CN113432634A

CN113432634A - Matching test equipment and method for encoder and motor

Info

Publication number: CN113432634A
Application number: CN202110614513.1A
Authority: CN
Inventors: 王力
Original assignee: Zhejiang Ruiying Sensing Technology Co ltd
Current assignee: Zhejiang Ruiying Sensing Technology Co ltd
Priority date: 2021-06-02
Filing date: 2021-06-02
Publication date: 2021-09-24

Abstract

The invention discloses a matching test device and a method for an encoder and a motor, wherein the matching test device for the encoder and the motor is used for zeroing and parameter writing of the motor and detection and correction of the encoder and comprises a driving motor, a driven motor, an encoder, a signal acquisition device and a motor control device, the encoder is coaxially connected with the driven motor, the signal acquisition device is electrically connected with the encoder, and the signal acquisition device is used for acquiring signals generated in the rotation process of the encoder. The invention discloses a matching test device and a method of an encoder and a motor, which are used for solving the problems of separation of steps and complicated operation of an angle feedback error in the process of mounting the encoder on the motor, setting of an initial angle position after mounting on the motor and writing of motor parameters.

Description

Matching test equipment and method for encoder and motor

Technical Field

The invention belongs to the technical field of matching test of an encoder and a motor, and particularly relates to matching test equipment of the encoder and the motor and a matching test method of the encoder and the motor.

Background

The encoder is a device for converting angular displacement or linear displacement into an electric signal, and is an angle detection device widely adopted in the fields of numerical control machines, industrial robots, automobiles, rail traffic and the like. When the encoder is assembled or installed on a motor, because of the influence of the shafting precision and the sensitive element on the alignment deviation, an angle feedback error can be generated, and even an encoder error code is caused. The error code of the encoder causes the error of angle feedback, and the danger of galloping and the like is caused; the encoder has feedback errors that can cause the accuracy of the device to be lost. Therefore, the encoder needs to be detected and corrected before measurement application by the encoder.

After the encoder is coaxially connected with the rotor in a normal condition, due to the installation randomness of the encoder, the initial relation between the absolute position signal and the reference signal and the position of the rotor is random and unknown, namely, an initial phase angle exists between the position signal and the mechanical angle of the rotor. Therefore, after the encoder installation is completed, the initial angle setting of the encoder must be performed to obtain accurate angle information. The traditional motor zero setting mode is that direct current is introduced into a stator winding of a motor to generate a constant stator magnetic field to fix a rotor at a zero position, and angle information fed back by an encoder at the moment is used as offset of the zero point to be recorded. The method cannot freely define the initial angle position, and reads the angular offset of the encoder by depending on the position of the fixed rotor.

When the driver drives the motor, it is necessary to know the mechanical and electrical characteristics of the driven motor, and typically these characteristic values are stored in the encoder. Therefore, after the servo motor is assembled with the encoder, motor parameters need to be written into the encoder. At present, the action of writing in the motor parameters is often finished by a servo driver, the operation is complicated, and the written parameters cannot be freely changed.

In the current production process of the servo motor, the three operations are generally required to be sequentially executed to ensure that the finally installed motor has good functional performance and can be directly connected with a driver for use. Because each operation is independent mutually, the whole operation that has many times from the dismouting of platform station and connect the plug-in exists of motor, brings inconvenience to production, and brings the risk of quality management and control.

Therefore, the above problems are further improved.

Disclosure of Invention

The invention mainly aims to provide matching test equipment and a method of an encoder and a motor, which are used for solving the problems of separation of steps and complicated operation of three processes of angle feedback error in the process of mounting the encoder on the motor, setting of an initial angle position after mounting on the motor and writing of motor parameters.

The invention also aims to provide matching test equipment and a method for the encoder and the motor, which integrate the motor zero setting, the motor parameter writing and the encoder detection and correction into one device, greatly shorten the working hours and improve the efficiency.

The invention also aims to provide matching test equipment and a method for the encoder and the motor, wherein the zero setting function of the motor is different from the traditional mode that the angle position is set by depending on the locking shaft of a motor driver, the zero setting action is simplified, only the locking shaft position is executed, and the set angle parameter is input, so that the equipment can be automatically set to zero.

Another object of the present invention is to provide a matching test apparatus for an encoder and a motor and a method thereof, wherein the function of writing motor parameters is different from the conventional method of writing motor parameters by means of a motor driver, and the apparatus directly writes the defined motor parameters into a memory of the encoder.

In order to achieve the above object, the present invention provides a matching test device for an encoder and a motor, which is used for zeroing and parameter writing of the motor and detection and correction of the encoder, and comprises a driving motor, a driven motor, an encoder, a signal acquisition device and a motor control device, wherein:

the encoder is coaxially connected with the driven motor, the signal acquisition device is electrically connected with the encoder and is used for acquiring signals generated in the rotation process of the encoder;

the driving motor is connected with the driven motor and used for driving the driven motor to rotate, and the motor control device is respectively electrically connected with the driving motor and the driven motor and used for driving the driving motor to rotate.

As a further preferred technical scheme of above-mentioned technical scheme, the encoder includes memory, circuit board and encoder axis of rotation, the circuit board with signal acquisition device electric connection, driven motor includes driven motor axis of rotation and driven motor lead-out wire, the one end of driven motor axis of rotation with encoder axis of rotation connection, the driven motor lead-out wire with motor control device electric connection.

As a further preferred technical scheme of the above technical scheme, the driving motor includes a driving motor rotating shaft and a driving motor outgoing line, one end of the driven motor rotating shaft, which is far away from the encoder rotating shaft, is connected with the driving motor rotating shaft through a coupler, and the driving motor outgoing line is electrically connected with the motor control device.

As a further preferable technical solution of the above technical solution, the motor control device includes an inverter, a dc power supply, and a controller, the controller is electrically connected to the inverter and the dc power supply, respectively, and the controller is also electrically connected to the driven motor outgoing line and the driving motor outgoing line, respectively.

As a further preferred technical solution of the above technical solution, the matching test equipment of the encoder and the motor further includes a placing table, the driving motor, the driven motor and the encoder are respectively placed on the placing table, the placing table is provided with at least one connection end, and the driven motor outgoing line and the driving motor outgoing line are fixed to the connection end.

In order to achieve the above object, the present invention further provides a matching test method of an encoder and a motor, which is used for implementing the matching test device of the encoder and the motor, and comprises the following steps:

step S1: detecting and correcting the encoder and the motor;

step S2: zeroing the motor;

step S3: and writing the motor parameters of the motor into an encoder.

As a further preferable embodiment of the above technical means, step S1 is specifically implemented as the following steps:

step S1.1: the encoder is electrically connected with the driven motor, so that an encoder rotating shaft of the encoder is coaxially connected with a driven motor rotating shaft of the driven motor, and one end, far away from the encoder rotating shaft, of the driven motor rotating shaft of the driven motor is connected with a driving motor driving shaft of the driving motor through a coupler;

step S1.2: the motor control device is respectively electrically connected with a driving motor outgoing line of the driving motor and a driven motor outgoing line of the driven motor, so that the motor control device drives the driving motor to rotate;

step S1.3: the driving motor rotates the back and rotates through shaft coupling drive driven motor for driven motor drives the encoder and carries out coaxial motion, and signal acquisition device with encoder electric connection detects, handles and rectifies the signal that the encoder rotation in-process produced, corrects with output testing result or with the encoder of feedback to the correction result.

As a further preferable embodiment of the above technical means, step S2 is specifically implemented as the following steps:

step S2.1: the motor control device stops driving the driving motor to rotate, so that the driving motor keeps a free rotation state, and sends a UVW signal to the driven motor through a direct-current power supply, so that the driven motor is in a shaft locking state;

step S2.2: the signal acquisition device detects and processes signals generated in the rotation process of the encoder, calculates the initial angle position required to be set, and writes the calculated result into the encoder to set the initial angle position.

As a further preferable embodiment of the above technical means, step S3 is specifically implemented as the following steps:

s3.1: the motor control device enables the driven motor to recover to a free rotation state, and motor parameters needing to be set are written into the encoder through the signal acquisition device.

As a further preferable embodiment of the above-described technical means, the drive motor, the driven motor, and the encoder are respectively placed on the placing table.

Drawings

Fig. 1 is a schematic structural diagram of a matching test device of an encoder and a motor and a matching test device of an encoder and a motor of the method of the invention.

The reference numerals include: 1. a driven motor; 11. a driven motor rotating shaft; 12. leading-out wires of the driven motor; 2. a drive motor; 21. a drive motor rotating shaft; 22. a drive motor lead-out wire; 3. an encoder; 31. a circuit board; 32. an encoder rotating shaft; 4. a signal acquisition device; 5. a motor control device; 51. an inverter; 52. a direct current power supply; 53. a controller; 6. a placing table; 61. a connecting end; 7. a coupling is provided.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.

In the preferred embodiment of the present invention, those skilled in the art should note that the circuit board, the dc power supply, the encoder, and the like, which are referred to in the present invention, can be regarded as the prior art.

PREFERRED EMBODIMENTS

The current motor initial position setting method is that direct current is led into a stator winding to generate a constant stator magnetic field, a rotor moves to a specified preposition under the action of the stator magnetic field, after the rotor preposition is finished, the position detection result of an encoder is compared, the position information obtained at the moment is offset compared with the preposition, and then the offset and the preposition information at the moment are recorded by a motor driver. That is, the initial position of the motor is determined by the dc fixed rotor angle, and the motor driver needs to be operated to save the zero-set result, which wastes labor hours.

At present, the writing of motor parameters into the encoder is also realized by operating a motor driver, and the writing of data forms is completely dependent on the motor driver.

The invention discloses a matching test device of an encoder and a motor, which is used for zeroing and parameter writing of the motor and detection and correction of the encoder, and comprises a driving motor 2, a driven motor 1, an encoder 3, a signal acquisition device 4 and a motor control device 5, wherein:

the encoder 3 is coaxially connected with the driven motor 1, the signal acquisition device 4 is electrically connected with the encoder 3, and the signal acquisition device 4 is used for acquiring signals generated in the rotation process of the encoder 3;

the driving motor 2 is connected with the driven motor 1, the driving motor 2 is used for driving the driven motor 1 to rotate, the motor control device 5 is respectively electrically connected with the driving motor 2 and the driven motor 1, and the motor control device 5 is used for driving the driving motor 2 to rotate.

Specifically, encoder 3 includes memory, circuit board 31 and encoder axis of rotation 32, circuit board 31 with 4 electric connection of signal acquisition device, driven motor 1 includes driven motor axis of rotation 11 and driven motor lead-out wire 12, driven motor axis of rotation 11 one end with encoder axis of rotation 32 is connected, driven motor lead-out wire 12 with 5 electric connection of motor control device.

More specifically, driving motor 2 includes driving motor axis of rotation 21 and driving motor lead-out wire 22, driven motor axis of rotation 21 keeps away from the one end of encoder axis of rotation 32 pass through shaft coupling 7 with driving motor axis of rotation 21 connects, driving motor lead-out wire 22 with motor control device 5 electric connection.

Further, the motor control device 5 includes an inverter 51, a dc power source 52 and a controller 53, the controller 53 is electrically connected to the inverter 51 and the dc power source 52, respectively, and the controller 53 is also electrically connected to the driven motor outlet 12 and the driving motor outlet 22, respectively.

Furthermore, the matching test equipment for the encoder and the motor further comprises a placing table 6, the driving motor 2, the driven motor 1 and the encoder 3 are respectively placed on the placing table 6, the placing table 6 is provided with at least one connecting end 61, and the driven motor outgoing line 12 and the driving motor outgoing line 22 are fixed to the connecting end 61.

The invention also discloses a matching test method of the encoder and the motor, which is used for implementing the matching test equipment of the encoder and the motor, and the method comprises the following steps:

step S1: detecting and correcting the encoder and the motor;

step S2: zeroing the motor;

step S3: and writing the motor parameters of the motor into an encoder.

Specifically, step S1 is implemented as the following steps:

More specifically, step S2 is specifically implemented as the following steps:

Further, step S3 is specifically implemented as the following steps:

Furthermore, the driving motor, the driven motor and the encoder are respectively placed on the placing table, the placing table is provided with at least one connecting end, and the driven motor outgoing line and the driving motor outgoing line are fixed to the connecting ends.

Preferably, the present invention includes a placing table 6, and a driving motor 2 and a driven motor 1 and an encoder 3 placed on the placing table 6. The driving motor 2 and the driven motor 1 are both provided with leading-

out wires

22 and 12 and

rotating shafts

21 and 11, a connecting end 61 for fixing the leading-out wires (power) is arranged on the placing table 6, the driving motor 2, the driven motor 1 and the motor control device 5 are electrically connected through the connecting end 61, and the motor control device 5 comprises an inverter 51, a direct-current power supply 52 and a controller 53 connected with the inverter 51. The driven motor rotating shaft 11 is connected with the driving motor rotating shaft 21 through a coupler 7. The encoder rotating shaft 32 is coaxially connected with the driven motor rotating shaft 11, and the circuit board 31 is electrically connected with the signal acquisition device 4.

According to the invention, a motor driver is not required to be used for zero setting, the direct-current power supply directly locks the driven motor at a fixed position, and the signal acquisition device reads the current position of the encoder and combines with the preset angle parameter to calculate to obtain the angle offset, and then the angle offset is written into the encoder.

The motor parameters can also be written into the encoder by the signal acquisition device directly through specifying the format content of the motor parameters without passing through a motor driver.

The encoder 3 is a magnetic encoder or a photoelectric encoder, and may also be a capacitive encoder, an inductive encoder, or the like, that is, may be applied to the detection and correction of various encoders and the work of zeroing write parameters.

The motor control device 5, the motor control device 5 includes an inverter 51, a dc power source 52 and an inverter 51, a controller 53 connected to the dc power source 52, a rectifying unit is further disposed in the motor control device 5, the controller 53 is connected to the power

outgoing lines

22, 12 through a connecting end 61, the rectifying unit converts the ac power with fixed working frequency into dc power, the inverter 51 converts the dc power into square waves with various frequencies, widths and amplitudes, and the square waves are output under the control of the controller 53 to drive the motor 2, accordingly, the motor 2 is a servo motor. The dc power supply outputs dc power, which is controlled by the controller 53 to be output, so as to lock the shaft of the motor 1, and the corresponding motor 1 is a servo motor.

In this driving mode, not only can the encoder be detected and corrected, but also the actions of zero setting and motor parameter writing can be carried out.

It should be noted that the number of the connecting terminals 61 is at least one, that is, in the present invention, more than one motor 1, motor 2 and encoding device 3 may be disposed on the placing table 9, and a plurality of motor control devices 5 may be provided to drive a plurality of motors, so as to achieve the purpose of simultaneously performing detection and correction, zero setting and writing of motor parameters of a plurality of sets of encoding devices 3.

Circuit board 31 and signal acquisition device 4 link to each other, and driving motor 2 drags electric driven machine 1 through shaft coupling 7 and rotates, and driven motor 1 drives encoder 3 and is coaxial motion, and encoder axis of rotation 31 obtains effective signal and is collected by signal acquisition device 4 in circuit board 32 department, moreover be provided with the memory on encoder 3, signal acquisition device 4 handles the signal and writes into the internal memory of encoder 3 with the result of handling after correcting in. The encoder 3 corrects itself based on this correction result. And the motor parameters and the acquired position offset can be written into an internal memory of the encoder 2 through the signal acquisition device 4, so that the accuracy of angle information fed back when the encoder is used for measurement is ensured.

Place platform 6 including the main part, be used for placing driven motor 1, the board is placed to the motor of driving motor 2 and is used for placing the encoder of encoder 3 and place the board, can effectively guarantee motor drive process and encoder data reading process's stability and high efficiency.

It should be noted that the technical features of the circuit board, the dc power supply, the encoder, and the like, which are referred to in the present patent application, should be regarded as the prior art, and the specific structure, the operation principle, the control manner and the spatial arrangement manner that may be referred to in the present patent application may be conventional in the art, and should not be regarded as the invention point of the present patent, and the present patent is not further specifically described in detail.

It will be apparent to those skilled in the art that modifications and equivalents may be made in the embodiments and/or portions thereof without departing from the spirit and scope of the present invention.

Claims

1. The utility model provides a matching test equipment of encoder and motor for zero setting and parameter writing and encoder detection of motor are rectified, its characterized in that, including driving motor, driven motor, encoder, signal acquisition device and motor control device, wherein:

2. The matching test equipment for the encoder and the motor as claimed in claim 1, wherein the encoder comprises a memory, a circuit board and an encoder rotating shaft, the circuit board is electrically connected with the signal acquisition device, the driven motor comprises a driven motor rotating shaft and a driven motor outgoing line, one end of the driven motor rotating shaft is connected with the encoder rotating shaft, and the driven motor outgoing line is electrically connected with the motor control device.

3. The matching test equipment for the encoder and the motor as claimed in claim 2, wherein the driving motor comprises a driving motor rotating shaft and a driving motor outgoing line, one end of the driven motor rotating shaft, which is far away from the encoder rotating shaft, is connected with the driving motor rotating shaft through a coupler, and the driving motor outgoing line is electrically connected with the motor control device.

4. The matching test equipment for the encoder and the motor as claimed in claim 3, wherein the motor control device comprises an inverter, a direct current power supply and a controller, the controller is electrically connected with the inverter and the direct current power supply respectively, and the controller is further electrically connected with the driven motor lead-out wire and the driving motor lead-out wire respectively.

5. The matching test device of the encoder and the motor as claimed in claim 4, further comprising a placing table, wherein the driving motor, the driven motor and the encoder are respectively placed on the placing table, the placing table is provided with at least one connecting end, and the driven motor outgoing line and the driving motor outgoing line are fixed with the connecting end.

6. An encoder and motor matching test method for implementing an encoder and motor matching test device according to any one of claims 1-5, comprising the steps of:

step S1: detecting and correcting the encoder and the motor;

step S2: zeroing the motor;

step S3: and writing the motor parameters of the motor into an encoder.

7. The matching test method for the encoder and the motor according to claim 6, wherein the step S1 is implemented by the following steps:

8. The matching test method for the encoder and the motor according to claim 7, wherein the step S2 is implemented as the following steps:

9. The matching test method for the encoder and the motor according to claim 8, wherein the step S3 is implemented as the following steps:

10. The matching test method for the encoder and the motor as claimed in claim 9, wherein a driving motor, a driven motor and the encoder are respectively placed on the placing table, the placing table is provided with at least one connecting end, and the driven motor lead wire and the driving motor lead wire are fixed with the connecting end.