to the technical field of steering gears, and more specifically, relates to a feedback device and a feedback method of a linear steering gear. Background Art

[0002] With the continuous development of industrial automation, the application scope of linear servos is becoming increasingly wide, and the demand for them in military and civilian applications is increasing.

[0003] As a commonly used actuator in servo mechanisms, linear servos play an important role in industrial equipment. Traditional linear servos require position feedback through linear potentiometers, which are costly and large in size, and are easily limited by space during installation. Summary of the invention

[0004] The purpose of the present invention is to provide a feedback device and feedback method for a linear servo in view of the deficiencies in the existing technology, so as to solve the problem that the traditional linear servo proposed in the above background technology needs to use a linear potentiometer for position feedback, which is costly and large in size.

[0005] In order to achieve the above-mentioned object, the present invention provides a feedback device of a linear servo, which is used to feedback the position of the displacement end of the screw module of the linear servo, wherein the linear servo comprises a driving motor, a screw module, a driving gear, a driven gear and a reduction gear, wherein the output end of the driving motor and the screw of the screw module are respectively connected to the driving gear and the driven gear, the reduction gear is arranged between the driving gear and the driven gear, and the driving gear and the driven gear are both meshed and connected with the reduction gear, and the feedback device comprises:

[0006] Two magnets, the two magnets are respectively arranged on the driven gear and the reduction gear;

[0007] Two magnetic rotary encoders, the two magnetic rotary encoders are magnetically connected to the two magnets, and the two magnetic rotary encoders are respectively capable of measuring the rotation angle beyond at least one times the number of revolutions of the two magnets;

[0008] A controller is electrically connected to the two magnetic rotary encoders, and the controller can calculate the number of rotations of the driven gear and the number of rotations of the reduction gear according to the rotation angles of the two magnets, and obtain the position of the displacement end of the screw module according to the number of rotations of the driven gear and the rotation angle of the driven gear, or obtain the position of the displacement end of the screw module according to the number of rotations of the reduction gear and the rotation angle of the reduction gear.

[0009] Preferably, the controller and the magnetic rotary encoder are connected via an SPI / / IIC interface.

[0010] Preferably, the magnetic rotary encoder is powered by +5VD, and the controller is powered by +3.3VD.

[0011] Preferably, the magnet is circular, and the two magnets are respectively arranged concentrically with the driven gear and the reduction gear.

[0012] Preferably, the controller is an MCU.

[0013] Preferably, the two magnetic rotary encoders and the controller are both arranged on the body of the linear servo.

[0014] A linear servo feedback method, using a linear servo feedback device, comprises:

[0015] Measuring the rotation angle of the two magnets after at least one full rotation;

[0016] Calculating the number of rotations of the driven gear and the number of rotations of the reduction gear according to the rotation angles of the two magnets;

[0017] The position of the displacement end of the screw module is obtained according to the number of rotations of the driven gear and the rotation angle of the driven gear, or the position of the displacement end of the screw module is obtained according to the number of rotations of the reduction gear and the rotation angle of the reduction gear.

[0018] Preferably, the number of rotations of the driven gear and the number of rotations of the reduction gear are calculated according to the rotation angles of the two magnets, including:

[0019] The number of revolutions n of the driven gear and the number of revolutions n of the reduction gear are calculated using the following formula;

[0020] L=(2πn+α)D1=(2πn+β)D2

[0021] Where D1: radius of the driven gear;

[0022] D2: The radius of the reduction gear, D1 is not equal to D2;

[0023] α: The rotation angle after the driven gear rotates at least one full circle;

[0024] β: The rotation angle after the reduction gear rotates at least one full circle;

[0025] L: The length of the driven gear rotation or the length of the reduction gear rotation. The length of the driven gear rotation is equal to the length of the reduction gear rotation.

[0026] Preferably, obtaining the position of the displacement end of the lead screw module according to the number of rotations of the driven gear and the rotation angle of the driven gear comprises:

[0027] Use the following formula to calculate the length S of the displacement end output of the lead screw module;

[0028]

[0029] Where k is the length of the lead screw.

[0030] Preferably, obtaining the position of the displacement end of the lead screw module according to the number of rotations of the reduction gear and the rotation angle of the reduction gear comprises:

[0031] Use the following formula to calculate the length S of the displacement end output of the lead screw module;

[0032]

[0033] Where k is the length of the lead screw.

[0034] The present invention provides a feedback device of a linear servo and a linear servo, and the beneficial effects are as follows: two magnets of the feedback device are respectively arranged on a driven gear and a reduction gear, two magnetic rotary encoders can respectively measure the rotation angles beyond at least one times of the rotation of the two magnets as a full circle, so as to obtain the rotation angle of the driven gear and the rotation angle of the reduction gear, a controller can obtain the number of rotations of the driven gear and the reduction gear according to the two rotation angles, so as to obtain the position of the displacement end of the lead screw module according to the number of rotations of the driven gear and the rotation angle of the driven gear, or obtain the position of the displacement end of the lead screw module according to the number of rotations of the reduction gear and the rotation angle of the reduction gear, because the feedback device adopts two magnets, a driven gear, a reduction gear, and two magnetic rotary encoders to realize the position feedback of the linear servo, compared with the existing feedback device, the structure is simple and the volume is small, the space occupied when in use is relatively small, and the price is low and it is easy to realize.

[0035] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0037] Figure 1 A flow chart of a feedback device for a linear servo according to an embodiment of the present invention is shown;

[0038] Figure 2A block diagram of a feedback device for a linear servo according to an embodiment of the present invention is shown.

[0039] Description of reference numerals:

[0040] 1. Controller; 2. Magnetic rotary encoder; 3. Magnet; 4. Driven gear; 5. Reduction gear. DETAILED DESCRIPTION

[0041] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0042] like Figure 2 As shown, the present invention provides a feedback device for a linear servo, which is used to feedback the position of the displacement end of the screw module of the linear servo. The linear servo includes a driving motor, a screw module, a driving gear, a driven gear 4 and a reduction gear 5. The output end of the driving motor and the screw of the screw module are respectively connected to the driving gear and the driven gear 4. The reduction gear 5 is arranged between the driving gear and the driven gear 4. The driving gear and the driven gear 4 are both meshed and connected with the reduction gear 5. The feedback device includes:

[0043] Two magnets 3, the two magnets 3 are respectively arranged on the driven gear 4 and the reduction gear 5;

[0044] Two magnetic rotary encoders 2, the two magnetic rotary encoders 2 are magnetically connected to the two magnets 3, and the two magnetic rotary encoders 2 can respectively measure the rotation angle beyond at least one times of the rotation of the two magnets 3;

[0045] Controller 1 is electrically connected to two magnetic rotary encoders 2. Controller 1 can calculate the number of rotations of the driven gear 4 and the number of rotations of the reduction gear 5 according to the rotation angles of the two magnets 3, and obtain the position of the displacement end of the screw module according to the number of rotations of the driven gear 4 and the rotation angle of the driven gear 4, or obtain the position of the displacement end of the screw module according to the number of rotations of the reduction gear 5 and the rotation angle of the reduction gear 5.

[0046] Specifically, in order to solve the problem that the traditional linear servo needs to use a linear potentiometer for position feedback, which is costly and large in size, the present invention provides a feedback device for a linear servo, wherein two magnets 3 of the feedback device are respectively arranged on a driven gear 4 and a reduction gear 5, and two magnetic rotary encoders 2 can respectively measure the rotation angles beyond at least one times the number of revolutions of the two magnets 3 to obtain the rotation angles of the driven gear 4 and the reduction gear 5, and the controller 1 can obtain the number of revolutions of the driven gear 4 and the reduction gear 5 according to the two rotation angles, so as to obtain the current position of the displacement end of the lead screw module according to the number of revolutions of the driven gear 4 and the rotation angle of the driven gear 4, or obtain the position of the displacement end of the lead screw module according to the number of revolutions of the driven gear 4 and the rotation angle of the driven gear 4, or obtain the position of the displacement end of the lead screw module according to the number of revolutions of the reduction gear 5 and the rotation angle of the reduction gear 5. Since the feedback device adopts two magnets 3, a driven gear 4, a reduction gear 5, and two magnetic rotary encoders 2, the position feedback of the linear servo can be realized, and compared with the existing feedback device, it is optimized, so that the feedback device has a simple structure and a small size, occupies a relatively small space when in use, and is low in price and easy to realize.

[0047] Preferably, the controller 1 and the magnetic rotary encoder 2 are connected via an SPI / / IIC interface.

[0048] Specifically, the controller 1 and the magnetic rotary encoder 2 realize zero position calibration and position reading through the SPI / / IIC interface. The zero position of the magnet 3 does not need to be mechanically aligned, and the zero position calibration can be realized through programming.

[0049] Preferably, the magnetic rotary encoder 2 is powered by +5VD, and the controller 1 is powered by +3.3VD.

[0050] Preferably, the magnet 3 is circular, and two magnets 3 are respectively arranged concentrically with the driven gear 4 and the reduction gear 5 .

[0051] Specifically, the two magnets 3 are respectively arranged concentrically with the driven gear 4 and the reduction gear 5 to detect the rotation angle of the driven gear 4 and the rotation angle of the reduction gear 5 .

[0052] Preferably, the controller 1 is an MCU.

[0053] Specifically, the feedback device uses MCU as a digital signal processor.

[0054] Preferably, the two magnetic rotary encoders 2 and the controller 1 are both arranged on the body of the linear servo.

[0055] Specifically, by optimizing the feedback device of the existing linear servo, the volume can be reduced and the cost can be lowered. At the same time, the controller 1, the magnetic rotary encoder 2 and the body of the linear servo can be integrated to achieve optimization and upgrading of the linear servo.

[0056] like Figure 1 As shown, a feedback method of a linear servo, using a feedback device of the linear servo, comprises:

[0057] The rotation angles of the two magnets 3 are measured after the two magnets 3 rotate at least one time of a full circle.

[0058] The number of rotations of the driven gear 4 and the number of rotations of the reduction gear 5 are calculated according to the rotation angles of the two magnets 3;

[0059] The position of the displacement end of the lead screw module is obtained according to the number of rotations of the driven gear 4 and the rotation angle of the driven gear 4 , or the position of the displacement end of the lead screw module is obtained according to the number of rotations of the reduction gear 5 and the rotation angle of the reduction gear 5 .

[0060] Specifically, the rotation angle of the two magnets 3 is measured by the magnetic rotary encoder 2, and the number of rotations of the driven gear 4 and the number of rotations of the reduction gear 5 can be obtained. For each rotation of the driven gear 4 or the reduction gear 5, the lead screw in the linear servo will advance a certain distance. Therefore, the magnetic rotary encoder 2 can be used to measure the current position of the displacement end of the linear servo.

[0061] Preferably, the number of rotations of the driven gear 4 and the number of rotations of the reduction gear 5 are calculated according to the rotation angles of the two magnets 3, including:

[0062] The number of revolutions n of the driven gear 4 and the number of revolutions n of the reduction gear 5 are calculated using the following formula;

[0063] L=(2πn+α)D1=(2πn+β)D2

[0064] Where D1: radius of driven gear 4;

[0065] D2: The radius of the reduction gear 5, D1 is not equal to D2;

[0066] α: the rotation angle after the driven gear 4 rotates at least one full circle;

[0067] β: the rotation angle after the reduction gear 5 rotates at least one full circle;

[0068] L: The length of rotation of the driven gear 4 or the length of rotation of the reduction gear 5. The length of rotation of the driven gear 4 is equal to the length of rotation of the reduction gear 5.

[0069] Specifically, the driven gear diameter D1=m1z1, the reduction gear diameter D2=n1*z2, wherein m1 and n1 are the number of teeth, and z is the module. The length of rotation of the driven gear 4 is the same as the length of rotation of the reduction gear 5. Assuming that the output length of the linear servo is L, m and n are the number of rotations of the driven gear 4 and the reduction gear 5 respectively, then the length of rotation of the driven gear 4 is L=(2πn+α)D1, and the length of rotation of the reduction gear 5 is L=(2πn+β)D2; when m=n, and α and β can be obtained through the magnetic rotary encoder, D1 and D2 are known, so the number of rotations can be obtained, that is, the length L of the gear rotation can be calculated, and the length of the linear servo output can also be calculated.

[0070] The number of rotations can be obtained by (2πn+α)D1=(2πn+β)D2

[0071] Preferably, obtaining the position of the displacement end of the lead screw module according to the number of rotations of the driven gear 4 and the rotation angle of the driven gear 4 includes:

[0072] Use the following formula to calculate the length S of the displacement end output of the lead screw module;

[0073]

[0074] Where k is the length of the lead screw.

[0075] Preferably, the position of the displacement end of the lead screw module is obtained according to the number of rotations of the reduction gear 5 and the rotation angle of the reduction gear 5, including:

[0076] Use the following formula to calculate the length S of the displacement end output of the lead screw module;

[0077]

[0078] Where k is the length of the lead screw.

[0079] In summary, when the feedback method of the linear servo of the present invention is implemented using the feedback device of the linear servo, the two magnetic rotary encoders 2 can respectively measure the rotation angle of the two magnets 3 beyond at least one full circle, so as to obtain the rotation angle of the driven gear 4 and the rotation angle of the reduction gear 5. The controller 1 can obtain the number of rotations of the driven gear 4 and the reduction gear 5 according to the two rotation angles, so as to obtain the position of the displacement end of the lead screw module according to the number of rotations of the driven gear 4 and the rotation angle of the driven gear 4, or obtain the position of the displacement end of the lead screw module according to the number of rotations of the driven gear 4 and the rotation angle of the driven gear 4, or obtain the position of the displacement end of the lead screw module according to the number of rotations of the reduction gear 5 and the rotation angle of the reduction gear 5. Since the feedback device adopts two magnets 3, the driven gear 4, the reduction gear, and two magnetic rotary encoders 2, the position feedback of the linear servo can be realized. Compared with the existing feedback device, the structure is simple and the size is small, and the space occupied when in use is relatively small. Moreover, the price is low and it is easy to implement.

[0080] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A feedback device for a linear servo, used for feeding back the position of the displacement end of a screw module of the linear servo, the linear servo comprising a driving motor, a screw module, a driving gear, a driven gear and a reduction gear, the output end of the driving motor and the screw of the screw module are respectively connected to the driving gear and the driven gear, the reduction gear is arranged between the driving gear and the driven gear, the driving gear and the driven gear are both meshed and connected with the reduction gear, characterized in that: The feedback device comprises: Two magnets, the two magnets are respectively arranged on the driven gear and the reduction gear; Two magnetic rotary encoders, the two magnetic rotary encoders are magnetically connected to the two magnets, and the two magnetic rotary encoders are respectively capable of measuring the rotation angle beyond at least one times the number of revolutions of the two magnets; A controller is electrically connected to the two magnetic rotary encoders, and the controller can calculate the number of rotations of the driven gear and the number of rotations of the reduction gear according to the rotation angles of the two magnets, and obtain the position of the displacement end of the screw module according to the number of rotations of the driven gear and the rotation angle of the driven gear, or obtain the position of the displacement end of the screw module according to the number of rotations of the reduction gear and the rotation angle of the reduction gear.

2. A linear servo feedback device according to claim 1, characterized in that: The controller and the magnetic rotary encoder are connected via an SPI / / IIC interface.

3. The feedback device of a linear servo according to claim 1, characterized in that: The magnetic rotary encoder is powered by +5VD and the controller is powered by +3.3VD.

4. The feedback device of a linear servo according to claim 1, characterized in that: The magnet is circular, and the two magnets are respectively arranged concentrically with the driven gear and the reduction gear.

5. The feedback device of a linear servo according to claim 1, characterized in that: The controller is MCU.

6. The feedback device of a linear servo according to claim 1, characterized in that: The two magnetic rotary encoders and the controller are both arranged on the body of the linear servo.

7. A linear servo feedback method, using the linear servo feedback device according to any one of claims 1 to 6, characterized in that: include: Measuring the rotation angle of the two magnets after at least one full rotation; Calculating the number of rotations of the driven gear and the number of rotations of the reduction gear according to the rotation angles of the two magnets; The position of the displacement end of the screw module is obtained according to the number of rotations of the driven gear and the rotation angle of the driven gear, or the position of the displacement end of the screw module is obtained according to the number of rotations of the reduction gear and the rotation angle of the reduction gear.

8. The linear servo feedback method according to claim 7, characterized in that: Calculating the number of rotations of the driven gear and the number of rotations of the reduction gear according to the rotation angles of the two magnets includes: The number of revolutions n of the driven gear and the number of revolutions n of the reduction gear are calculated using the following formula; L=(2πn+α)D1=(2πn+β)D2 Where D1: radius of the driven gear; D2: The radius of the reduction gear, D1 is not equal to D2; α: The rotation angle after the driven gear rotates at least one full circle; β: The rotation angle after the reduction gear rotates at least one full circle; L: The length of the driven gear rotation or the length of the reduction gear rotation. The length of the driven gear rotation is equal to the length of the reduction gear rotation.

9. The linear servo feedback method according to claim 8, characterized in that: Obtaining the position of the displacement end of the lead screw module according to the number of rotations of the driven gear and the rotation angle of the driven gear, including: Use the following formula to calculate the length S of the displacement end output of the lead screw module; Where k is the length of the lead screw.

10. The linear actuator feedback method according to claim 8, characterized in that: The position of the displacement end of the lead screw module is obtained according to the number of rotations of the reduction gear and the rotation angle of the reduction gear, including: Use the following formula to calculate the length S of the displacement end output of the lead screw module; Where k is the length of the lead screw.

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