Closed-loop torque control device of stepping motor

Abstract

The utility model discloses a closed-loop torque control device of a stepping motor, which belongs to the technical field of stepping motors, and comprises a motor mechanism and a conduction mechanism, the motor mechanism is provided with a shell mechanism, the shell mechanism is provided with a shell cover mechanism used for protection and heat dissipation, and the conduction mechanism is provided with a shell cover. And the shell mechanism is also provided with a conduction mechanism. Through the arrangement of the motor mechanism, the shell mechanism, the shell cover mechanism and the detection mechanism, various functions of a driver, an encoder, a torque detector and the like are integrated, the size of the device is effectively reduced, the use flexibility of the device is improved, and through the arrangement of the shell mechanism, the conduction mechanism, the detection mechanism and the wiring mechanism, the reliability of the device is improved. Therefore, the detection mechanism can realize independent rotation while ensuring uninterruptible power supply, and the size and weight of a rotating part are effectively reduced, so that the load of a motor shaft is remarkably reduced, and the energy consumption of the motor is reduced.

Description

Technical Field

[0001] This utility model relates to the field of stepper motor technology, and in particular to a closed-loop torque control device for stepper motors. Background Technology

[0002] A stepper motor torque control mechanism is a mechanism that precisely adjusts the output torque of a motor by controlling the frequency, number, and sequence of input pulses. The driver changes the pulse parameters according to the controller's instructions, thereby changing the magnitude and direction of the current in the motor windings and generating different electromagnetic torques. This control method has advantages such as high precision, fast response, and good stability. It can achieve precise adjustment of motor torque and is widely used in automation equipment, robots, CNC machine tools, and other fields. It can meet different load and motion requirements and improve the operating efficiency and accuracy of equipment.

[0003] In existing stepper motor torque control technology, since it is necessary to monitor the torque of the stepper motor, a torque sensor is often installed on the motor shaft. However, most existing torque sensors are integrated, which integrates the sensing module, signal amplification module, analog-to-digital conversion module, etc. into a single housing and fixes this integrated sensor on the motor shaft. Because this sensing structure is large and heavy, it increases the motor load inertia, which slows down the motor's start-stop speed and acceleration process, and also increases the load on the motor shaft, shortening the motor's lifespan.

[0004] Therefore, there is an urgent need to provide a closed-loop torque control device for stepper motors to solve the above problems. Utility Model Content

[0005] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a closed-loop torque control device for stepper motors.

[0006] To solve the above-mentioned technical problems, the present invention provides a closed-loop torque control device for a stepper motor, comprising a motor mechanism and a transmission mechanism. The motor mechanism is provided with a housing mechanism, the housing mechanism is provided with a cover mechanism for protection and heat dissipation, and the housing mechanism is also provided with a transmission mechanism.

[0007] The outer shell mechanism is also equipped with a detection mechanism;

[0008] The external part of the testing mechanism is equipped with a wiring mechanism to protect the circuit and prevent loose connections.

[0009] The present invention is further configured such that: the motor mechanism includes a motor body, a motor shaft is provided on the inner side of the motor body, and keyways are provided at both ends of the motor shaft.

[0010] With the above technical solution, the motor body is a stepper motor, the motor shaft is a through-type, and the motor shaft will rotate when the motor body is started.

[0011] The present invention is further configured such that: the outer shell mechanism includes a connecting support foot mounted on the motor body, the top end of the connecting support foot is fixed with a housing, the inside of the housing is equipped with a control module, and the bottom end of the housing is equipped with a bearing.

[0012] Through the above technical solution, the housing is made of a metal material with high thermal conductivity, the connecting support feet are fixed to the motor body with screws, and the control module includes a signal amplifier, an analog-to-digital converter, an electronic board, a main chip, a driver chip, and an encoding chip.

[0013] The present invention is further configured such that: the cover mechanism includes a cover body installed on the housing, and the top of the cover body is provided with a plurality of heat sinks.

[0014] With the above technical solution, both the cover and the heat sink are made of metal with high thermal conductivity, and the cover and the heat sink are fixed as one piece, which can effectively increase the heat dissipation area of ​​the device and improve the heat dissipation efficiency.

[0015] The present invention is further configured such that: the transmission mechanism includes an insulating frame fixed on the housing, an insulating disk is fixed at the bottom end of the insulating frame, and a wire harness is connected to the insulating disk.

[0016] With the above technical solution, the insulating disk is circular, and one end of the wire harness is electrically connected to the control module.

[0017] The present invention is further configured such that: a plurality of annular grooves are formed on the insulating disk, and annular conductive sheets are embedded inside the annular grooves.

[0018] Through the above technical solution, multiple annular grooves are concentric, with their centers located on the extension line of the central axis of the motor shaft, and multiple annular conductive sheets are electrically connected to each individual wire in the wire harness.

[0019] The present invention is further configured such that: the detection mechanism includes a connecting shaft mounted on a bearing, a connecting sleeve is fixed at the bottom end of the connecting shaft, a connecting groove is provided on the connecting sleeve, a strain gauge is provided on the outside of the connecting sleeve, and multiple wires are connected to one side of the strain gauge.

[0020] With the above technical solution, the connecting shaft is welded and fixed to the inner ring of the bearing, and it can rotate relative to the housing. The motor shaft can be inserted into the connecting sleeve through the connecting groove. When the motor shaft rotates, the connecting sleeve will also rotate. When the connecting sleeve rotates, it will produce different degrees of elastic deformation according to the output torque of the motor mechanism. The strain gauge will deform together with the connecting sleeve, and its resistance value will also change accordingly.

[0021] The present invention is further configured such that: the wiring mechanism includes a wiring plate fixed on the connecting sleeve, the inner side of the wiring plate is provided with a plurality of wiring grooves, the top end of the wiring groove is installed with a spring, and the top end of the spring is connected to a conductive terminal.

[0022] With the above technical solution, the wiring board is made of insulating material, and multiple wires pass through each wiring groove. The ends of the wires are connected to springs, and the conductive terminals are pressed on the annular conductive sheet inside the annular groove. This allows the electrical signal of the strain gauge to be transmitted to the control module. When the motor shaft drives the connecting sleeve to rotate, the conductive terminals can rotate in the annular groove and always contact the annular conductive sheet. This allows the detection mechanism to rotate relative to the housing and the control module, and ensures that the electrical signal of the strain gauge is transmitted normally during rotation. The springs ensure that the conductive terminals always contact the annular conductive sheet, preventing the conductive terminals from having intermittent connections due to wear or unevenness of the annular groove.

[0023] The beneficial effects of this utility model are as follows:

[0024] 1. This utility model integrates various functions such as driver, encoder and torque detector through the setting of motor mechanism, housing mechanism, cover mechanism and detection mechanism, effectively reducing the size of the device and improving the flexibility of use of the device;

[0025] 2. By setting up a housing mechanism, a transmission mechanism, a detection mechanism, and a wiring mechanism, this utility model enables the detection mechanism to rotate independently while ensuring uninterrupted power supply, effectively reducing the volume and weight of the rotating parts, thereby significantly reducing the load on the motor shaft and helping to reduce the energy consumption of the motor. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0027] Figure 2 This is a structural diagram of the motor mechanism of this utility model;

[0028] Figure 3 This is a structural diagram of the outer shell mechanism of this utility model;

[0029] Figure 4 This is a structural diagram of the transmission mechanism of this utility model;

[0030] Figure 5 This is a structural diagram of the testing mechanism of this utility model;

[0031] Figure 6 This is a structural diagram of the wiring mechanism of this utility model;

[0032] Figure 7 for Figure 6 Enlarged view of point A in the middle.

[0033] In the diagram: 1. Motor mechanism; 101. Motor body; 102. Motor shaft; 103. Keyway; 2. Housing mechanism; 201. Connecting support; 202. Housing; 203. Control module; 204. Bearing; 3. Cover mechanism; 301. Cover; 302. Heat sink; 4. Conducting mechanism; 401. Insulating frame; 402. Insulating disc; 403. Wire harness; 404. Annular groove; 405. Annular conductive sheet; 5. Detection mechanism; 501. Connecting shaft; 502. Connecting sleeve; 503. Connecting groove; 504. Strain gauge; 505. Wire; 6. Wiring mechanism; 601. Wiring board; 602. Wiring groove; 603. Spring; 604. Conductive terminal. Detailed Implementation

[0034] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0035] Please see Figures 1-7 A closed-loop torque control device for a stepper motor includes a motor mechanism 1 and a transmission mechanism 4. The motor mechanism 1 includes a motor body 101, a motor shaft 102 is provided on the inner side of the motor body 101, and keyways 103 are provided at both ends of the motor shaft 102. The motor body 101 is a stepper motor, and the motor shaft 102 is a through-type motor. When the motor body 101 is started, the motor shaft 102 will rotate. The motor mechanism 1 is provided with a housing mechanism 2, which includes a connecting support leg 201 installed on the motor body 101. The top of the connecting support leg 201 is fixed with a housing 202. A control module 203 is installed inside the housing 202. A bearing 204 is installed at the bottom of the housing 202. The housing 202 is made of a metal material with high thermal conductivity. The connecting support leg 201 is fixed to the motor body 101 with screws. The control module 203 includes a signal amplifier, an analog-to-digital converter, an electronic board, a main chip, a driver chip, and an encoding chip.

[0036] like Figure 1 and Figure 4As shown, the outer casing mechanism 2 is provided with a cover mechanism 3 for protection and heat dissipation. The cover mechanism 3 includes a cover body 301 mounted on the casing 202. The top of the cover body 301 is provided with multiple heat dissipation fins 302. Both the cover body 301 and the heat dissipation fins 302 are made of metal with high thermal conductivity, and the cover body 301 and the heat dissipation fins 302 are integrally fixed, which can effectively increase the heat dissipation area of ​​the device and improve the heat dissipation efficiency. The outer casing mechanism 2 is also provided with a conduction mechanism 4, which includes an insulating frame fixed on the casing 202. 401. An insulating disk 402 is fixed to the bottom of the insulating frame 401. A wire harness 403 is connected to the insulating disk 402. Multiple annular grooves 404 are formed on the insulating disk 402. Annular conductive sheets 405 are embedded inside the annular grooves 404. The insulating disk 402 is circular. One end of the wire harness 403 is electrically connected to the control module 203. The multiple annular grooves 404 are concentric, and their centers are located on the extension line of the central axis of the motor shaft 102. The multiple annular conductive sheets 405 are electrically connected to each single wire in the wire harness 403.

[0037] like Figure 1 and Figure 5 As shown, the outer casing 2 is also equipped with a detection mechanism 5. The detection mechanism 5 includes a connecting shaft 501 mounted on the bearing 204. A connecting sleeve 502 is fixed at the bottom end of the connecting shaft 501. A connecting groove 503 is provided on the connecting sleeve 502. A strain gauge 504 is provided on the outside of the connecting sleeve 502. Multiple wires 505 are connected to one side of the strain gauge 504. The connecting shaft 501 is welded and fixed to the inner ring of the bearing 204. It can rotate relative to the outer casing 202. The motor shaft 102 can be inserted into the connecting sleeve 502 through the connecting groove 503. When the motor shaft 102 rotates, the connecting sleeve 502 will also rotate. When the connecting sleeve 502 rotates, it will produce different degrees of elastic deformation according to the output torque of the motor mechanism 1. The strain gauge 504 will deform together with the connecting sleeve 502, and its resistance value will also change accordingly.

[0038] like Figure 1 , Figure 6 and Figure 7As shown, the external part of the detection mechanism 5 is equipped with a wiring mechanism 6 for protecting the circuit and preventing loose connections. The wiring mechanism 6 includes a wiring plate 601 fixed to the connecting sleeve 502. Multiple wiring grooves 602 are formed on the inner side of the wiring plate 601. A spring 603 is installed at the top of the wiring groove 602. A conductive terminal 604 is connected to the top of the spring 603. The wiring plate 601 is made of insulating material. Multiple wires 505 pass through each wiring groove 602, and the ends of the wires 505 are connected to the springs 603. The conductive terminal 604 is pressed against the annular conductive sheet 405 inside the annular groove 404. This allows the electrical signal of the strain gauge 504 to be transmitted to the control module 203. When the motor shaft 102 drives the connecting sleeve 502 to rotate, the conductive terminal 604 can rotate in the annular groove 404 and always contact the annular conductive sheet 405. This allows the detection mechanism 5 to rotate relative to the housing 202 and the control module 203, and ensures that the electrical signal of the strain gauge 504 is transmitted normally during rotation. The spring 603 ensures that the conductive terminal 604 always contacts the annular conductive sheet 405, preventing the conductive terminal 604 from having a poor connection due to wear and unevenness of the annular groove 404.

[0039] When this utility model is in use, when the motor body 101 starts, the motor shaft 102 drives the connecting sleeve 502 to rotate. At this time, the strain gauge 504 can generate electrical signals of different intensities according to the torque of the motor body 101, and transmit the electrical signals to the control module 203 through the wiring mechanism 6 and the transmission mechanism 4. The signal amplifier in the control module 203 can amplify the electrical signals of the strain gauge 504, and then convert the electrical signals into torque data through the analog-to-digital converter and the encoding chip. The main chip can compare the measured data with the target value, and then adjust the signal output to the drive chip according to the deviation. The drive chip then changes the input current of the motor body 101 to realize closed-loop torque control.

[0040] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A closed loop torque control device for a stepper motor comprising a motor mechanism (1) and a conducting mechanism (4), characterized in that: The motor mechanism (1) is provided with a shell mechanism (2), the shell mechanism (2) is provided with a shell cover mechanism (3) for protection and heat dissipation, and the shell mechanism (2) is further provided with a conduction mechanism (4); The shell mechanism (2) is further provided with a detection mechanism (5); The detection mechanism (5) is provided with a wiring mechanism (6) outside for protecting the line and preventing the line from being virtually connected.

2. The closed loop torque control device for a stepper motor according to claim 1, wherein: The motor mechanism (1) comprises a motor body (101), the inner side of the motor body (101) is provided with a motor shaft (102), and the both ends of the motor shaft (102) are provided with key grooves (103).

3. The closed loop torque control apparatus for a stepper motor according to claim 2, wherein: The shell mechanism (2) comprises a connecting support leg (201) mounted on the motor body (101), the top end of the connecting support leg (201) is fixedly provided with a shell (202), the inside of the shell (202) is mounted with a control module (203), and the bottom end of the shell (202) is mounted with a bearing (204).

4. The closed loop torque control apparatus for a stepping motor according to claim 3, wherein: The shell cover mechanism (3) comprises a cover body (301) mounted on the shell (202), and the top end of the cover body (301) is provided with a plurality of heat dissipation fins (302).

5. The closed loop torque control apparatus for a stepping motor according to claim 3, wherein: The conduction mechanism (4) comprises an insulating frame (401) fixed to the shell (202), the bottom end of the insulating frame (401) is fixedly provided with an insulating disc (402), and the insulating disc (402) is connected with a wire harness (403).

6. A closed loop torque control apparatus for a stepper motor as claimed in claim 5, wherein: A plurality of annular grooves (404) are formed in the insulating disc (402), and the annular grooves (404) are inlaid with annular conductive sheets (405).

7. The closed loop torque control apparatus for a stepping motor according to claim 3, wherein: The detection mechanism (5) comprises a connecting shaft (501) mounted on the bearing (204), the bottom end of the connecting shaft (501) is fixedly provided with a connecting sleeve (502), the connecting sleeve (502) is provided with a connecting groove (503), the outside of the connecting sleeve (502) is provided with a strain sheet (504), and one side of the strain sheet (504) is connected with a plurality of lead wires (505).

8. The closed loop torque control apparatus for a stepper motor according to claim 7, wherein: The wiring mechanism (6) comprises a wiring board (601) fixed to the connecting sleeve (502), a plurality of wiring grooves (602) are formed in the inner side of the wiring board (601), springs (603) are mounted at the top end of the wiring grooves (602), and the top end of the spring (603) is connected with a conductive terminal (604).

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