CN112894801B - Zero returning method and device for double-shaft same-guide-rail equipment - Google Patents
Zero returning method and device for double-shaft same-guide-rail equipment Download PDFInfo
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- CN112894801B CN112894801B CN202011582954.XA CN202011582954A CN112894801B CN 112894801 B CN112894801 B CN 112894801B CN 202011582954 A CN202011582954 A CN 202011582954A CN 112894801 B CN112894801 B CN 112894801B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The embodiment of the invention discloses a zero returning method and a zero returning device for double-shaft same-guide-rail equipment, wherein the zero returning method for the double-shaft same-guide-rail equipment comprises the following steps: determining the origin position of the first shaft and the origin position of the second shaft according to the encoder sector of the motor and the position difference between the first shaft and the second shaft on the equipment guide rail; after the first shaft passes through the limit position far away from the second shaft and the second shaft passes through the limit position far away from the first shaft, determining the original position of the first shaft when the encoder sector of the motor is the encoder sector corresponding to the original position for the first time, and determining the original position of the second shaft when the first shaft returns to the original position of the second shaft; or after the second shaft passes through the limit position far away from the first shaft, determining that the second shaft returns to the origin position of the second shaft according to the position difference between the position of the second shaft and the origin position of the first shaft. The double-shaft same-guide-rail equipment zero returning method and device provided by the embodiment of the invention can improve the reliability of equipment zero returning and improve zero returning efficiency.
Description
Technical Field
The embodiment of the invention relates to an automatic control technology, in particular to a method and a device for zeroing a double-shaft same-guide-rail device.
Background
In the automation equipment, equipment zero returning is an indispensable link for recovering the initial posture of the equipment and ensuring the absolute positioning precision of the equipment. For the rectangular coordinate system manipulator such as feeding and discharging of the injection molding manipulator, in order to simplify the structure of the device, the space occupied by the compression device and reduce the cost, two or more shaft devices are often installed on one guide rail, and after the position is returned to zero, a plurality of devices can be combined to coordinate to complete the process operation. When two or more shaft devices exist on the guide rail, the independent, efficient, accurate zero return and no interference of each shaft are a problem worthy of further research.
At present, the existing double-shaft zero-returning method for the equipment with the same guide rail usually adopts auxiliary sensors such as a limit switch or a zero-returning switch mode and the like, the zero-returning is realized by matching with a Z signal of a motor, and aiming at the condition that multiple shafts and the same guide rail are mutually interfered in the zero-returning process, the equipment usually needs one shaft to return to zero and then carries out zero-returning operation on other shafts one by one, the zero-returning process is complex, and the efficiency is lower.
Disclosure of Invention
The embodiment of the invention provides a method and a device for zeroing a double-shaft same-guide-rail device, which are used for improving the reliability of zeroing the device and improving the zeroing efficiency.
In a first aspect, an embodiment of the present invention provides a zero-returning method for a dual-axis same-guide-rail device, including:
determining the origin position of the first shaft and the origin position of the second shaft according to the encoder sector of the motor and the position difference between the first shaft and the second shaft on the equipment guide rail; the encoder sector corresponding to the origin position is separated from the encoder sector corresponding to the limit position of the corresponding shaft by at least one sector;
after the first shaft passes through the limit position far away from the second shaft and the second shaft passes through the limit position far away from the first shaft, when an encoder sector of the motor is an encoder sector corresponding to the origin position for the first time, determining that the first shaft returns to the origin position of the first shaft and the second shaft returns to the origin position of the second shaft; or the like, or, alternatively,
and after the second shaft passes through the limit position far away from the first shaft, determining the position of the second shaft returning to the origin position of the second shaft according to the position difference between the position of the second shaft and the origin position of the first shaft.
Optionally, the motor includes a first motor and a second motor, the first motor is connected with the first shaft, and the second motor is connected with the second shaft; determining a position of an origin of a first shaft and a position of an origin of a second shaft according to an encoder sector of a motor, comprising:
after the first shaft passes through the limit position far away from the second shaft, when the first shaft moves to a position where at least one sector is separated from the encoder sector of the first motor corresponding to the limit position of the first shaft, determining the position of the first shaft at the moment as the origin position of the first shaft;
and after the second shaft passes through the limit position far away from the first shaft, when the second shaft moves to a position where the encoder sector of the second motor is separated from the encoder sector of the second motor encoder corresponding to the limit position of the second shaft by at least one sector, determining the position of the second shaft at the moment as the origin position of the second shaft.
Optionally, determining an origin position of the first shaft and an origin position of the second shaft according to an encoder sector of the motor and a position difference between the first shaft and the second shaft on the device guide rail, including:
controlling the first shaft to move in a torque speed limit mode until the first shaft and the second shaft are attached and balanced, and determining a first position of the first shaft and a first position of the second shaft at the moment;
controlling the first shaft to move to an extreme position far away from the second shaft and reach moment balance, and determining a second position of the first shaft at the moment;
controlling the second shaft to move in a direction back to the first shaft by a preset distance according to the second position of the first shaft and the first position of the second shaft, and determining the second position of the second shaft at the moment;
controlling the first shaft to move in a direction close to the second shaft, and determining the origin position of the first shaft according to the encoder sector corresponding to the second position of the first shaft;
and determining the origin position of the second shaft according to a first position difference between the origin position of the first shaft and the first position of the first shaft and a second position difference between the extreme position of the second shaft far away from the first shaft and the second position of the second shaft.
Optionally, controlling the second shaft to move a preset distance in a direction away from the first shaft according to the second position of the first shaft and the first position of the second shaft, and determining the second position of the second shaft at this time includes:
if the position difference between the second position of the first shaft and the first position of the second shaft is smaller than the preset distance, controlling the second shaft to move in the direction back to the first shaft for the preset distance, and determining the position of the second shaft after moving for the preset distance as the second position of the second shaft;
and if the position difference is greater than or equal to the preset distance, determining the current position of the second shaft as the second position of the second shaft.
Optionally, determining the origin position of the first axis according to the encoder sector corresponding to the second position of the first axis includes:
and if the encoder sector corresponding to the second position of the first shaft is k, and the encoder sector when the first shaft moves to the motor is m, and m is k +2, where k is an integer from 1 to 4, or m is k +2-6, and k is 5 or 6, controlling the first shaft to continuously move in a direction close to the second shaft by a preset offset, and determining that the position of the first shaft after the preset offset is moved is the original position of the first shaft.
Optionally, the origin position of the second shaft is a sum of the first position difference, the second position difference and the position distance, and the position distance is a fixed position distance between the first position of the first shaft and the first position of the second shaft.
Optionally, when an encoder sector of the motor is an encoder sector corresponding to the origin position for the first time, determining that the first shaft returns to the origin position of the first shaft, and the second shaft returns to the origin position of the second shaft, includes:
controlling the first shaft to move in a direction close to the second shaft until the first motor encoder sector is the encoder sector corresponding to the origin position of the first shaft for the first time, and determining that the first shaft returns to the origin position of the first shaft;
and controlling the second shaft to move in a direction close to the first shaft until the second motor is determined to return to the origin position of the second shaft when the encoder sector of the second motor is the encoder sector corresponding to the origin position of the second shaft for the first time.
Optionally, the first motor and the second motor are motors of the same type.
Optionally, determining the position of the second shaft returning to the origin of the second shaft according to the position difference between the position of the second shaft and the position of the origin of the first shaft includes:
and controlling the second shaft to move in a direction close to the first shaft until the position difference between the position of the second shaft and the origin position of the first shaft is the position difference between the origin position of the second shaft and the origin position of the first shaft, and determining that the second shaft returns to the origin position of the second shaft at the moment.
In a second aspect, an embodiment of the present invention further provides a zero-returning device for a dual-axis same-rail device, including:
the device comprises an origin point determining module, a position determining module and a position determining module, wherein the origin point determining module is used for determining the origin point position of a first shaft and the origin point position of a second shaft according to an encoder sector of a motor and the position difference between the first shaft and the second shaft on a guide rail of the device; the encoder sector corresponding to the origin position is separated from the encoder sector corresponding to the limit position of the corresponding shaft by at least one sector;
the first zero-returning determining module is used for determining the position of the first shaft returning to the original point of the first shaft and the position of the second shaft returning to the original point of the second shaft when the encoder sector of the motor is the encoder sector corresponding to the original point position for the first time after the first shaft passes through the limit position far away from the second shaft and the second shaft passes through the limit position far away from the first shaft; or the like, or, alternatively,
and the second zero-returning determining module is used for determining the position of the first shaft returning to the original point of the first shaft when the first shaft passes through the limit position far away from the second shaft and the second shaft passes through the limit position far away from the first shaft and when an encoder sector of the motor is an encoder sector corresponding to the original point position for the first time, and determining the position of the second shaft returning to the original point of the second shaft according to the position difference between the position of the second shaft and the position of the original point of the first shaft after the second shaft passes through the limit position far away from the first shaft.
According to the zero-returning method and device for the double-shaft same-guide-rail equipment, the origin position of a first shaft and the origin position of a second shaft are determined according to the encoder sector of a motor and the position difference between the first shaft and the second shaft on the guide rail of the equipment; the encoder sector corresponding to the origin position is separated from the encoder sector corresponding to the limit position of the corresponding shaft by at least one sector; after the first shaft passes through the limit position far away from the second shaft and the second shaft passes through the limit position far away from the first shaft, when an encoder sector of the motor is an encoder sector corresponding to the origin position for the first time, determining that the first shaft returns to the origin position of the first shaft and the second shaft returns to the origin position of the second shaft; or after the second shaft passes through the limit position far away from the first shaft, determining that the second shaft returns to the origin position of the second shaft according to the position difference between the position of the second shaft and the origin position of the first shaft. The zero returning method and the zero returning device for the double-shaft same-guide-rail equipment, provided by the embodiment of the invention, have the advantages that the original point position of the first shaft is determined according to the encoder sector of the motor, after the first shaft passes through the extreme position far away from the second shaft, when the encoder sector of the motor is the encoder sector corresponding to the original point position for the first time, the original point position of the first shaft returning to the first shaft is determined, the situation that the original point position is directly determined according to the first Z signal of the motor encoder and still passes through the first Z signal to return to the original point is prevented, the zero returning position is caused to have a circle difference due to the fact that the first Z signal returns to zero when the extreme position is overlapped with the Z signal, and the reliability of zero returning is influenced. In the embodiment of the invention, the first shaft and the second shaft return to zero according to the sectors of the encoder, and the position corresponding to the encoder sector corresponding to the extreme position of the shaft separated by at least one sector is determined as the original position; and the first shaft and the second shaft can synchronously act, synchronous zero return is realized according to the encoder sector of the motor, or after the first shaft returns to zero, the position of the second shaft returning to the original point of the second shaft is determined directly according to the position difference between the position of the second shaft and the original point of the first shaft, so that zero return of equipment is realized quickly, and zero return efficiency is improved.
Drawings
FIG. 1 is a timing diagram of a prior art pulse-type incremental encoder determining zero with a Z signal;
FIG. 2 is a schematic diagram of a prior art pulse-type incremental encoder with a Z signal returning to zero;
FIG. 3 is a timing diagram of a prior art single-turn absolute value encoder for determining zero with a Z signal;
FIG. 4 is a timing diagram illustrating a prior art single-turn absolute value encoder with a Z signal going back to zero;
FIG. 5 is a flowchart of a zeroing method for a dual-axis co-guideway device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a sector distribution according to an embodiment of the present invention;
FIG. 7 is a schematic view of a dual-axis and same-rail apparatus according to an embodiment of the present invention;
FIG. 8 is a flowchart of a zeroing method for a dual-axis co-guideway apparatus according to a second embodiment of the present invention;
FIG. 9 is a timing diagram of an incremental pulse encoder according to a second embodiment of the present invention, wherein zero is determined by a sector;
FIG. 10 is a timing diagram of a pulse-type incremental encoder with sector nulling according to a second embodiment of the present invention;
FIG. 11 is a timing diagram of a single-turn absolute encoder with sectors determining zeros according to a second embodiment of the present invention;
FIG. 12 is a timing diagram of a single-turn absolute value encoder with sector zeroing according to a second embodiment of the present invention;
fig. 13 is a flowchart of a zeroing method for a dual-axis and same-rail apparatus according to a third embodiment of the present invention;
FIG. 14 is a schematic diagram of a two-axis motion position marker provided in accordance with a third embodiment of the present invention;
fig. 15 is a block diagram of a zero-returning device for a dual-axis and same-rail apparatus according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a timing diagram of a conventional pulse type incremental encoder for determining a zero point by a Z signal, fig. 2 is a timing diagram of a conventional pulse type incremental encoder for returning the Z signal to zero, where a position point corresponding to a left mechanical limit in fig. 1 is 10, and when a left limit is on the left side of a Z0 signal, a shaft does not pass over the Z0 signal before returning to zero, a first Z signal is searched for as Z0, and a position of the shaft after moving an offset amount to the right of a position point 20 corresponding to the first Z signal, which is a position corresponding to a Z0 signal, is set as an origin. When the left limit is to the right of the Z0 signal in fig. 2, the shaft has already crossed the Z0 signal before returning to zero, the first Z signal is found to be Z1, and the position 30 of the shaft that has moved the offset amount to the right of the position corresponding to the Z1 signal is determined as the origin. The axis in fig. 1 is set to the origin position 30 for the first time, and after the limit signal fluctuates in fig. 2, the zero position of the axis is not the same as the origin in fig. 1, i.e., the axis cannot return to the origin position correctly. Fig. 3 is a timing diagram of a single-turn absolute value encoder in the prior art, in which a Z signal is used to determine a zero point, fig. 4 is a timing diagram of a single-turn absolute value encoder in the prior art, in which a Z signal is used to return to zero, a left limit in fig. 3 is on the left side of a Z0 signal, and a left limit in fig. 4 is on the right side of a Z0 signal, which also has the above problem that when a double-shaft co-guide return to zero, an origin position is determined directly according to a first Z signal of a motor encoder and the first Z signal still returns to the origin, so that when the extreme position coincides with the Z signal, the extreme position fluctuates to cause a difference between the return to zero positions by one turn, and the reliability of return to zero is affected.
Example one
Fig. 5 is a flowchart of a zeroing method for a dual-axis co-rail apparatus according to an embodiment of the present invention, where the embodiment is applicable to aspects such as sensorless zeroing for a multi-axis co-rail apparatus, and the method may be implemented by a zeroing apparatus for a dual-axis co-rail apparatus, where the zeroing apparatus may be implemented by software and/or hardware, and the zeroing apparatus may be integrated in an electronic apparatus, such as a computer, having a zeroing function for a dual-axis co-rail apparatus, and the method specifically includes the following steps:
and step 110, determining the origin position of the first shaft and the origin position of the second shaft according to the encoder sector corresponding to the motor and the position difference between the first shaft and the second shaft on the equipment guide rail.
The encoder sector corresponding to the origin position is separated from the encoder sector corresponding to the limit position of the corresponding shaft by at least one sector, for example, N sectors (N ═ 1,2,3,4,5) are specified. The first shaft and the second shaft may be electrically connected to two motors, respectively, the origin position of the first shaft may be determined by an encoder sector of the motor electrically connected to the first shaft, for example, an encoder sector of the motor corresponding to the limit position of the first shaft, and the origin position of the second shaft may be determined by an encoder sector of the motor electrically connected to the second shaft, or may be determined by a difference between positions of the first shaft and the second shaft.
For example, fig. 6 is a schematic diagram of a sector distribution according to an embodiment of the present invention, referring to fig. 6, a motor encoder takes an impulse type incremental encoder as an example, an encoded signal includes an ABZ quadrature impulse signal and a UVW sector signal, a sector of the motor encoder can be divided into six sectors Q [1] to Q [6], for example, the UVW sector sequence is rotated by the encoder forward direction by 5, 1, 3, 2, 6, 4, that is, the encoder forward direction is rotated to sector 5(Q [1] ═ 5), and the rotation is continued to sector 1(Q [2] ═ 1), and specific contents of the encoder rotation sector sequence are well known by those skilled in the art, and related books or documents may also be referred to, and details are not described herein again. Fig. 7 is a schematic diagram of a dual-axis and same-guide-rail apparatus according to a first embodiment of the present invention, referring to fig. 7, two axes, namely, an axis a and an axis B, are disposed on a guide rail 2 of an apparatus table 1, where the axis a moves between a left mechanical limit 3 and the axis B, and the axis B moves between an axis a and a right mechanical limit 4, a first axis may be the axis a or the axis B, and a corresponding second axis is the axis B or the axis a. A motor (not shown) electrically connected to the shaft a can drive the shaft a to move on the guide rail 2, and a motor (not shown) electrically connected to the shaft B can drive the shaft B to move on the guide rail 2. Taking the first axis as an example, the position of the origin of the axis a is determined, that is, when the encoder sector of the motor such as Q3 electrically connected to the axis a is separated from the encoder sector of the motor such as Q5 corresponding to the axis a at the left mechanical limit 3 by 2 sectors after the axis a passes through the left mechanical limit 3, that is, the axis a moves to the left mechanical limit 3 and then moves to the right, the position of the axis a at this time is determined as the position of the origin of the axis a; after the shaft B passes through the right mechanical limit 4, namely the shaft B moves to the right mechanical limit 4 and then moves leftwards, when an encoder sector of a motor electrically connected with the shaft B is separated from an encoder sector of the motor corresponding to the shaft B at the right mechanical limit 4 by 2 sectors, the position of the shaft B at this time is determined as the original position of the shaft B, or the position of the distance between the right side of the shaft A and the original position of the shaft A by a preset position difference is taken as the original position of the shaft B, and the preset position difference is the position difference between the position of the shaft B and the original position of the shaft A.
And 120, after the first shaft passes through the limit position far away from the second shaft, when the encoder sector of the motor is the encoder sector corresponding to the origin position for the first time, determining that the first shaft returns to the origin position of the first shaft.
Specifically, referring to fig. 7, taking the first axis as the axis a as an example, after the axis a passes through the left mechanical limit 3, that is, during the process that the axis a moves to the left mechanical limit 3 and then moves to the right, when an encoder sector of the motor electrically connected to the axis a is the encoder sector corresponding to the origin position of the axis a for the first time, it is determined that the axis a returns to the origin position of the axis a at this time.
And step 130, after the second shaft passes through the limit position far away from the first shaft, when the encoder sector of the motor is the encoder sector corresponding to the origin position for the first time, determining that the second shaft returns to the origin position of the second shaft, or after the second shaft passes through the limit position far away from the first shaft, determining that the second shaft returns to the origin position of the second shaft according to the position difference between the position of the second shaft and the origin position of the first shaft.
Specifically, referring to fig. 7, taking the second shaft as the shaft B as an example, after the shaft B passes through the right mechanical limit 4, that is, when the shaft B moves to the right mechanical limit 4 and then moves to the right, when an encoder sector of the motor electrically connected to the shaft B is the encoder sector corresponding to the origin position of the shaft B for the first time, it is determined that the shaft B returns to the origin position of the shaft B at this time, the shaft a and the shaft B can synchronously move, synchronous zero return is realized according to the encoder sector of the motor, and zero return efficiency is improved; or when the axis B moves to the position away from the original position of the axis A by the preset position difference, determining that the axis B returns to the original position of the axis B at the moment.
The double-shaft zero-returning method for the device with the same guide rail, the original point position of the first shaft is determined according to the encoder sector of the motor, after the first shaft passes through the limit position far away from the second shaft, when the encoder sector of the motor is the encoder sector corresponding to the original point position for the first time, the original point position of the first shaft is determined, the situation that the original point position is determined according to the first Z signal of the motor encoder and is still returned to the original point through the first Z signal is prevented, the zero-returning position is caused to have a circle of difference through the first Z signal when the limit position is overlapped with the Z signal, and the zero-returning reliability is affected. In the embodiment, the first shaft and the second shaft return to zero according to the encoder sectors, and the positions corresponding to the encoder sectors corresponding to the extreme positions of the shaft and at least one sector are separated are determined as the original point positions, so that the zero return position difference caused by the zero return of the first Z signal due to the superposition of the extreme positions and the Z signal is avoided, and the zero return reliability is improved; and the first shaft and the second shaft can synchronously act, synchronous zero return is realized according to the encoder sector of the motor, or after the first shaft returns to zero, the position of the second shaft returning to the original point of the second shaft is determined directly according to the position difference between the position of the second shaft and the original point of the first shaft, so that zero return of equipment is realized quickly, and zero return efficiency is improved.
Example two
Fig. 8 is a flowchart of a dual-axis zeroing method for a device with the same guide rail according to a second embodiment of the present invention, where the present embodiment is applicable to aspects such as sensorless zeroing for a device with the same guide rail for multiple axes, and the method may be implemented by a zeroing apparatus for a device with the same guide rail for multiple axes, where the zeroing apparatus may be implemented by software and/or hardware, and the zeroing apparatus may be integrated in an electronic device, such as a computer, having a zeroing function for the device with the same guide rail for the multiple axes, and the method specifically includes the following steps:
and 210, after the first shaft passes through the limit position far away from the second shaft, when the first shaft moves to a position where the encoder sector of the first motor is separated from the encoder sector of the first motor corresponding to the limit position of the first shaft by at least one sector, determining that the position of the first shaft at the moment is the origin position of the first shaft.
The at least one sector may be N designated sectors (N ═ 1,2,3,4,5), the first motor is connected to the first shaft, and the first motor drives the first shaft to move, for example, when the first shaft moves to a position where an encoder sector of the first motor is separated by two sectors from an encoder sector corresponding to the first shaft at the limit position, the position of the first shaft at that time is determined as the origin position of the first shaft.
Exemplarily, fig. 9 is a timing diagram of an pulse type incremental encoder according to a second embodiment of the present invention, which determines a zero point by a sector, fig. 10 is a timing diagram of an pulse type incremental encoder according to a second embodiment of the present invention, which returns to zero by a sector, fig. 11 is a timing diagram of a single-turn absolute value encoder according to a second embodiment of the present invention, which determines a zero point by a sector, fig. 12 is a timing diagram of a single-turn absolute value encoder according to a second embodiment of the present invention, which returns to zero by a sector, fig. 9 and fig. 10 are combined with fig. 4, or fig. 11 and fig. 12 are combined with fig. 4, taking a case where a first axis is on the left side of a second axis as an example, both fig. 9 and fig. 11 are cases where a left mechanical limit is on the left side of a Z0 signal, if an encoder sector of a corresponding first motor is a 4 sector when the first axis moves to the left mechanical limit, a 3 sector separated from the 4 sector is set as a marked sector position 21, if the offset distance is set, the position of the first mark sector position 21 offset to the right by the offset amount is used as the origin position 31 of the first axis, and the subsequent zero resetting is performed by taking the mark sector position 21 of 3 sectors as the reference, so as to determine the origin position 31.
And step 220, after the second shaft passes through the limit position far away from the first shaft, when the second shaft moves to a position where the encoder sector of the second motor is separated from the encoder sector of the second motor corresponding to the limit position of the second shaft by at least one sector, determining that the position of the second shaft at the moment is the origin position of the second shaft.
The second motor is connected with the second shaft, drives the second shaft to move, and is the same type of motor as the first motor. For example, when the second shaft moves to a position where the encoder sector of the second motor is separated by two sectors from the encoder sector of the second motor corresponding to the extreme position of the second shaft, the position of the second shaft at this time is determined as the origin position of the second shaft.
And step 230, controlling the first shaft to move in the direction close to the second shaft until the encoder sector of the first motor is the encoder sector corresponding to the origin position of the first shaft for the first time, and determining that the first shaft returns to the origin position of the first shaft.
Specifically, referring to fig. 6, if it is determined that the encoder sector corresponding to the origin position of the first shaft is the edge position of 2 sectors, for example, 2 sectors, the first shaft is controlled to move rightward from the left mechanical limit to the 2 sectors corresponding to the origin position of the first shaft for the first time, and the first shaft is determined to return to the origin position of the first shaft.
Illustratively, referring to fig. 9 and 10, or to fig. 11 and 12, fig. 10 and 12 both refer to the case where the left mechanical limit is to the right of the Z0 signal, taking the first axis to the left of the second axis as an example, the first axis is controlled to move rightward from the left mechanical limit until the first marker sector position 21 is searched, and the first axis is controlled to continue to move rightward by the offset amount, determining when the first axis returns to the origin position 31 of the first axis.
And 240, controlling the second shaft to move in the direction close to the first shaft until the encoder sector of the second motor is the encoder sector corresponding to the origin position of the second shaft for the first time, determining that the second shaft returns to the origin position of the second shaft, or controlling the second shaft to move in the direction close to the first shaft until the position difference between the position of the second shaft and the origin position of the first shaft is the position difference between the origin position of the second shaft and the origin position of the first shaft, and determining that the second shaft returns to the origin position of the second shaft at the moment.
Specifically, the second shaft can return to zero according to the encoder sector corresponding to the origin position of the second shaft, the specific process of returning to zero of the first shaft is the same, the first shaft and the second shaft can synchronously act to complete the avoiding action between the shafts and the searching mechanical limiting action, the avoiding action is effectively carried out, the synchronous returning to zero is realized according to the encoder sectors corresponding to the respective origin positions, and the returning to zero efficiency is improved; the second shaft can return to zero according to the position difference, the second shaft moves in the direction close to the first shaft axially until the position difference between the position of the second shaft and the original point position of the first shaft is the position difference between the original point position of the second shaft and the original point position of the first shaft, the position of the second shaft returning to the original point position of the second shaft is determined, namely the absolute coordinate position of the second shaft can be directly converted according to the relative position relation, and the zero return position calibration of the equipment is quickly realized.
The double-shaft zero-returning method for the device with the same guide rail, provided by the embodiment, determines the origin position of the first shaft according to the encoder sector of the first motor, controls the first shaft to move in the direction close to the second shaft, and determines the origin position of the first shaft when the encoder sector of the first motor is the encoder sector corresponding to the origin position of the first shaft for the first time, so that the origin position is determined according to the first Z signal of the motor encoder directly, and the origin position is still returned by the first Z signal, and the zero-returning reliability is affected due to the fact that the zero-returning position differs by one circle due to the fluctuation of the limit position when the limit position is overlapped with the Z signal. In the embodiment, the first shaft determines the position corresponding to at least one sector apart from the encoder sector of the first motor corresponding to the extreme position of the first shaft as the original position according to the zero return of the encoder sector of the first motor, and because the sector is fixed and unchanged, the zero return position is not different by one circle due to the fact that the extreme position is superposed with a Z signal and the first Z signal returns to zero, so that the reliability of the zero return is improved; after the first shaft returns to zero, the position of the second shaft returning to the origin of the second shaft can be determined directly according to the position difference between the position of the second shaft and the origin of the first shaft, namely, the absolute coordinate position of the second shaft can be directly converted according to the relative position relationship, and the zero returning position calibration of the equipment is quickly realized.
EXAMPLE III
Fig. 13 is a flowchart of a zeroing method for a dual-axis device with the same guide rail according to a third embodiment of the present invention, where this embodiment is applicable to aspects such as sensorless zeroing for a multi-axis device with the same guide rail, and the method may be implemented by a zeroing apparatus for a dual-axis device with the same guide rail, where the zeroing apparatus may be implemented by software and/or hardware, and the zeroing apparatus may be integrated in an electronic device such as a computer with a zeroing function for a dual-axis device with the same guide rail, where the method specifically includes the following steps:
and step 310, controlling the first shaft to move in a torque speed limiting mode until the first shaft and the second shaft are attached and balanced, and determining a first position of the first shaft and a first position of the second shaft at the moment.
Specifically, taking the first shaft on the left side of the second shaft as an example, fig. 14 is a schematic diagram of a biaxial movement position marker provided in the third embodiment of the present invention, and the first position of the first shaft and the first position of the second shaft in fig. 14 are PA0 and PB0, respectively.
Illustratively, the first axis and the second axis are locked, e.g., the first axis is brought close to and in contact with the second axis in a torque mode, the relative position difference of the axes of the contact points is determined by the device (the difference may be fixed, e.g., 100mm to the left of the second axis from the position of the first axis), and the respective coordinate values of the first axis and the second axis of the contact points are recorded, from which the relative position of the two axes at any position can be determined.
And step 320, controlling the first shaft to move to an extreme position far away from the second shaft and reach moment balance, and determining the second position of the first shaft at the moment.
Specifically, referring to fig. 14, the first shaft moves to the extreme position away from the second shaft, i.e., the left extreme position, and reaches moment equilibrium, where the second position of the first shaft is PA1, and correspondingly, the extreme position of the second shaft away from the first shaft, i.e., the right extreme position, is PB 1.
And 330, controlling the second shaft to move in a direction back to the first shaft by a preset distance according to the second position of the first shaft and the first position of the second shaft, and determining the second position of the second shaft at the moment.
Specifically, if the position difference between the second position of the first shaft and the first position of the second shaft is smaller than the preset distance, the second shaft is controlled to move in the direction away from the first shaft by the preset distance, and the position of the second shaft after moving by the preset distance is determined to be the second position of the second shaft, so that the problem of mutual interference of movement of the two shafts is effectively avoided; if the position difference is greater than or equal to a preset distance, determining that the current position of the second shaft is the second position of the second shaft, wherein the preset distance can be the distance of the corresponding shaft moving on the guide rail by one circle of rotation of the motor. As shown in fig. 14, if the position difference between the second position PA1 of the first shaft and the first position PB0 of the second shaft is greater than the preset distance, the second position of the second shaft is PB 0.
And 340, controlling the first shaft to move in the direction close to the second shaft, and determining the origin position of the first shaft according to the encoder sector corresponding to the second position of the first shaft.
Specifically, if the encoder sector of the motor corresponding to the second position of the first shaft, that is, the extreme position far away from the second shaft, is k, and the encoder sector of the motor moved by the first shaft is m, and m is k +2, k is an integer from 1 to 4, or m is k +2-6, and k is 5 or 6, the first shaft is controlled to continue to move in the direction close to the second shaft by the preset offset amount, and the position of the first shaft after moving by the preset offset amount is determined to be the origin position of the first shaft.
And 350, determining the origin position of the second shaft according to a first position difference between the origin position of the first shaft and the first position of the first shaft and a second position difference between the limit position of the second shaft far away from the first shaft and the second position of the second shaft.
Specifically, referring to fig. 14, the origin position of the first axis is PA2, the origin position of the second axis is PB0, and PB0 is PA2-PA0+ PB1-PB 0.
And step 360, controlling the first shaft to move in the direction close to the second shaft until the encoder sector of the first motor is the encoder sector corresponding to the origin position of the first shaft for the first time, and determining that the first shaft returns to the origin position of the first shaft.
The process of zeroing the encoder sector corresponding to the origin position of the first axis according to the first axis is specifically described in the first embodiment and the second embodiment, and is not described herein again.
And 370, controlling the second shaft to move in the direction close to the first shaft until the encoder sector of the second motor is the encoder sector corresponding to the origin position of the second shaft for the first time, determining that the second shaft returns to the origin position of the second shaft, or controlling the second shaft to move in the direction close to the first shaft until the position difference between the position of the second shaft and the origin position of the first shaft is the position difference between the origin position of the second shaft and the origin position of the first shaft, and determining that the second shaft returns to the origin position of the second shaft at the moment.
The process of zeroing the second axis according to the encoder sector corresponding to the origin position of the second axis, or the process of zeroing according to the position difference is specifically described in the first embodiment and the second embodiment, and is not described herein again.
According to the zero-returning method of the double-shaft and same-guide-rail equipment, the original point position of the first shaft is determined according to the encoder sector of the motor in the movement process of the first shaft, the original point position is prevented from being directly determined according to the first Z signal of the motor encoder and still returning to the original point by the first Z signal, and the zero-returning reliability is prevented from being influenced by one circle of zero-returning position difference caused by fluctuation of the limit position when the limit position is superposed with the Z signal. In the embodiment, the first shaft determines the position corresponding to at least one sector apart from the encoder sector corresponding to the second position of the first shaft, namely the extreme position far away from the second shaft, as the original position according to the zero return of the encoder sector, and because the sector is fixed and unchanged, the zero return position difference caused by zero return of the first Z signal due to the superposition of the extreme position and the Z signal is avoided by one turn, thereby improving the reliability of zero return; the double-shaft zero returning process does not need the assistance of a zero returning switch or a limit switch, so that the cost of devices is effectively reduced, and the instability caused by the failure of the sensor due to the influence of external environment (such as dust, oil stain, equipment collision and vibration) is reduced; after the first shaft returns to zero, the position of the second shaft returning to the origin of the second shaft can be determined directly according to the position difference between the position of the second shaft and the origin of the first shaft, namely, the absolute coordinate position of the second shaft can be directly converted according to the relative position relationship, and the zero returning position calibration of the equipment is quickly realized.
Example four
Fig. 15 is a block diagram of a zero-returning apparatus for a dual-axis co-rail device according to a fourth embodiment of the present invention, where the apparatus includes an origin determining module 410, a first zero-returning determining module 420, and a second zero-returning determining module 430; the origin determining module 410 is configured to determine an origin position of the first shaft and an origin position of the second shaft according to an encoder sector of the motor and a position difference between the first shaft and the second shaft on the device guide rail; the encoder sector corresponding to the origin position is separated from the encoder sector corresponding to the limit position of the corresponding shaft by at least one sector; the first zero-returning determining module 420 is configured to determine that the first shaft returns to the origin position of the first shaft and the second shaft returns to the origin position of the second shaft when the encoder sector of the motor is the encoder sector corresponding to the origin position for the first time after the first shaft passes through the extreme position far from the second shaft and the second shaft passes through the extreme position far from the first shaft; or, the second zero-returning determining module 430 is configured to determine, when the first shaft passes through the extreme position far from the second shaft and the second shaft passes through the extreme position far from the first shaft, that the first shaft returns to the origin position of the first shaft when the encoder sector of the motor is the encoder sector corresponding to the origin position for the first time, and determine, after the second shaft passes through the extreme position far from the first shaft, that the second shaft returns to the origin position of the second shaft according to a position difference between the position of the second shaft and the origin position of the first shaft.
On the basis of the above embodiment, the motor includes a first motor and a second motor, the first motor is connected with the first shaft, and the second motor is connected with the second shaft; the origin determining module 410 includes a first axis origin determining unit and a second axis origin determining unit; the first shaft origin determining unit is used for determining that the position of the first shaft at the moment is the origin position of the first shaft when the first shaft moves to a position where at least one sector is separated from an encoder sector of the first motor corresponding to the limit position of the first shaft after the first shaft passes through the limit position far away from the second shaft; the second shaft origin determining unit is used for determining that the position of the second shaft at the moment is the origin position of the second shaft when the second shaft moves to a position where the encoder sector of the second motor is separated from the encoder sector of the second motor corresponding to the limit position of the second shaft by at least one sector after the second shaft passes through the limit position far away from the first shaft. Wherein, first motor and second motor are the same model motor.
In one embodiment, the origin determination module 410 includes a first position determination unit, a second position determination unit, a first axis origin determination unit, and a second axis origin determination unit; the first position determining unit is used for controlling the first shaft to move in a torque speed-limiting mode until the first shaft and the second shaft are attached and balanced, and determining the first position of the first shaft and the first position of the second shaft at the moment; the second position determining unit is used for controlling the first shaft to move to a limit position far away from the second shaft, achieving moment balance and determining the second position of the first shaft at the moment; controlling the second shaft to move in a direction back to the first shaft by a preset distance according to the second position of the first shaft and the first position of the second shaft, and determining the second position of the second shaft at the moment; the first shaft origin determining unit is used for controlling the first shaft to move in the direction close to the second shaft, and determining the origin position of the first shaft according to the encoder sector corresponding to the second position of the first shaft; the second shaft origin determining unit is used for determining the origin position of the second shaft according to a first position difference between the origin position of the first shaft and the first position of the first shaft and a second position difference between the extreme position of the second shaft far away from the first shaft and the second position of the second shaft. The origin position of the second shaft is the sum of the first position difference, the second position difference and the position distance, and the position distance is the fixed position distance between the first position of the first shaft and the first position of the second shaft.
Further, the second position determining unit includes a first sub-unit and a second sub-unit; the first subunit is used for controlling the second shaft to move in the direction back to the first shaft for a preset distance if the position difference between the second position of the first shaft and the first position of the second shaft is smaller than the preset distance, and determining the position of the second shaft after moving for the preset distance as the second position of the second shaft; the second subunit is used for determining the current position of the second shaft as the second position of the second shaft if the position difference is greater than or equal to the preset distance.
Preferably, the first shaft origin determining unit includes a first shaft origin determining subunit, configured to, if the encoder sector corresponding to the second position of the first shaft is k, and the encoder sector of the first shaft moving to the motor is m, and m is k +2, where k is an integer from 1 to 4, or m is k +2-6, and k is 5 or 6, control the first shaft to continue moving in a direction approaching the second shaft by the preset offset, and determine that the position of the first shaft after moving by the preset offset is the origin position of the first shaft.
Preferably, the first zero-back determination module 420 includes a first axis origin determination unit and a second axis origin determination unit; the first shaft origin determining unit is used for controlling the first shaft to move in the direction close to the second shaft until the encoder sector of the first motor is the encoder sector corresponding to the origin position of the first shaft for the first time, and determining that the first shaft returns to the origin position of the first shaft; the second shaft origin determining unit is used for controlling the second shaft to move in the direction close to the first shaft until the encoder sector of the second motor is the encoder sector corresponding to the origin position of the second shaft for the first time, and determining that the second shaft returns to the origin position of the second shaft. Wherein, first motor and second motor are the same model motor.
In one embodiment, the second zero-return determination module 430 includes a second axis origin determination subunit, configured to control the second axis to move in a direction approaching the first axis until a position difference between a position of the second axis and an origin position of the first axis is a position difference between the origin position of the second axis and the origin position of the first axis, and determine that the second axis returns to the origin position of the second axis at the time.
The double-shaft same-guide-rail device zero-returning device provided by the embodiment and the double-shaft same-guide-rail device zero-returning method provided by any embodiment of the invention belong to the same inventive concept, have corresponding beneficial effects, and detailed technical details in the embodiment are not shown in the double-shaft same-guide-rail device zero-returning method provided by any embodiment of the invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A zero returning method of double-shaft same-guide-rail equipment is characterized by comprising the following steps:
determining an origin position of a first shaft and an origin position of a second shaft according to an encoder sector of a motor and a position difference between the first shaft and the second shaft on an equipment guide rail; the encoder sector corresponding to the origin position is separated from the encoder sector corresponding to the limit position of the corresponding shaft by at least one sector;
after the first shaft passes through the limit position far away from the second shaft and the second shaft passes through the limit position far away from the first shaft, when an encoder sector of the motor is an encoder sector corresponding to the origin position for the first time, determining that the first shaft returns to the origin position of the first shaft and the second shaft returns to the origin position of the second shaft; or the like, or, alternatively,
and after the second shaft passes through the limit position far away from the first shaft, determining that the second shaft returns to the origin position of the second shaft according to the position difference between the position of the second shaft and the origin position of the first shaft.
2. The dual-axis zero-returning method for the same-track equipment as in claim 1, wherein the motor comprises a first motor and a second motor, the first motor is connected with the first shaft, and the second motor is connected with the second shaft; the determining the origin position of the first shaft and the origin position of the second shaft according to an encoder sector of a motor includes:
after the first shaft passes through the limit position far away from the second shaft, when the first shaft moves to the position where the encoder sector of the first motor is separated from the encoder sector of the first motor corresponding to the limit position of the first shaft by at least one sector, determining the position of the first shaft at the moment as the origin position of the first shaft;
and after the second shaft passes through the limit position far away from the first shaft, when the second shaft moves to the position where the encoder sector of the second motor is separated from the encoder sector of the second motor corresponding to the limit position of the second shaft by at least one sector, determining the position of the second shaft at the moment as the origin position of the second shaft.
3. The dual-axis and same-guide-rail apparatus zeroing method according to claim 1, wherein determining the origin position of the first axis and the origin position of the second axis according to an encoder sector of a motor and a position difference between the first axis and the second axis on an apparatus guide rail comprises:
controlling the first shaft to move in a torque speed limit mode until the first shaft and the second shaft are attached and balanced, and determining a first position of the first shaft and a first position of the second shaft at the moment;
controlling the first shaft to move to an extreme position far away from the second shaft and reach moment balance, and determining a second position of the first shaft at the moment;
controlling the second shaft to move in a direction away from the first shaft by a preset distance according to the second position of the first shaft and the first position of the second shaft, and determining the second position of the second shaft at the moment;
controlling the first shaft to move in a direction close to the second shaft, and determining the origin position of the first shaft according to an encoder sector corresponding to the second position of the first shaft;
and determining the origin position of the second shaft according to a first position difference between the origin position of the first shaft and the first position of the first shaft and a second position difference between the extreme position of the second shaft far away from the first shaft and the second position of the second shaft.
4. The double-shaft co-rail equipment zero returning method according to claim 3, wherein the step of controlling the second shaft to move away from the first shaft by a preset distance according to the second position of the first shaft and the first position of the second shaft, and determining the second position of the second shaft at the moment comprises the following steps:
if the position difference between the second position of the first shaft and the first position of the second shaft is smaller than a preset distance, controlling the second shaft to move in the direction away from the first shaft by the preset distance, and determining the position of the second shaft after moving by the preset distance as the second position of the second shaft;
and if the position difference is larger than or equal to a preset distance, determining that the current position of the second shaft is the second position of the second shaft.
5. The dual-axis co-rail apparatus zeroing method of claim 3, wherein determining the origin position of the first axis according to the encoder sector corresponding to the second position of the first axis comprises:
if the encoder sector corresponding to the second position of the first shaft is k, and when the encoder sector of the motor moved by the first shaft is m, and m is k +2, where k is an integer from 1 to 4, or m is k +2-6, where k is 5 or 6, controlling the first shaft to continue to move in a direction close to the second shaft by a preset offset, and determining that the position of the first shaft after moving by the preset offset is the original position of the first shaft.
6. The dual-axis co-rail apparatus zeroing method according to claim 3, wherein the origin position of the second axis is a sum of the first position difference and the second position difference and a position interval which is a fixed position interval between the first position of the first axis and the first position of the second axis.
7. The dual-axis co-rail apparatus zeroing method according to claim 2, wherein the determining that the first axis returns to the origin position of the first axis and the second axis returns to the origin position of the second axis according to when an encoder sector of a motor is an encoder sector corresponding to the origin position for the first time comprises:
controlling the first shaft to move in a direction close to the second shaft until the first motor has an encoder sector corresponding to the origin position of the first shaft for the first time, and determining that the first shaft returns to the origin position of the first shaft;
and controlling the second shaft to move in a direction close to the first shaft until the second shaft returns to the origin position of the second shaft when the encoder sector of the second motor is the encoder sector corresponding to the origin position of the second shaft for the first time.
8. The dual-axis same-guide-rail device zero-returning method as claimed in claim 7, wherein the first motor and the second motor are motors of the same type.
9. The double-axis co-rail apparatus zeroing method according to claim 1, wherein the determining of the position of the second axis returning to the origin of the second axis according to the position difference between the position of the second axis and the origin of the first axis comprises:
and controlling the second shaft to move in a direction close to the first shaft until the position difference between the position of the second shaft and the origin position of the first shaft is the position difference between the origin position of the second shaft and the origin position of the first shaft, and determining that the second shaft returns to the origin position of the second shaft at the moment.
10. The utility model provides a biax is with zero device of guide rail equipment return which characterized in that includes:
the device comprises an origin point determining module, a position determining module and a position determining module, wherein the origin point determining module is used for determining the origin point position of a first shaft and the origin point position of a second shaft according to an encoder sector of a motor and the position difference between the first shaft and the second shaft on a guide rail of the device; the encoder sector corresponding to the origin position is separated from the encoder sector corresponding to the limit position of the corresponding shaft by at least one sector;
the first zero-returning determining module is used for determining that the first shaft returns to the original point position of the first shaft and the second shaft returns to the original point position of the second shaft when an encoder sector of the motor is an encoder sector corresponding to the original point position for the first time after the first shaft passes through the limit position far away from the second shaft and the second shaft passes through the limit position far away from the first shaft; or the like, or, alternatively,
and the second zero-returning determination module is used for determining that the first shaft returns to the original point position of the first shaft when the encoder sector of the motor is the encoder sector corresponding to the original point position for the first time after the first shaft passes through the limit position far away from the second shaft and the second shaft passes through the limit position far away from the first shaft, and determining that the second shaft returns to the original point position of the second shaft according to the position difference between the position of the second shaft and the original point position of the first shaft after the second shaft passes through the limit position far away from the first shaft.
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| CN202011582954.XA CN112894801B (en) | 2020-12-28 | 2020-12-28 | Zero returning method and device for double-shaft same-guide-rail equipment |
| PCT/CN2021/096941 WO2022142117A1 (en) | 2020-12-28 | 2021-05-28 | Zero resetting method and apparatus for double-shaft same-guideway device |
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| CN202011582954.XA CN112894801B (en) | 2020-12-28 | 2020-12-28 | Zero returning method and device for double-shaft same-guide-rail equipment |
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| US6741055B2 (en) * | 2000-12-26 | 2004-05-25 | Matsushita Electric Industrial Co., Ltd. | Positioning-controlling apparatus and positioning-controlling method, and part-mounting equipment and part-mounting method |
| JP2009023039A (en) * | 2007-07-18 | 2009-02-05 | Nsk Ltd | Original point position setting device, original point position setting method, link mechanism, and caster-type robot |
| CN100595707C (en) * | 2008-08-29 | 2010-03-24 | 华中科技大学 | Numerical control machine tool double-shaft synchronization controller |
| JP5228783B2 (en) * | 2008-10-15 | 2013-07-03 | 株式会社デンソーウェーブ | Robot origin return device |
| CN101670981B (en) * | 2009-10-13 | 2012-06-13 | 上海理工大学 | Long rail crane group simultaneous localization system with semi-closed loop position feedback and location method thereof |
| CN103543677B (en) * | 2013-09-30 | 2015-12-02 | 北京大学深圳医院 | A kind of implementation method of back to zero control system of the robot that makes up a prescription |
| CN107589719A (en) * | 2017-07-21 | 2018-01-16 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of origin apparatus resetting method and device |
| JP2019066213A (en) * | 2017-09-29 | 2019-04-25 | セイコーエプソン株式会社 | Encoder, robot and printer |
| CN109849046B (en) * | 2017-11-30 | 2020-11-24 | 深圳市优必选科技有限公司 | Zero returning method and zero returning system of steering engine rotor, steering engine and robot |
| CN109079778A (en) * | 2018-08-07 | 2018-12-25 | 珠海格力电器股份有限公司 | Robot zero-setting system and method |
| CN109605344B (en) * | 2019-01-09 | 2021-02-09 | 北京精密机电控制设备研究所 | Multi-degree-of-freedom open-loop stepping series mechanical arm and control method thereof |
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