CN104931079A - Device using incremental encoder to carry out absolute position detection and method thereof - Google Patents
Device using incremental encoder to carry out absolute position detection and method thereof Download PDFInfo
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- CN104931079A CN104931079A CN201510328995.9A CN201510328995A CN104931079A CN 104931079 A CN104931079 A CN 104931079A CN 201510328995 A CN201510328995 A CN 201510328995A CN 104931079 A CN104931079 A CN 104931079A
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Abstract
The invention discloses a device using an incremental encoder to carry out absolute position detection. The device comprises a motor. Both ends of the motor are electrically connected with a speed reducer and a power-off maintaining brake. The speed reducer is connected with an actuator. The power-off maintaining brake is connected with an incremental code disk. The incremental code disk is connected with a controller through a switching circuit. The controller is connected with an energy storage element. The energy storage element is connected with a system control power supply. The other end of the power-off maintaining brake is connected with a power supply through a drive circuit. A memory is arranged in the controller. The device provided by the invention has the advantages that the price is low, so that the material cost of an individual joint is reduced; the complexity of joint mechanical design is reduced; loss is prevented after a system is cut off; mechanical structure reset is not required by each time of power on; restart is carried out from the current position; and the initialization time of the system is shortened.
Description
Technical field
The present invention relates to the Accurate Position Control field that direct current generator rotates, specifically, relate to and a kind ofly apply the devices and methods therefor that incremental encoder carries out absolute position detection.
Background technology
Photoelectric coded disk can be divided into absolute position encoder and relative position scrambler according to way of output difference.Wherein, absolute position encoder exports corresponding coded data unique with electric machine rotation position, but its inner structure is complicated: adopt the absolute position encoder of parallel output to need a large amount of data lines, take volume large; Adopt the absolute position encoder of Serial output that corresponding communication protocol must be had to export the form of data with specification, code-disc internal circuit is complicated.Above-mentioned factor causes absolute position encoder cost higher than the cost of relative position scrambler.And relative position scrambler is also referred to as incremental encoder, only export and the corresponding number of pulses of electric machine rotation, inner structure is simple, and small volume is with low cost.But incremental encoder cannot remember absolute position, also need to carry out Zero positioning by the zero position switch of outside or limit switch, all need first to carry out rezero operation when each initialization of mechanical system.
The crucial rotary part of the robot product controlled needing high precision, as the cradle head etc. of micromanipulator, due to zero position switch or limit switch cannot be assembled by structural limitations, if adopt incremental encoder, cannot realize determining joint zero-bit, as adopted absolute position encoder, then cost is higher and export complicated.
So, develop one and can reduce Material Cost and design complexities, shorten the pick-up unit of initialization time simultaneously, just become the problem that insider needs solution badly.
Summary of the invention
For the above-mentioned technical matters in correlation technique, the present invention proposes a kind ofly to apply the device that incremental encoder carries out absolute position detection, can reduce Material Cost and design complexities, also shortens initialization time simultaneously.
For realizing above-mentioned technical purpose, technical scheme of the present invention is achieved in that
A kind ofly apply the device that incremental encoder carries out absolute position detection, comprise motor, described motor two ends are electrically connected with the speed reduction unit and power-off maintenance detent that match, described speed reduction unit is connected with topworks, described power-off keeps detent to be connected with increment type traying, described increment type traying is connected with controller by change-over circuit, and described controller is connected with energy-storage travelling wave tube, and described energy-storage travelling wave tube is connected with Systematical control power supply; Described power-off keeps the detent other end to be also connected with power power-supply by driving circuit, is also provided with storer in wherein said controller.
Further, described Systematical control power supply is all connected with described controller by voltage comparator with described energy-storage travelling wave tube.
Further, described motor is direct current generator, and described storer is flash memories.
Apply the method that incremental encoder carries out absolute position detection, comprise the steps:
Step one: according to the actual requirement of physical construction, determines the absolute origin position in joint;
Step 2: when not powering on, joint remains on absolute origin position transfixion, and motor keeps static under the effect of detent;
Step 3: after system electrification, the motor position Counter Value that controller is preserved obtain power-off last time from storer before, calculates position during motor power-off last time;
Step 4: under the driving of controller, power-off keeps releasing of brake machine shaft, and motor runs to new position from position during system electrification, and upgrades the value of motor position counter.
Further, when system cut-off, the pulse signal of the external interrupt voltage comparator of controller and the detection of controller link upwards saltus step, triggered interrupts program, is saved in up-to-date motor position Counter Value in storer.
Further, power-off keeps detent by motor locking after system cut-off, and position when motor remains on system cut-off is motionless.
Further, if system first time powers on, then the Counter Value in storer is 0, and motor is in absolute origin position.
Beneficial effect of the present invention: because increment type code-wheel realizes simple than absolute position encoder dish, price is lower, therefore can reduce the Material Cost in single joint; The zero-bit record of motor in the controller, corresponding zero position switch or limit switch can be assembled in joint, reduces the complexity of joint Machine Design; In storer due to the preservable controller in absolute position that motor is current, do not lose after system cut-off, do not need the reset carrying out physical construction when powering at every turn again, can restart from current location, therefore shorten the initialization time of system.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the apparatus structure schematic diagram that application incremental encoder according to the embodiment of the present invention carries out absolute position detection;
Fig. 2 is that the application incremental encoder according to the embodiment of the present invention carries out the voltage relationship change of the device of absolute position detection and the comparison diagram of voltage comparator output voltage variation diagram.
In figure:
1, motor; 2, speed reduction unit; 3, power-off keeps detent; 4, topworks; 5, increment type traying; 6, change-over circuit; 7, controller; 8, energy-storage travelling wave tube; 9, Systematical control power supply; 10, driving circuit; 11, power power-supply; 12, storer; 13, voltage comparator.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain, all belongs to the scope of protection of the invention.
As shown in Figure 1-2, a kind of according to the embodiment of the present invention applies the device that incremental encoder carries out absolute position detection, comprise motor 1, described motor 1 two ends are electrically connected with the speed reduction unit 2 and power-off maintenance detent 3 that match, described speed reduction unit 2 is connected with topworks 4, described power-off keeps detent 2 to be connected with increment type traying 5, described increment type traying 5 is connected with controller 7 by change-over circuit 6, described controller 7 is connected with energy-storage travelling wave tube 8, and described energy-storage travelling wave tube 8 is connected with Systematical control power supply 9; Described power-off keeps detent 2 other end to be also connected with power power-supply 11 by driving circuit 10, is also provided with storer 12 in wherein said controller 7.
In one embodiment, described Systematical control power supply 9 is all connected with described controller 7 by voltage comparator 13 with described energy-storage travelling wave tube 8.
In one embodiment, described motor 1 is direct current generator, and described storer 12 is flash memories.
Apply the method that incremental encoder carries out absolute position detection, comprise the steps:
Step one: according to the actual requirement of physical construction, determines the absolute origin position in joint;
Step 2: when not powering on, joint remains on absolute origin position transfixion, and motor keeps static under the effect of detent;
Step 3: after system electrification, the motor position Counter Value that controller is preserved obtain power-off last time from storer before, calculates position during motor power-off last time;
Step 4: under the driving of controller, power-off keeps releasing of brake machine shaft, and motor runs to new position from position during system electrification, and upgrades the value of motor position counter.
In one embodiment, when system cut-off, the pulse signal of the external interrupt voltage comparator of controller and the detection of controller link upwards saltus step, triggered interrupts program, is saved in up-to-date motor position Counter Value in storer.
In one embodiment, power-off keeps detent by motor locking after system cut-off, and position when motor remains on system cut-off is motionless.
In one embodiment, if system first time powers on, then the Counter Value in storer is 0, and motor is in absolute origin position.
Conveniently understand technique scheme of the present invention, below by way of in concrete use-pattern, technique scheme of the present invention is described in detail.
When specifically using, a kind ofly the devices and methods therefor that incremental encoder carries out absolute position detection is applied according to of the present invention, according to the actual requirement of physical construction, determine the absolute origin position in joint, when not powering on, joint remains on absolute origin position transfixion, and now motor keeps static under the effect of detent.
System electrification (comprising control system power supply and power power-supply), the motor position Counter Value that controller is preserved obtain power-off last time from storer before, calculates position during motor power-off last time; If system first time powers on, then the Counter Value in storer is 0, and motor is in absolute origin position;
For realizing certain action in this joint, under the driving of controller, power-off keeps releasing of brake machine shaft, motor runs to new position from position during system electrification, this rotation process is converted to continuous print pulse number by incremental encoder, superpose (Direction of superposition is determined by direction of motor rotation) with the motor position Counter Value of original inside, and upgrade the value of motor position counter.The value of new motor position counter represents the up-to-date turned position of drive motor.
When system cut-off, the pulse signal of the external interrupt voltage comparator of controller and the detection of controller link upwards saltus step, triggered interrupts program, is saved in storer by up-to-date motor position Counter Value; Power-off keeps detent by motor locking after system cut-off, and position when motor remains on system cut-off is motionless.
Wherein, according to Fig. 2:
T0 to t1: control system power supply exports normal, and the magnitude of voltage that E, F are 2 is identical, and the output voltage of voltage comparator is low level;
T1 to t2: in the t1 moment, control system power cut-off, the magnitude of voltage of F point declines rapidly, and the magnitude of voltage of the output E point of energy-storage travelling wave tube then can keep original magnitude of voltage constant; In the t2 moment, the magnitude of voltage of F point drops to less than 90% of primary voltage value, and now voltage comparator detects that the magnitude of voltage of E point is greater than the magnitude of voltage of F point, and voltage comparator exports high level, and trigger controller MCU execution parameter preserves action;
T2 to t3: within the time of this shorter, along with the release of the electric energy of energy-storage travelling wave tube, the magnitude of voltage of E point slowly declines, in the t3 moment, the magnitude of voltage of E point drops to less than 90% of primary voltage value, and now voltage comparator thinks that E point is identical with the voltage of F point, voltage comparator output low level; Time span between t2 to t3 is determined by charge value that energy-storage travelling wave tube is deposited;
After t3: the electric energy of energy-storage travelling wave tube thoroughly discharges complete, control system power-off, the detent action locking motor of motor, motor keeps stop state.
In sum, by means of technique scheme of the present invention, because increment type code-wheel realizes simple than absolute position encoder dish, price is lower, therefore can reduce the Material Cost in single joint; The zero-bit record of motor in the controller, corresponding zero position switch or limit switch can be assembled in joint, reduces the complexity of joint Machine Design; In storer due to the preservable controller in absolute position that motor is current, do not lose after system cut-off, do not need the reset carrying out physical construction when powering at every turn again, can restart from current location, therefore shorten the initialization time of system.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. apply the device that incremental encoder carries out absolute position detection for one kind, it is characterized in that, comprise motor (1), described motor (1) two ends are electrically connected with the speed reduction unit (2) and power-off maintenance detent (3) that match, described speed reduction unit (2) is connected with topworks (4), described power-off keeps detent (2) to be connected with increment type traying (5), described increment type traying (5) is connected with controller (7) by change-over circuit (6), described controller (7) is connected with energy-storage travelling wave tube (8), described energy-storage travelling wave tube (8) is connected with Systematical control power supply (9), described power-off keeps detent (2) other end to be also connected with power power-supply (11) by driving circuit (10), is also provided with storer (12) in wherein said controller (7).
2. application incremental encoder according to claim 1 carries out the device of absolute position detection, it is characterized in that, described Systematical control power supply (9) is all connected with described controller (7) by voltage comparator (13) with described energy-storage travelling wave tube (8).
3. application incremental encoder according to claim 1 carries out the device of absolute position detection, it is characterized in that, described motor (1) is direct current generator, and described storer (12) is flash memories.
4. apply the method that incremental encoder carries out absolute position detection, it is characterized in that, comprise the steps:
Step one: according to the actual requirement of physical construction, determines the absolute origin position in joint;
Step 2: when not powering on, joint remains on absolute origin position transfixion, and motor keeps static under the effect of detent;
Step 3: after system electrification, the motor position Counter Value that controller is preserved obtain power-off last time from storer before, calculates position during motor power-off last time;
Step 4: under the driving of controller, power-off keeps releasing of brake machine shaft, and motor runs to new position from position during system electrification, and upgrades the value of motor position counter.
5. application incremental encoder according to claim 4 carries out the method for absolute position detection, it is characterized in that, when system cut-off, the pulse signal of the external interrupt voltage comparator of controller and the detection of controller link upwards saltus step, triggered interrupts program, is saved in up-to-date motor position Counter Value in storer.
6. application incremental encoder according to claim 4 carries out the method for absolute position detection, it is characterized in that, power-off keeps detent by motor locking after system cut-off, and position when motor remains on system cut-off is motionless.
7. step 3 according to claim 4, is characterized in that, if system first time powers on, then the Counter Value in storer is 0, and motor is in absolute origin position.
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| CN107662220A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm and mechanical arm |
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| CN109737994A (en) * | 2019-01-07 | 2019-05-10 | 上海自动化仪表有限公司 | The multiple circles absolute value encoder and measurement method of MODBUS-RTU |
| CN111026171A (en) * | 2019-12-26 | 2020-04-17 | 苏州精濑光电有限公司 | Substrate macro inspection equipment and safety protection control device thereof |
| TWI702772B (en) * | 2019-12-03 | 2020-08-21 | 東元電機股份有限公司 | External electrically powered device applied for incremental encoder and power supplying method thereof |
| CN111693075A (en) * | 2020-07-09 | 2020-09-22 | 赛卓微电子(深圳)有限公司 | Method for outputting absolute position in incremental encoder IC |
| CN111736522A (en) * | 2019-03-25 | 2020-10-02 | 发那科株式会社 | Machine control device |
| CN112671278A (en) * | 2021-01-08 | 2021-04-16 | 中国船舶重工集团公司第七0七研究所 | Permanent magnet synchronous motor rotor magnetic field detection circuit and detection positioning method |
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| CN113517840A (en) * | 2021-08-11 | 2021-10-19 | 梁仁和 | Method for determining power-off position of encoder on motor and motor control system |
| CN114659544A (en) * | 2020-12-24 | 2022-06-24 | 沈阳新松机器人自动化股份有限公司 | Absolute position measuring method and device based on incremental encoder |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106182002A (en) * | 2016-07-29 | 2016-12-07 | 微创（上海）医疗机器人有限公司 | The control system of joint of mechanical arm and control method |
| CN106182002B (en) * | 2016-07-29 | 2018-10-16 | 微创（上海）医疗机器人有限公司 | The control system and control method of joint of mechanical arm |
| CN107662220A (en) * | 2017-07-12 | 2018-02-06 | 北京军立方机器人科技有限公司 | A kind of joint of mechanical arm and mechanical arm |
| CN108759876A (en) * | 2018-03-16 | 2018-11-06 | 江苏和正特种装备有限公司 | The origin position setting method of high-precision magnetic coder |
| CN109737994A (en) * | 2019-01-07 | 2019-05-10 | 上海自动化仪表有限公司 | The multiple circles absolute value encoder and measurement method of MODBUS-RTU |
| CN111736522A (en) * | 2019-03-25 | 2020-10-02 | 发那科株式会社 | Machine control device |
| CN111736522B (en) * | 2019-03-25 | 2024-04-16 | 发那科株式会社 | Control device for machine |
| TWI702772B (en) * | 2019-12-03 | 2020-08-21 | 東元電機股份有限公司 | External electrically powered device applied for incremental encoder and power supplying method thereof |
| CN111026171A (en) * | 2019-12-26 | 2020-04-17 | 苏州精濑光电有限公司 | Substrate macro inspection equipment and safety protection control device thereof |
| CN111026171B (en) * | 2019-12-26 | 2023-03-14 | 苏州精濑光电有限公司 | Substrate macro inspection equipment and safety protection control device thereof |
| CN111693075A (en) * | 2020-07-09 | 2020-09-22 | 赛卓微电子(深圳)有限公司 | Method for outputting absolute position in incremental encoder IC |
| CN111693075B (en) * | 2020-07-09 | 2022-05-06 | 赛卓微电子(深圳)有限公司 | Method for outputting absolute position in incremental encoder IC |
| CN114659544A (en) * | 2020-12-24 | 2022-06-24 | 沈阳新松机器人自动化股份有限公司 | Absolute position measuring method and device based on incremental encoder |
| CN112671278A (en) * | 2021-01-08 | 2021-04-16 | 中国船舶重工集团公司第七0七研究所 | Permanent magnet synchronous motor rotor magnetic field detection circuit and detection positioning method |
| CN112923840A (en) * | 2021-01-28 | 2021-06-08 | 明峰医疗系统股份有限公司 | Method for applying a relative encoder as an absolute encoder |
| CN113517840A (en) * | 2021-08-11 | 2021-10-19 | 梁仁和 | Method for determining power-off position of encoder on motor and motor control system |
| CN113517840B (en) * | 2021-08-11 | 2022-04-08 | 梁仁和 | Method for determining power-off position of encoder on motor and motor control system |
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