CN109059990B - Motor self-rotation encoder detection and correction equipment and method - Google Patents
Motor self-rotation encoder detection and correction equipment and method Download PDFInfo
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- CN109059990B CN109059990B CN201810868226.1A CN201810868226A CN109059990B CN 109059990 B CN109059990 B CN 109059990B CN 201810868226 A CN201810868226 A CN 201810868226A CN 109059990 B CN109059990 B CN 109059990B
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Abstract
The invention provides a motor self-rotating encoder detection and correction device and a motor self-rotating encoder detection and correction method, and relates to the technical field of encoder detection. The detection and correction device and method for the encoder with the self-rotation motor have the advantages of simple structure, stable operation, no need of disassembly, direct correction, high accuracy and suitability for correction work of various encoders.
Description
Technical Field
The invention relates to the technical field of encoder detection,
In particular, the invention relates to a motor self-rotating encoder detection correction apparatus and method.
Background
The encoder is a device for converting angular displacement or linear displacement into an electric signal, and is an angle detection device widely used in the fields of numerical control machine tools, industrial robots, automobiles, rail transit and the like. When the encoder is assembled or mounted on the motor, an angle feedback error can be generated and even encoder error code can be caused due to the influence of shafting precision and sensitive element alignment deviation. The error code of the encoder will cause angle feedback error, causing the danger of galloping and the like; the encoder has feedback errors, which can result in loss of device accuracy. Therefore, it is necessary to detect and correct the encoder before it can be used for measurement applications.
The current correction technique is to transmit the external torque to the motor where the encoder is located by means of a coupling, so that the encoder shaft and motor shaft are simultaneously brought into rotation. In this state, the encoder correction system initiates signal acquisition to detect and correct the encoder.
This technique still has the following drawbacks: 1. when detecting and correcting one encoder, the coupler must be disassembled once, which wastes working hours; 2. the coupler can loose or slip, so that the signal quality of the encoder body and the correction result can be influenced; 3. different coupling devices are required to be replaced for motors with different specifications, and the applicability range is small.
Disclosure of Invention
The first object of the present invention is to provide a motor self-rotation encoder detection and correction device which has a simple structure, is stable in operation, can directly perform correction without disassembly, has high accuracy, and can be suitable for various encoder detection and correction work.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
The utility model provides a motor autogiration's encoder detects correction equipment, including place the platform with set up in place motor and the coding device on the platform, the motor is provided with power lead-out wire and axis of rotation, place to be provided with on the bench and be used for fixed connection the link of power lead-out wire end of a thread, the motor is connected with motor control device, motor control device include the dc-to-ac converter and with the controller that the dc-to-ac converter electricity is connected, motor control device is connected with the link electricity, the coding device includes encoder axle and circuit board, encoder axle with axis of rotation coaxial coupling, the circuit board electricity is connected with signal acquisition device.
Preferably, the motor is a servo motor.
Further preferably, the encoding device is a magnetic encoder, an optoelectronic encoder, a capacitive encoder or an inductive encoder.
Further preferably, the motor control device is a frequency converter.
Further preferably, the motor control device is further provided with a rectifying unit.
Further preferably, the encoding device is provided with a memory.
Further preferably, the number of the connection terminals is at least one.
Further preferably, the placement table includes a main body, a motor placement plate for placing the motor, and an encoder placement plate for placing the encoding device.
Another object of the present invention is to expand the protection range of a motor self-rotating encoder detection and correction device, and also to facilitate the understanding of the device, and to provide a motor self-rotating encoder detection and correction method, which adopts a motor self-rotating encoder detection and correction device, and an encoder detection and correction method performed by motor self-rotation, comprising the following steps:
S1: the motor and the encoder are arranged on the placing table, so that the motor rotating shaft and the encoder shaft are coaxially connected;
S2: connecting a motor control device with a power outgoing line of a motor, and driving the motor to rotate by the motor control device;
S3: the motor drives the coding device to coaxially rotate, and the signal acquisition device collects and processes signals generated in the rotation process of the coding device;
s4: the signal acquisition device detects, processes and corrects the signal, outputs the detection result or writes the correction result into the coding device.
Further preferably, when step S2 is performed, the motor control device is connected to a power take-off line of the motor, and rotates the motor by switching the exciting current.
It is further preferred that before step S3 is performed, the signal acquisition device is connected to the circuit board of the encoding device, and the signal acquisition device collects the signal generated by the encoding device.
It is further preferred that a memory is provided in the encoding device before step S4 is performed, and the correction result of the signal collection means is stored.
The invention relates to a motor self-rotating encoder detection and correction device and a motor self-rotating encoder detection and correction method, which have the beneficial effects that: the structure is simple, the operation is stable, the disassembly is not needed, the correction can be directly carried out, the accuracy is high, and the device is applicable to correction work of various encoders.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a flow chart of a detection and correction method according to an embodiment of the invention;
in the figure: 1. the motor comprises a motor body, a motor 11, a power outgoing line, a motor 12, a rotating shaft 2, an encoding device 21, an encoder shaft 22, a circuit board 3, a motor control device 32, an inverter 33, a controller 4, a signal acquisition device 9, a placing table 91 and a connecting end.
Detailed Description
The invention is further described below with reference to the drawings and examples.
The current correction technique is to transmit the external torque to the motor where the encoder is located by means of a coupling, so that the encoder shaft and motor shaft are simultaneously brought into rotation. In this state, the encoder correction system initiates signal acquisition to detect and correct the encoder.
That is to say, the driven motor is driven by the driving motor through the coupler, the driven motor drives the encoder to coaxially rotate, so that the coupler must be disassembled once when detecting and correcting one encoder, working hours are wasted, the coupler can loose or skid, the signal quality of the encoder body can be influenced, the correction result is achieved, and finally, different coupling devices are replaced in motors with different specifications.
Embodiment one: as shown in fig. 1, the self-rotating encoder detection and correction device of the present invention comprises a placement table 9, a motor 1 and an encoding device 2, wherein the motor 1 is arranged on the placement table 9, the motor 1 is provided with a power outgoing line 11 and a rotating shaft 12, a connecting end 91 for fixedly connecting the wire ends of the power outgoing line 11 is arranged on the placement table 9, the motor 1 is connected with a motor control device 3, the motor control device 3 comprises an inverter 32 and a controller 33 connected with the inverter 32, the motor control device 3 is electrically connected with the connecting end 91, the encoding device 2 comprises an encoder shaft 21 and a circuit board 22, the encoder shaft 21 and the rotating shaft 12 are coaxially connected, and the circuit board 22 is electrically connected with a signal acquisition device 4.
In the invention, two motors (a driving motor and a driven motor) are not required to be connected through a coupling, so that the encoder is driven to rotate, and the motor 1 directly drives the encoding device 2 to rotate.
The rotation shaft 12 of the motor 1 is coaxially connected with the encoder shaft 21 of the encoding device 2, so that the motor 1 can drive the encoding device 2 to coaxially rotate, the motor 1 actively rotates to drive the encoder shaft 21 to rotate, the encoding device 2 can acquire effective signals, and errors caused by other modes of driving the motor rotation shaft 12 by power are avoided.
The encoder device 2 is a magnetic encoder or an optoelectronic encoder, or may be a capacitive encoder, an inductive encoder, or the like, that is, may be applied to various encoder detection and correction operations.
Then, the motor control device 3 is actually a frequency converter, the motor control device 3 includes an inverter 32 and a controller 33 connected with the inverter 32, a rectifying unit is further disposed in the motor control device 3, the inverter 32 of the motor control device 3 is connected with the power lead-out wire 11 through a connecting end 91, the rectifying unit converts alternating current with fixed working frequency into direct current, the inverter 32 converts the direct current into square waves with various frequencies, widths and amplitudes, the square waves are controlled and output by the controller 33, the square waves generated by the inverter 32 drive the motor 1, and then the motor 1 is a servo motor correspondingly.
Under the driving mode, the structure is simple and clear, the motor rotation speed is balanced, and signal jitter and interference caused by other connection modes are avoided.
It should be noted that the number of the connection terminals 91 is at least one, that is, in the present invention, more than one motor 1 and encoding devices 2 may be disposed on the placement table 9, and a plurality of motor control devices 3 may be used to drive a plurality of motors, so as to achieve the purpose of simultaneously performing detection and correction of a plurality of groups of encoding devices 2.
Finally, signal acquisition and data correction are performed, the circuit board 22 is electrically connected with the signal acquisition device 4, the motor 1 drives the encoding device 2 to coaxially rotate, the encoder shaft 21 rotates to acquire effective signals, the effective signals are collected by the signal acquisition device 4 at the circuit board 22, a memory is arranged on the encoding device 2, and after the signal acquisition device 4 processes and corrects the signals, the obtained correction result is finally written into the internal memory of the encoding device 2. The encoding device 2 corrects itself based on this correction result.
It should be noted that, after the signal acquisition device 4 processes the signal, it can directly judge the output signal, identify whether the signal is abnormal or calculate the signal to judge whether the signal characteristics are normal; the output signal of the encoding device 2 may also be judged, the related parameters are calculated to obtain the difference between the output signal and the ideal parameters, and the difference value is transmitted to the encoding device 2 for compensation, so as to correct the calculated value of the operation of the encoding device 2.
Of course, the placement table includes a main body, a motor placement plate for placing the motor 1, and an encoder placement plate for placing the encoding device 2, so that stability and efficiency of a motor driving process and an encoder data reading process can be effectively ensured.
In order to facilitate understanding of the apparatus for detecting and correcting a motor self-rotating encoder, the invention also provides a method for detecting and correcting a motor self-rotating encoder, as shown in fig. 2, wherein the method for detecting and correcting a motor self-rotating encoder comprises the following steps:
S1: the motor and the encoder are arranged on the placing table, so that the motor rotating shaft and the encoder shaft are coaxially connected; the motor can drive the coding device to coaxially rotate, and the motor actively rotates to drive the coder shaft to rotate, so that the coding device can acquire effective signals, and errors caused by other modes of driving the motor to rotate by introducing other power are avoided;
S2: connecting a motor control device with a power outgoing line of a motor, and driving the motor to rotate by the motor control device; the structure is simple and clear, the motor rotation speed is balanced, and signal jitter and interference caused by other connection modes are avoided;
S3: the motor drives the coding device to coaxially rotate, and the signal acquisition device collects signals generated in the rotation process of the coding device;
s4: the signal acquisition device detects, processes and corrects the signal, outputs the detection result or writes the correction result into the coding device.
That is, after the signal acquisition device processes the signal, the output signal can be directly judged, whether the signal is abnormal or not is identified, or whether the signal characteristics are normal or not is judged by calculating the signal; the output signal of the encoder can also be judged, related parameters are calculated, the difference between the output signal and the ideal parameters is obtained, and the difference value is transmitted into the encoder for compensation, so that the calculated value of the operation of the encoder can be corrected.
Of course, when step S2 is executed, the motor control device is connected to the power take-off line of the motor, and rotates the motor by switching the exciting current. The motor control device comprises a rectifying unit, an inverter and a controller connected with the rectifying unit and the inverter, wherein the controller is connected with a power outgoing line through a connecting end, the rectifying unit converts alternating current with fixed working frequency into direct current, the inverter converts the direct current into square waves with various frequencies, widths and amplitudes, and the square waves are controlled and output by the controller so as to drive a motor, and correspondingly, the motor is a servo motor.
And before executing the step S3, connecting a signal acquisition device with a circuit board of the coding device, and collecting signals generated by the coding device by the signal acquisition device.
Finally, before executing step S4, a memory is provided in the encoding device, and the correction result of the signal collecting device is stored.
And after the encoder shaft rotates to acquire effective signals, the signals are processed and corrected by the signal acquisition device at the circuit board, and finally, the obtained correction result is written into an internal memory of the encoding device. The encoding device corrects itself based on this correction result.
The detection and correction device and the detection and correction method for the encoder with the self-rotation motor have the advantages of simple structure, stable operation, no need of disassembly, direct correction, high accuracy and suitability for correction work of various encoders.
The present invention is not limited to the above-described specific embodiments, and various modifications and variations are possible. Any modification, equivalent replacement, improvement, etc. of the above embodiments according to the technical substance of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An encoder detection correction device for motor self-rotation, characterized in that: including place platform (9) and set up in motor (1) and coding device (2) on placing platform (9), motor (1) are provided with power lead-out wire (11) and axis of rotation (12), be provided with on placing platform (9) be used for fixed connection link (91) of power lead-out wire (11) end of a thread, motor (1) are connected with motor control device (3), motor control device (3) include dc-to-ac converter (32) and with controller (33) that dc-to-ac converter (32) electricity is connected, motor control device (3) are connected with link (91) electricity, coding device (2) include encoder axle (21) and circuit board (22), encoder axle (21) with axis of rotation (12) coaxial coupling, circuit board (22) electricity is connected with signal acquisition device (4). A memory is arranged on the encoding device (2);
The motor control device (3) is a frequency converter, an inverter of the motor control device is connected with a power outgoing line through a connecting end, the motor control device (3) is also provided with a rectifying unit for converting alternating current with fixed working frequency into direct current by switching exciting current, the inverter converts the direct current into square waves with various frequencies, widths and amplitudes, the square waves are controlled and output by a controller, the square waves generated by the inverter drive the motor, and the motor (1) is a servo motor; the motor rotation speed is balanced, and signal jitter and interference are avoided;
The motor drives the coding device to coaxially rotate, the encoder shaft rotates to acquire signals, the signals are collected by the signal acquisition device at the circuit board, the signal acquisition device processes and corrects the signals, and finally, the obtained correction result is written into an internal memory of the coding device; the coding device corrects itself according to the correction result;
the encoder is driven to rotate through the coupling without adopting a driving motor and a driven motor, the encoding device (2) is directly driven to rotate by the motor (1), the motor (1) drives the encoding device (2) to coaxially rotate, the encoder shaft (21) is driven to rotate through the active rotation of the motor (1), the encoding device (2) can acquire effective signals, and errors caused by the way of introducing other power to drive the motor rotating shaft (12) are avoided.
2. The motor self-rotating encoder detection correction apparatus according to claim 1, wherein: the coding device (2) is a magnetic coder, a photoelectric coder, a capacitive coder or an inductive coder.
3. The motor self-rotating encoder detection correction apparatus according to claim 1, wherein: the number of the connecting ends (91) is at least one.
4. A method for detecting and correcting a motor self-rotating encoder, which adopts the motor self-rotating encoder detection and correction device according to any one of claims 1 to 3, wherein the device comprises a placing table, a motor, a coding device, a motor control device and a signal acquisition device; the correction method is characterized by comprising the following steps:
S1: the motor and the encoder are arranged on the placing table, so that the motor rotating shaft and the encoder shaft are coaxially connected;
s2: connecting a motor control device with a power outgoing line of a motor, and rotating the motor by switching exciting current to drive the motor to rotate;
S3: the motor drives the coding device to coaxially rotate, and the signal acquisition device collects and processes signals generated in the rotation process of the coding device;
s4: the signal acquisition device detects, processes and corrects the signal, outputs the detection result or writes the correction result into the coding device.
5. The method for detecting and correcting the self-rotation encoder of the motor according to claim 4, wherein:
Before executing step S3, connecting a signal acquisition device with the circuit board of the coding device, and collecting signals generated by the coding device by the signal acquisition device.
6. The method for detecting and correcting the self-rotation encoder of the motor according to claim 4, wherein:
Before executing step S4, a memory is provided in the encoding device to store the correction result of the signal collecting device.
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| CN208736446U (en) * | 2018-08-02 | 2019-04-12 | 嘉兴市锐鹰传感技术有限公司 | A kind of encoder detection calibration equipment of motor spinning |
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| CN101762295A (en) * | 2009-12-04 | 2010-06-30 | 威海华东数控股份有限公司 | On-line detecting device for digital encoder |
| CN101839214B (en) * | 2010-05-12 | 2012-05-09 | 陕西科技大学 | Wind power generation yaw servo control system based on motion controller |
| CN103812394A (en) * | 2012-11-08 | 2014-05-21 | 牛玉琴 | Brushless direct-current motor control system |
| CN103269198B (en) * | 2013-05-17 | 2015-06-03 | 浙江大学 | Permanent magnet synchronous motor control method and system based on encoder automatic zero set |
| CN103457536B (en) * | 2013-09-12 | 2014-10-15 | 南京欧陆电气传动有限公司 | Alternating current servo driver based on current detection and position feedback structure |
| CN205333098U (en) * | 2015-12-29 | 2016-06-22 | 杭州万杰减速机有限公司 | Increment type encoder signal detection device |
| CN205407636U (en) * | 2016-03-09 | 2016-07-27 | 拜晶 | Alternating -current permanent -magnet synchronous machine detects control system |
| CN206195559U (en) * | 2016-09-25 | 2017-05-24 | 广东伊莱斯电机有限公司 | Hybrid servo motor own coding ware |
| CN106788119A (en) * | 2017-03-14 | 2017-05-31 | 河北工业大学 | A kind of permagnetic synchronous motor frequency converter and its application process |
| CN108168590B (en) * | 2018-01-15 | 2021-10-19 | 国能信控互联技术(河北)有限公司 | Incremental absolute value type encoder detection device |
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| JP2004317411A (en) * | 2003-04-18 | 2004-11-11 | Yaskawa Electric Corp | Absolute value encoder and correcting device therefor, and correcting method therefor |
| CN208736446U (en) * | 2018-08-02 | 2019-04-12 | 嘉兴市锐鹰传感技术有限公司 | A kind of encoder detection calibration equipment of motor spinning |
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