CN209877992U - Encoder for stepping motor - Google Patents
Encoder for stepping motor Download PDFInfo
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- CN209877992U CN209877992U CN201821550104.XU CN201821550104U CN209877992U CN 209877992 U CN209877992 U CN 209877992U CN 201821550104 U CN201821550104 U CN 201821550104U CN 209877992 U CN209877992 U CN 209877992U
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- motor
- encoder
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- 230000005693 optoelectronics Effects 0.000 claims abstract description 12
- HHXNVASVVVNNDG-UHFFFAOYSA-N 1,2,3,4,5-pentachloro-6-(2,3,6-trichlorophenyl)benzene Chemical compound ClC1=CC=C(Cl)C(C=2C(=C(Cl)C(Cl)=C(Cl)C=2Cl)Cl)=C1Cl HHXNVASVVVNNDG-UHFFFAOYSA-N 0.000 description 16
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000004043 responsiveness Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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- Control Of Stepping Motors (AREA)
Abstract
The utility model discloses an encoder for step motor, encoder for step motor includes: the bracket is detachably arranged on the stepping motor; the PCB is arranged on the bracket, a plurality of reflective optoelectronic devices and connectors are arranged on the PCB, and the connectors are connected with a controller of the stepping motor through a circuit; the reflective coded disc is connected with a rotating shaft of the stepping motor and is parallel to the PCB, a plurality of code channels are arranged on the reflective coded disc, and the code channels correspond to the reflective photoelectric devices on the PCB one by one. The utility model discloses make the encoder can discern the electric motor rotor position when the motor circular telegram to can accurate feedback to the driver, make its correct circular telegram for the motor.
Description
Technical Field
The utility model relates to an encoder, concretely relates to encoder for step motor.
Background
With the development of the automation industry, automatic control technology has been increasingly applied in various fields. And the servo control system taking the stepping motor as a control object is gradually applied to aspects of industrial production, scientific research, national defense and the like.
The stepping motor is a control motor for converting an electric pulse signal into angular displacement or linear displacement, is one of key products of mechatronics, and is a main execution element in a modern digital program control system. And the stepping motor has no position memory after power failure, and the power-on combination and sequence of the power lines are arbitrary during starting, so that the motor vibrates or reverses when being powered on, which is absolutely not allowed in certain high-precision motion occasions.
However, the following methods are mainly used to solve the power-on sequence of the encoder: 1. installing an absolute value encoder; 2. installing a pulse type encoder; 3. mounting a Hall element and the like; these implementations have more or less some drawbacks.
Absolute value encoders have the following disadvantages:
the cost is high: the stepping motor is generally applied to middle and low-end markets, and the absolute value encoder is too high in price and is not easy to accept;
the matching difficulty of the driver is high: because the stepping motor provided with the absolute value encoder can be controlled to operate by a corresponding driver, common manufacturers are difficult to develop the driver due to higher technical difficulty, and the application is also limited.
The impulse type encoder has the following disadvantages:
(1) code wheel is difficult to process, and is with high costs: because the number of pole pairs of the stepping motor is more (dozens of pairs), and the code disc of the encoder needs a line with the number of pole pairs which is the same as that of the motor, the code disc is difficult to process, and the similar code discs are rarely available in the market and need to be customized, so the price is higher;
(2) it is bulky, the step-by-step nothing of little frame: the integral framework of the pulse type encoder is larger, so that the required installation size is larger, and the pulse type encoder is not easy to realize on a small base.
The mounting of the hall element has the following disadvantages:
(1) the magnetic ring is difficult to magnetize, and the cost is high: because the number of pole pairs of the stepping motor is more (dozens of pairs), the number of pole pairs of a magnetic ring for generating a uvw signal in a Hall needs to have the same number of pole pairs as that of the motor, and the volume of the magnetic ring is small, the magnetic ring is difficult to magnetize, and the magnetic ring is rarely similar to the magnetic ring in the market and needs to be customized, so the price is higher;
(2) the hall has a hysteresis effect, so that a certain position response time difference exists when the motor is started, and the hall can not be applied to high-end application requiring high responsiveness.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve above-mentioned problem to a step motor is with encoder is provided.
In order to achieve the above purpose, the technical scheme of the utility model is as follows:
an encoder for a stepping motor, the encoder for a stepping motor comprising:
the bracket is detachably arranged on the stepping motor;
the PCB is arranged on the bracket, a plurality of reflective optoelectronic devices and connectors are arranged on the PCB, and the connectors are connected with a controller of the stepping motor through a circuit;
the reflective coded disc is connected with a rotating shaft of the stepping motor and is parallel to the PCB, a plurality of code channels are arranged on the reflective coded disc, and the code channels correspond to the reflective photoelectric devices on the PCB one by one.
In a preferred embodiment of the present invention, the PCB board is further provided with a resistance-capacitance element, and the resistance-capacitance element is connected to each reflective optoelectronic device.
In a preferred embodiment of the present invention, the bracket is circular, the bracket is provided with a mounting hole, one side of the bracket is provided with a placement groove, and the center of the bracket is provided with a first through hole.
In a preferred embodiment of the present invention, the PCB is circular, a plurality of reflective optoelectronic devices are respectively welded on the upper surface of the PCB, the connector is welded on the lower surface of the PCB and can be placed in the placement groove, the second through hole is provided in the middle of the PCB, and the rotating shaft of the stepping motor can sequentially pass through the first through hole and the second through hole to be connected with the reflective code wheel.
The utility model has the advantages that:
the utility model discloses make the encoder can discern the electric motor rotor position when the motor circular telegram to can accurate feedback to the driver, make its correct circular telegram for the motor.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is an exploded view of the present invention;
FIG. 3 is a graph of phase difference between phase A and phase B signals at 45 ° in relation to the back emf of the motor;
FIG. 4 is a graph of phase difference between the phase A signal and the phase B signal at 90 ° in relation to the back emf of the motor;
fig. 5 is a graph showing the relationship between the phase difference between the phase a signal and the phase B signal at 135 ° and the back electromotive force of the motor.
Detailed Description
In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand and understand, the present invention is further explained by combining with the specific drawings.
Referring to fig. 1 to 5, the present invention provides an encoder for a stepping motor, which includes a bracket 100, a PCB 200 and a reflective code wheel 300.
And a bracket 100 detachably mounted on the stepping motor for mounting the PCB 200.
The bracket 100 is embodied in a circular shape and is provided with a mounting hole 110 on the upper surface thereof, which is directly detachably mounted on the stepping motor through the mounting hole 110.
A mounting groove 120 is formed at one side of the bracket 100, a first through hole is formed at the center of the bracket 100, and a rotating shaft of the stepping motor can pass through the first through hole.
The PCB panel 200 is detachably mounted on the bracket 100, particularly by providing corresponding mounting holes 210 on the bracket 100, and then fixed by screws through the mounting holes.
The connector 220 is welded on the lower surface of the PCB 200, and the connector 220 is just embedded in the mounting groove 120 of the bracket 100, so that the mounting volume and the fixation of the docking connector 220 of the present application can be reduced.
A plurality of reflective optoelectronic devices 230 are welded on the upper surface of the PCB board 200, and the reflective optoelectronic devices 230 are used for matching with the reflective code disc 300.
The PCB 200 is also circular, and a second through hole is formed at the center thereof, and the rotation shaft of the stepping motor can sequentially pass through the first through hole and the second through hole.
And the reflective code wheel 300 is arranged on one side of the PCB 200 in parallel and is fixedly connected with a rotating shaft which sequentially penetrates through the bracket 100 and the PCB 200, and when the rotating shaft rotates, the reflective code wheel 300 can be driven to rotate together.
When the reflective code disc 300 rotates along with the rotating shaft, the reflective photoelectric device 230 can generate stable electric signals, then can generate an A-phase signal and a B-phase signal, then compares the phase difference of the generated A-phase signal and the generated B-phase signal with the counter potential of the motor, and sends the comparison result to a controller of the stepping motor, and the controller can correctly energize the stepping motor according to the comparison result.
Specifically, the PCB 200 may be provided with a resistance-capacitance element, the resistance-capacitance element is connected to each reflective optoelectronic device 230, and the resistance-capacitance element may output a stable electrical signal generated by the reflective optoelectronic device 230 into an a-phase signal and a B-phase signal.
The position of each reflective photoelectric device 230 on the PCB 200 determines the phase difference between the A-phase signal and the B-phase signal, specifically 45-135 °
The PCB 200 is provided with a comparison module or a zero setting device, the phase difference of each output group of A-phase signals and B-phase signals can be compared with the motor back electromotive force for realizing storage through the comparison module or the zero setting device, and the comparison result is stored.
The connector 220 on the PCB 200 may be connected to a controller of the motor through a line, the connector 220 may transmit the comparison result to the controller, and the controller may directly obtain the position of the rotor of the motor according to the comparison result, so as to determine the power-on sequence of the motor winding.
The specific working process of the application is as follows:
(1) the PCB 200 is arranged on the stepping motor through the bracket 100, and then the reflective code disc 300 is connected with the rotating shaft of the stepping motor and is parallel to the PCB 200;
(2) when the stepping motor works, the reflective code wheel 300 is driven to rotate clockwise or anticlockwise, and the reflective photoelectric device 230 on the PCB 200 generates a stable electric signal;
(3) then processing the electric signals to obtain an A-phase signal and a B-phase signal;
(4) and then comparing the obtained A-phase signal and B-phase signal with the counter electromotive force of the motor, and directly and accurately identifying the initial phase of the stepping motor.
When the reflective code wheel 300 rotates, the reflective optoelectronic device 230 on the PCB 200 induces a pulse waveform through the change of the code track on the reflective code wheel 300, and outputs a stable digital signal through circuit shaping, and then reads the code track information on the reflective code wheel 300 through the capacitance-resistance element on the PCB 200, and outputs an a-phase signal and a B-phase signal.
The position of each reflective photoelectric device 230 on the PCB 200 determines the phase difference between the A-phase signal and the B-phase signal, and the phase difference is 45-135 °
Referring to fig. 3 to 5, the phase difference between each output group of a-phase signals and B-phase signals corresponds to a unique group of counter electromotive force, and the total number of the groups is 4, wherein "Ea +, Eb +" represents a positive peak value of the counter electromotive force, "Ea-, Eb-" represents a negative peak value of the counter electromotive force, and "0" represents a zero-crossing point of the counter electromotive force, so that the initial phase of the stepping motor can be directly and accurately identified only by comparing each output group of a-phase signals and B-phase signals with the counter electromotive force of the motor.
The motor counter-electromotive force is an inherent characteristic of the motor, and when the motor rotates, a rotating magnetic field generated when a motor rotor rotates cuts a stator winding, so that the counter-electromotive force is generated in the stator winding.
The following is a table comparing the phase a and B signals with the motor back emf:
therefore, through the implementation of the method, no matter the stepping motor rotates forwards and backwards, the combination of each A signal and each A-phase signal uniquely corresponds to one group of counter electromotive force, so that the initial phase of the stepping motor is accurately identified, and when the stepping motor is electrified, the stepping motor is electrified correctly only according to the identified initial phase of the stepping motor, so that the vibration or the reverse rotation can be avoided, and the stable starting and running of the motor can be realized.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. An encoder for a stepping motor, characterized in that the encoder for a stepping motor comprises:
the support is detachably arranged on the stepping motor, is circular, is provided with a mounting hole, one side of the support is provided with a placement groove, and the center of the support is provided with a first through hole;
the PCB is arranged on the bracket, a plurality of reflective optoelectronic devices and connectors are arranged on the PCB, the connectors are connected with a controller of the stepping motor through a circuit, and the PCB is also provided with resistance-capacitance elements which are connected with the reflective optoelectronic devices;
the reflective coded disc is connected with a rotating shaft of the stepping motor and is parallel to the PCB, a plurality of code channels are arranged on the reflective coded disc and correspond to the reflective photoelectric devices on the PCB one by one,
the PCB is circular, a plurality of reflection-type optoelectronic devices are respectively welded on the upper surface of the PCB, the connectors are welded on the lower surface of the PCB and can be placed in the placement grooves, the middle of the PCB is provided with a second through hole, a rotating shaft of the stepping motor can sequentially penetrate through the first through hole and the second through hole to be connected with the reflection-type coded disc, and the PCB is provided with a comparison module or a zero setting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821550104.XU CN209877992U (en) | 2018-09-21 | 2018-09-21 | Encoder for stepping motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821550104.XU CN209877992U (en) | 2018-09-21 | 2018-09-21 | Encoder for stepping motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209877992U true CN209877992U (en) | 2019-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821550104.XU Active CN209877992U (en) | 2018-09-21 | 2018-09-21 | Encoder for stepping motor |
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| CN (1) | CN209877992U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113218426A (en) * | 2020-01-21 | 2021-08-06 | 上海雷智电机有限公司 | Code wheel support, grating assembly and optical encoder |
-
2018
- 2018-09-21 CN CN201821550104.XU patent/CN209877992U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113218426A (en) * | 2020-01-21 | 2021-08-06 | 上海雷智电机有限公司 | Code wheel support, grating assembly and optical encoder |
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