CN114123667A

CN114123667A - Electrical machine

Info

Publication number: CN114123667A
Application number: CN202111544462.6A
Authority: CN
Inventors: 张福清; 张松; 付欣; 刘爱华; 武付闯
Original assignee: Apollo Zhilian Beijing Technology Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd
Priority date: 2021-12-16
Filing date: 2021-12-16
Publication date: 2022-03-01

Abstract

The utility model provides an electrical equipment relates to motor calibration technical field. The motor apparatus includes: the motor body comprises a motor, a first encoder and a speed reducer, wherein the first encoder is used for acquiring first shaft position information of the motor, and the speed reducer is arranged on an output shaft of the motor; the second encoder is in transmission connection with an output shaft of the speed reducer and is used for acquiring second shaft position information of the motor; and the calibration module is used for receiving the first shaft position information and the second shaft position information and outputting a calibration result. According to the technology disclosed by the invention, the operation safety and stability of the motor are improved, and the fault occurrence rate of the motor is reduced.

Description

Electrical machine

Technical Field

The present disclosure relates to the field of motor calibration technology, and in particular, to a motor apparatus.

Background

In the related art, a motor device with an absolute value encoder can acquire a zero position when the device is powered off. However, under some special conditions, such as strong magnetic, vibration or impact load, the zero position of the absolute value encoder may be reset, and after the zero position is reset, if the zero position is not detected, the normal use of the motor equipment is affected, and even serious consequences are caused.

Disclosure of Invention

The present disclosure provides an electric machine apparatus.

The motor apparatus according to the present disclosure includes:

the motor body comprises a motor, a first encoder and a speed reducer, wherein the first encoder is used for acquiring first shaft position information of the motor, and the speed reducer is arranged on an output shaft of the motor;

the second encoder is in transmission connection with an output shaft of the speed reducer and is used for acquiring second shaft position information of the motor;

and the calibration module is used for receiving the first shaft position information and the second shaft position information and outputting a calibration result.

In one embodiment, the motor apparatus further includes:

the transmission device comprises a first transmission wheel, a second transmission wheel and a transmission belt, the first transmission wheel is in transmission connection with an output shaft of the speed reducer, the second transmission wheel is in transmission connection with a rotating shaft of the second encoder, and the first transmission wheel and the second transmission wheel are sleeved with the transmission belt.

In one embodiment, the electric machine further comprises:

the mounting assembly comprises a device mounting plate, the device mounting plate is provided with a device mounting surface, the device mounting surface is provided with a first mounting area and a second mounting area, the first mounting area is used for being mounted corresponding to the fixing surface of the speed reducer, and the second mounting area is used for mounting a second encoder.

In one embodiment, a first installation area of the equipment installation plate is provided with a plurality of first installation holes, a fixing surface of the speed reducer is provided with a plurality of second installation holes, and the plurality of first installation holes are arranged corresponding to the plurality of second installation holes;

the first mounting holes are located on the same circle in the equipment mounting face and are distributed at equal intervals.

In one embodiment, the mounting assembly further comprises:

the damping plate is arranged between the first mounting area of the equipment mounting plate and the fixing surface of the speed reducer and is made of soft materials.

In one embodiment, the mounting assembly further comprises:

the second encoder fixing plate is fixed in a second mounting area of the equipment mounting plate;

the second encoder adjusting plate is in sliding fit with the second encoder fixing plate and used for fixing the second encoder;

and in the process that the second encoder adjusting plate slides relative to the second encoder fixing plate, the relative distance between the rotating shaft of the second encoder and the output shaft of the speed reducer is changed.

In one embodiment, a first bending part is arranged at the edge of the second encoder fixing plate, and a first through hole is formed in the first bending part; a second bending part is arranged at the edge of the second encoder fixing plate, and a second through hole is formed in the second bending part;

the first through hole is used for allowing an adjusting bolt to pass through, and the adjusting bolt and the second through hole form threaded fit.

In one embodiment, the first mounting area is provided with a first through hole, the second mounting area is provided with a second through hole, and the first through hole and the second through hole respectively penetrate through the equipment mounting plate in the thickness direction of the equipment mounting plate;

the first through hole is used for an output shaft of the speed reducer to penetrate through, and the second through hole is used for a rotating shaft of the second encoder to penetrate through.

In one embodiment, the first encoder and the second encoder each employ an absolute value encoder.

In one embodiment, the calibration module is configured to send an alarm indication if the difference between the first axis position information and the second axis position information meets a preset condition.

According to the technique of this disclosure, through setting up first encoder and second encoder, can utilize first encoder to gather the axle position information of motor, with the zero point position of record motor under the condition of electrical equipment outage, and, gather the axle position information of motor through the second encoder is synchronous, the calibration module can be according to the second axle position information that the second encoder gathered and the first axle position information that first encoder gathered, check-up first encoder, with judge whether accurate the reading of first encoder. Therefore, the situation that the position of the zero point of the motor is reset to cause the inaccurate position information of the first shaft collected by the first encoder under the condition of strong magnetism, vibration or impact load of the motor equipment is avoided, the monitoring effect on the position information of the motor shaft is improved, the operation safety and the stability of the motor are improved, and the fault occurrence rate of the motor is reduced.

It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:

fig. 1 shows a schematic structural diagram of an electromechanical machine according to an embodiment of the present disclosure;

fig. 2 illustrates a perspective view of a motor apparatus according to an embodiment of the present disclosure;

fig. 3 shows an exploded schematic view of an electromechanical machine according to an embodiment of the present disclosure;

fig. 4 illustrates a side view of a motor apparatus according to an embodiment of the present disclosure.

Description of reference numerals:

an electric machine device 1;

a motor body 10; a motor 11; a first encoder 12; a speed reducer 13; a fixed surface 13 a; a second mounting hole 131;

a second encoder 20; a rotating shaft 21;

a calibration module 30;

a transmission device 40; the first driving wheel 41; a second transmission wheel 42; a transmission belt 43;

a mounting assembly 50;

an equipment mounting plate 51; the first mounting hole 511; a first via 512; a second via 513;

a vibration damping plate 52;

a second encoder fixing plate 53; a first bent portion 531;

a second encoder adjusting plate 54; a second bending portion 541;

an adjusting bolt 55;

an alarm device 2.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

A motor apparatus 11 according to an embodiment of the present disclosure is described below with reference to fig. 1 to 4.

As shown in fig. 1, a motor apparatus 1 according to an embodiment of the present disclosure includes a motor body 10, a second encoder 20, and a calibration module 30.

Specifically, the motor body 10 includes a motor 11, a first encoder 12 and a speed reducer 13, the first encoder 12 is used for acquiring first shaft position information of the motor 11, and the speed reducer 13 is disposed on an output shaft of the motor 11. The second encoder 20 is in transmission connection with an output shaft of the reducer 13, and the second encoder 20 is used for acquiring second shaft position information of the motor 11. The calibration module 30 is configured to receive the first axis position information and the second axis position information, and output a calibration result.

Illustratively, the motor 11 may be a servo motor 11 or a stepping motor 11. In order to ensure the output accuracy of the motor 11, it is preferable that the motor 11 employs a stepping motor 11.

It will be appreciated that the stepper motor 11 is an electric motor that converts electrical pulse signals into corresponding angular or linear displacements. Every time a pulse signal is input, the rotating shaft 21 rotates by an angle or one step, the output angular displacement or linear displacement is proportional to the input pulse number, and the rotating speed is proportional to the pulse frequency. Therefore, the stepping motor is also called a pulse motor.

The first encoder 12 and the second encoder 20 may be encoders in the form of absolute value encoders, incremental encoders, rotary transformers, or the like, and the first encoder 12 and the second encoder 20 may be encoders of the same or different forms.

The incremental encoder converts displacement into periodic electric signals, converts the electric signals into counting pulses, and expresses the displacement by the number of the pulses. Each position of the absolute encoder corresponds to a certain digital code, so that its representation is only dependent on the start and end positions of the measurement, and not on the intermediate course of the measurement.

It is understood that the first shaft position information collected by the first encoder 12 and the second shaft position information collected by the second encoder 20 may be used to represent the rotation angle and/or the rotation speed of the motor 11, in addition to the magnetic pole position information of the motor 11.

Illustratively, the motor body 10 further includes a housing, a cavity is defined inside the housing, and the motor 11, the first encoder 12 and the reducer 13 are all mounted in the cavity.

The first encoder 12 and the motor 11 may be mounted in a high-speed end, a low-speed end, an auxiliary machine, or the like.

For example, a high-speed end mounting may be used between the first encoder 12 and the motor 11. Specifically, the first encoder 12 may be directly mounted to the output shaft of the motor 11, or coupled to the output shaft of the motor 11 through a gear. The mounting mode has the advantages that the resolution ratio is high, the number of rotation turns of the motor 11 is within the range of the measuring range of the first encoder 12, the sufficient range can be fully used to improve the resolution ratio, and the mounting mode can be used for unidirectional high-precision control and positioning. In addition, the first encoder 12 is directly mounted at the high-speed end, so that the jitter amplitude of the motor 11 is small, otherwise the first encoder 12 is easily damaged.

For another example, the first encoder 12 and the motor 11 may be mounted at a low-speed end. Specifically, the first encoder 12 may be installed on an output shaft of the speed reducer, and this way has the advantages of relatively direct measurement process and relatively high precision.

For another example, the first encoder 12 and the motor 11 may be installed in an auxiliary manner by a rack and pinion, a chain belt, a friction wheel, a rope winding machine, or the like.

The second encoder 20 may be connected to the output shaft of the reducer 13, or may be indirectly connected to the output shaft. For example, in fig. 1, the rotating shaft 21 of the second encoder 20 may be indirectly connected with the output shaft of the reducer 13 through the transmission device 40.

Illustratively, the calibration module 30 may employ a Micro Controller Unit (MCU). The micro control unit is also called a single chip microcomputer and is an integrated circuit chip. The single chip microcomputer mainly comprises a Central Processing Unit (CPU), a Read-Only Memory (ROM), a Random Access Memory (RAM) and the like, and the diversified data acquisition and control system can enable the single chip microcomputer to finish various complex operations, and can finish the operations no matter control operation symbols or issue operation instructions to the system through the single chip microcomputer.

In the embodiment of the present disclosure, the calibration module 30 may adopt micro control units of various forms or scales as long as it can calibrate the motor 11 according to the first shaft position information and the second shaft position information, and determine whether the first shaft position information acquired by the first encoder 12 is accurate.

Specifically, the calibration module 30 may determine whether the first axis position information is accurate based on a difference between the first axis position information and the second axis position information. If the first shaft position information is accurate, the motor device 1 can be started and operated normally; if the first shaft position information is not accurate, the first encoder 12 needs to be adjusted and the parameters of the motor 11 need to be updated, and then the motor device 1 can be ensured to be normally started and operated.

It should be noted that the position of the calibration module 30 is not specifically set in the embodiment of the present disclosure, as long as it is ensured that the calibration module 30 can communicate with the first encoder 12 and the second encoder 20. For example, in the example shown in fig. 1, the calibration module 30 may be spaced apart from the motor body 10, and the first encoder 12 and the second encoder 20 communicate with the calibration module 30 through lines, respectively. For another example, the calibration module 30 may be integrally disposed inside the housing in other examples.

According to the motor apparatus 1 of the embodiment of the present disclosure, by providing the first encoder 12 and the second encoder 20, the shaft position information of the motor 11 can be collected by the first encoder 12, so as to record the zero position of the motor 11 when the motor apparatus 1 is powered off, and the shaft position information of the motor 11 is collected synchronously by the second encoder 20, and the calibration module 30 can verify the first encoder 12 according to the second shaft position information collected by the second encoder 20 and the first shaft position information collected by the first encoder 12, so as to determine whether the reading of the first encoder 12 is accurate. Therefore, the situation that the position of the zero point of the motor 11 is reset to cause the inaccurate position information of the first shaft acquired by the first encoder 12 under the condition of strong magnetism, vibration or impact load of the motor device 1 is avoided, the monitoring effect on the position information of the shaft of the motor 11 is improved, the operation safety and the stability of the motor 11 are improved, and the fault occurrence rate of the motor 11 is reduced.

In one embodiment, as shown in fig. 1 to 4, the motor apparatus 1 further includes a transmission 40.

Specifically, the transmission device 40 includes a first transmission wheel 41, a second transmission wheel 42 and a transmission belt 43, the first transmission wheel 41 is in transmission connection with the output shaft of the speed reducer 13, the second transmission wheel 42 is in transmission connection with the rotating shaft 21 of the second encoder 20, and the transmission belt 43 is sleeved on the first transmission wheel 41 and the second transmission wheel 42.

Wherein the transmission belt 43 is tensioned on the outer surfaces of the first transmission wheel 41 and the second transmission wheel 42 to ensure that the first transmission wheel 41 and the second transmission wheel 42 are synchronously transmitted.

For example, the motor body 10 and the second encoder 20 may be disposed on the same side of the transmission device 40, that is, the rotating shaft 21 of the second encoder 20 is disposed side by side with the output shaft of the reducer 13. Therefore, the integration level of the motor device 1 can be improved, and the external dimension of the motor device 1 can be reduced.

It can be understood that the motor 11 can reduce the rotation speed and increase the torque through the transmission of the multi-stage reduction gears of the reducer 13 during the operation. An output shaft of the speed reducer 13 drives the first driving wheel 41 to rotate, and then drives the second driving wheel 42 to rotate through the driving belt 43, so that the second encoder 20 in transmission connection with the second driving wheel 42 collects shaft position information of the motor 11.

Through the above embodiment, the output shaft of the speed reducer 13 and the rotating shaft 21 of the second encoder 20 can be in synchronous transmission connection, so that the second encoder 20 can accurately acquire the second shaft position information of the motor 11.

In one embodiment, as shown in fig. 1 to 4, the motor apparatus 1 further includes a mounting assembly 50.

Specifically, the mounting assembly 50 includes the device mounting plate 51, the device mounting plate 51 having a device mounting surface having a first mounting area for mounting corresponding to the fixing surface 13a of the decelerator 13 and a second mounting area for mounting the second encoder 20.

Illustratively, as shown in fig. 3, the device mounting board 51 may be configured in a rectangular shape, and one side surface of the device mounting board 51 forms a device mounting surface. Further, the apparatus mounting surface is evenly divided in its length direction into a first mounting region corresponding to the mounting surface of the decelerator 13 and a second mounting region for fixing the second encoder 20. Thereby, the motor body 10 and the second encoder 20 are respectively fixed to one side of the device mounting surface of the device mounting plate 51 to improve the mounting integration of the motor body 10 and the second encoder 20.

It should be noted that the above examples are only for better describing the device mounting plate 51, and should not be construed as limiting the embodiments of the present disclosure. In fact, the shape of the device mounting plate 51 may be any shape, and the division manner of the first mounting region and the second mounting region may also be any manner, which is not particularly limited in the embodiment of the present disclosure.

Through the above embodiment, the motor body 10 and the second encoder 20 can be integrally mounted, and the mounting manner is simple.

In one embodiment, as shown in fig. 3, the first mounting region is provided with a first via 512, the second mounting region is provided with a second via 513, and the first via 512 and the second via 513 each penetrate the device mounting board 51 in the thickness direction of the device mounting board 51. The first through hole 512 is used for the output shaft of the reducer 13 to pass through, and the second through hole 513 is used for the rotating shaft 21 of the second encoder 20 to pass through.

For example, the transmission 40 may be disposed on the other side surface of the device mounting plate 51 opposite to the device mounting surface, that is, the transmission 40 and the motor body 10 and the second encoder 20 are respectively disposed on two opposite sides of the device mounting plate 51. The output shaft of the reducer 13 is connected to the first driving wheel 41 of the transmission device 40 after passing through the first through hole 512, and the rotating shaft 21 of the second encoder 20 is connected to the second driving wheel 42 of the transmission device 40 after passing through the second through hole 513.

The shapes of the first via 512 and the second via 513 may be any shapes, which are not particularly limited in the embodiments of the present disclosure. For example, in the example shown in fig. 3, the first via 512 may be circular in shape and the second via 513 may be elliptical in shape.

It should be understood that the first through hole 512 may not only allow the output shaft of the speed reducer 13 to pass through, but also allow at least a portion of the fixing surface 13a of the speed reducer 13 to pass through the first through hole 512. For example, a circular boss is disposed in a central region of the fixing surface 13a of the speed reducer 13, and the first via hole 512 is in a circular shape adapted to the boss, so that the boss can be clamped in the first via hole 512, and the fitting stability between the speed reducer 13 and the device mounting plate 51 is improved.

Through the above embodiment, the relative position relationship between the transmission device 40, the motor body 10 and the second encoder 20 is reasonable, and the transmission of the transmission device 40 is not interfered by the second encoder 20 or the motor body 10 while the motor apparatus 1 is ensured to have higher integration level.

In one embodiment, as shown in fig. 3, a plurality of first mounting holes 511 are provided in the first mounting region of the equipment mounting plate 51, a plurality of second mounting holes 131 are provided in the fixing surface 13a of the decelerator 13, and the plurality of first mounting holes 511 are provided corresponding to the positions of the plurality of second mounting holes 131. The first mounting holes 511 are located on the same circle in the equipment mounting surface and are distributed at equal intervals.

In the embodiments of the present disclosure, the plurality means two or more.

In one example, the first mounting region is provided with two first mounting holes 511, i.e., a first mounting hole a and a first mounting hole B, the fixing surface 13a of the decelerator 13 is provided with two second mounting holes 131, i.e., a second mounting hole a 'and a second mounting hole B', and the two first mounting holes 511 and the two second mounting holes 131 are correspondingly positioned, and the fastening member is sequentially passed through the first mounting holes 511 and the second mounting holes 131 to fix the equipment mounting plate 51 to the fixing surface 13a of the decelerator 13. In one installation mode, the first installation hole a corresponds to the second installation hole a ', and the first installation hole B corresponds to the second installation hole B', so that the installation angle between the motor body 10 and the second encoder 20 is 0 degree. In another installation manner, the first installation hole a corresponds to the second installation hole B ', and the first installation hole B corresponds to the second installation hole a', so that an installation angle of 180 degrees is formed between the motor body 10 and the second encoder 20.

This makes it possible to realize two types of mounting manners of the relative positional relationship between the motor body 10 and the second encoder 20.

In another example, the number of the first mounting holes 511 and the number of the second mounting holes 131 are the same and are two or more, and the first mounting holes 511 are located on the same circle in the equipment mounting surface, that is, the shape formed by the connection lines of the first mounting holes 511 is a regular polygon, such as an equilateral triangle, a square, etc., and the first mounting holes 511 are located on the top corners of the regular polygon respectively. Accordingly, a plurality of mounting manners equal to the number of the first mounting holes 511 or the second mounting holes 131 can be realized, thereby realizing flexible adjustment of the mounting angle of the second encoder 20 with respect to the motor body 10.

The following description will be given taking as an example that the number of the first mounting holes and the second mounting holes are four.

The four first mounting holes 511 form four vertex angles of a square, and the four first mounting holes 511 are respectively a first mounting hole a, a first mounting hole B, a first mounting hole C and a first mounting hole D (not shown in the figure) which are sequentially arranged along the clockwise direction. The four second mounting holes 131 correspond to the four first mounting holes 511, and the four second mounting holes 131 are a second mounting hole a ', a second mounting hole B', a second mounting hole C ', and a second mounting hole D' (not shown) in the clockwise direction.

When the device mounting plate 51 is mounted on the fixing surface 13a, the second encoder 20 may be mounted so that the mounting angle thereof with respect to the motor body 10 is 0 degree in a manner corresponding to a and a ', B and B', C and C ', and D'. Alternatively, the second encoder 20 may be mounted so that the mounting angle of the second encoder 20 with respect to the motor body 10 is 90 degrees, in accordance with the correspondence between a and B ', B and C', C and D ', and D and a'. By analogy, two mounting manners of 180 degrees and 270 degrees of the mounting angle of the second encoder 20 relative to the motor body 10 can also be realized. Thereby, four mounting manners of the second encoder 20 and the motor body 10 are realized, and the mounting angles are different.

Through the above embodiment, for the second encoder 20 and the motor body 10, a plurality of installation manners corresponding to the number of the first installation holes 511 can be realized, so that the installation angle of the second encoder 20 relative to the motor body 10 can be flexibly adjusted according to the actual installation space and installation requirements, the requirement on the installation space of the motor device 1 is reduced, and the application range of the motor device 1 is enlarged.

In one embodiment, as shown in FIG. 3, the mounting assembly 50 further includes a damping plate 52. Specifically, the damping plate 52 is provided between the first mounting region of the device mounting plate 51 and the fixing surface 13a of the speed reducer 13, and the damping plate 52 is made of a soft material.

For example, the shape of the damper plate 52 may be a shape that fits the mounting surface of the speed reducer 13, and the shape of the first mounting area of the device mounting plate 51 fits the mounting surface of the speed reducer plate.

Further, the vibration damping plate 52 may be provided with a through hole having the same shape as the first via hole 512, so that the output end of the decelerator 13 may pass through the through hole and the first via hole 512 in sequence.

The material of the damping plate 52 may be any soft material, such as rubber, to achieve the damping function of the damping plate 52.

Through the above embodiment, during the operation of the motor 11, the rigid collision between the fixing surface 13a of the reducer 13 and the device mounting plate 51 can be avoided, a certain vibration damping effect is provided, the possibility that the vibration is transmitted to the device mounting plate 51 and then to the second encoder 20 due to the operation of the motor 11 is reduced, and the working stability of the second encoder 20 is improved.

In one embodiment, as shown in fig. 3 and 4, the mounting assembly 50 further includes a second encoder fixing plate 53 and a second encoder adjusting plate 54.

Specifically, the second encoder fixing plate 53 is fixed to a second mounting area of the apparatus mounting plate 51. The second encoder adjusting plate 54 is slidably fitted to the second encoder fixing plate 53 for fixing the second encoder 20. In the process of sliding the second encoder adjusting plate 54 relative to the second encoder fixing plate 53, the relative distance between the rotating shaft 21 of the second encoder 20 and the output shaft of the reducer 13 changes.

Wherein the second encoder 20 may be fixed to the second encoder adjusting plate 54 by a fastener.

Illustratively, the sliding fit between the second encoder adjustment plate 54 and the second encoder fixing plate 53 may take any form.

For example, the second encoder adjusting plate 54 and the second encoder fixing plate 53 may be slid in a direction parallel to a line connecting the rotating shaft 21 of the second encoder 20 and the output shaft of the reducer 13, so as to adjust the relative positional relationship between the rotating shaft 21 of the second encoder 20 and the output shaft of the reducer 13 by the relative sliding between the second encoder adjusting plate 54 and the second encoder fixing plate 53.

Further, the second encoder adjusting plate 54 and the second encoder fixing plate 53 are respectively provided with through holes for the rotation shaft 21 of the second encoder 20 to pass through, and the positions of the through holes correspond.

More specifically, the through holes of the second encoder adjusting plate 54 may be circular, and the through holes of the second encoder adjusting plate 54 may be bar-shaped, so that during the relative sliding process of the second encoder adjusting plate 54 with respect to the second encoder fixing plate 53, the rotating shaft 21 of the second encoder 20 may slide in the through holes of the second encoder fixing plate 53 along with the second encoder adjusting plate 54, and it is ensured that the rotating shaft 21 of the second encoder 20 may pass through the two through holes and extend out through the second through hole 513 on the apparatus mounting plate 51.

Through the above embodiment, the relative position between the rotating shaft 21 of the second encoder 20 and the output shaft of the speed reducer 13 can be adjusted, so that the distance between the first transmission wheel 41 and the second transmission wheel 42 of the transmission device 40 is adjusted, the tensioning degree of the transmission belt 43 sleeved on the first transmission wheel 41 and the second transmission wheel 42 is adjusted, the transmission belt 43 is ensured to be in a tensioning state, and the stability of synchronous transmission of the transmission device 40 is ensured.

In one embodiment, as shown in fig. 3 and 4, the edge of the second encoder fixing plate 53 is provided with a first bent portion 531, and the first bent portion 531 is provided with a first through hole; the edge of the second encoder fixing plate 53 is provided with a second bending portion 541, and the second bending portion 541 is provided with a second through hole. Wherein, the first through-hole is used for supplying adjusting bolt 55 to pass through, and adjusting bolt 55 forms screw thread fit with the second through-hole.

For example, the first bent portion 531 may be disposed at an upper edge of the second encoder fixing plate 53, the second bent portion 541 may be disposed at an upper edge of the second encoder adjusting plate 54, and the first bent portion 531 and the second bent portion 541 are disposed in a vertical direction. The first through hole and the second through hole correspond in position in the up-down direction, the end of the adjusting bolt 55 passes through the first through hole downward, and the head of the adjusting bolt 55 is clamped on the upper surface of the first bending portion 531, further, the end of the adjusting bolt 55 is in threaded fit with the second through hole.

The vertical direction is parallel to a line connecting the rotating shaft 21 of the second encoder 20 and the output shaft of the reducer 13.

Therefore, by screwing the adjusting bolt 55, the distance between the first bending plate and the second bending plate can be adjusted by using the threaded fit between the adjusting bolt 55 and the second through hole, so that the second encoder fixing plate 53 and the second encoder adjusting plate 54 slide relatively to each other, and the relative distance between the rotating shaft 21 of the second encoder 20 and the output shaft of the reducer 13 is adjusted.

In one embodiment, the first encoder 12 and the second encoder 20 each employ an absolute value encoder.

Note that the absolute value encoder has a characteristic that the absolute position is not lost. The absolute encoder, as a position confirmation tool with an absolute position not lost, can ensure that the real position value of the system is not lost in the case where the motor 11 of the motor apparatus 1 is out of order or is still moving in the case where the power of the system is cut off. That is, the absolute encoder code value is unique to the shaft position of the motor 11, has a "power-off memory" function, and has no accumulated error in the rotation measurement. Compared with an incremental encoder, the method can still ensure higher measurement accuracy in power failure or fault scenes.

Preferably, the measurement accuracy of the second encoder 20 is not less than the measurement accuracy of the first encoder 12. Therefore, the accuracy of the second shaft position information acquired by the second encoder 20 is not lower than the accuracy of the first shaft position information acquired by the first encoder 12, so that the first encoder 12 can be checked with reference to the second shaft position information.

Through the above embodiment, it can still be ensured that the first encoder 12 and the second encoder 20 can normally acquire the shaft position information of the motor 11 in a power failure or fault situation.

In one embodiment, the calibration module 30 is configured to send an alarm indication if the difference between the first axis position information and the second axis position information meets a preset condition.

For example, the preset condition may be a preset difference threshold. The calibration module 30 receives the first axis position information and the second axis position information, and then calculates an absolute value of a difference between the first axis position information and the second axis position information. When the absolute value of the difference is smaller than or equal to the difference threshold, it indicates that the first shaft position information of the first encoder 12 is accurate, and the electrical machine 1 can be normally started and operated. In the event that the absolute value of the difference is greater than the difference threshold, then the first axis position information of the first encoder 12 is interpreted as inaccurate, and an alarm indication is generated. The difference threshold may be specifically set according to an actual situation, and this is not specifically limited in the embodiment of the present disclosure.

In one particular example, calibration module 30 is in electrical communication with alarm device 2, and calibration module 30 sends an alarm indication to alarm device 2 upon generating the alarm indication. In response to the alarm indication, the alarm device 2 sounds an alarm or controls an alarm lamp to flash to indicate to the user that the motor apparatus 1 cannot be directly powered on.

Through the embodiment, the motor equipment 1 can have an alarm function, so that a user is reminded that the motor equipment 1 cannot be directly started and operated under the condition that the difference value between the first shaft position information and the second shaft position information meets the preset condition, and the working safety of the motor equipment 1 is improved.

It should be noted that other configurations of the motor apparatus 1 according to the embodiment of the present disclosure may be adopted by various technical solutions known to those skilled in the art now and in the future, and will not be described in detail herein.

In the description of the present specification, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present disclosure and to simplify the description, but are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present disclosure.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present disclosure, "a plurality" means two or more unless specifically limited otherwise.

In the present disclosure, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact, not directly, but via another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The above disclosure provides many different embodiments or examples for implementing different features of the disclosure. In order to simplify the disclosure of the present disclosure, specific example components and arrangements are described above. Of course, they are merely examples and are not intended to limit the present disclosure. Moreover, the present disclosure may repeat reference numerals and/or reference letters in the various examples, which have been repeated for purposes of simplicity and clarity and do not in themselves dictate a relationship between the various embodiments and/or arrangements discussed.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. An electric machine apparatus, characterized by comprising:

the motor comprises a motor body, a first encoder and a speed reducer, wherein the first encoder is used for acquiring first shaft position information of the motor, and the speed reducer is arranged on an output shaft of the motor;

and the calibration module is used for receiving the first axis position information and the second axis position information and outputting a calibration result.

2. The electromechanical machine of claim 1, further comprising:

3. The electromechanical machine of claim 1, further comprising:

the mounting assembly comprises a device mounting plate, the device mounting plate is provided with a device mounting surface, the device mounting surface is provided with a first mounting area and a second mounting area, the first mounting area is used for corresponding mounting with the fixing surface of the speed reducer, and the second mounting area is used for mounting the second encoder.

4. The electrical equipment of claim 3, wherein the first mounting region of the equipment mounting plate is provided with a plurality of first mounting holes, the fixing surface of the speed reducer is provided with a plurality of second mounting holes, and the plurality of first mounting holes are arranged corresponding to the positions of the plurality of second mounting holes;

the first mounting holes are located on the same circle in the equipment mounting surface and are distributed at equal intervals.

5. The electromechanical machine of claim 3, wherein the mounting assembly further comprises:

the damping plate is arranged between the first mounting area of the equipment mounting plate and the fixing surface of the speed reducer, and the damping plate is made of soft materials.

6. The electromechanical machine of claim 3, wherein the mounting assembly further comprises:

a second encoder fixing plate fixed to a second mounting region of the apparatus mounting plate;

wherein, in the sliding process of the second encoder adjusting plate relative to the second encoder fixing plate, the relative distance between the rotating shaft of the second encoder and the output shaft of the speed reducer is changed.

7. The electrical equipment according to claim 6, wherein a first bent portion is formed at an edge of the second encoder fixing plate, and the first bent portion is provided with a first through hole; a second bending part is arranged at the edge of the second encoder fixing plate, and a second through hole is formed in the second bending part;

8. The electrical equipment of claim 3, wherein the first mounting region is provided with a first via hole, the second mounting region is provided with a second via hole, and the first via hole and the second via hole respectively penetrate through the equipment mounting plate in a thickness direction of the equipment mounting plate;

the first through hole is used for the output shaft of the speed reducer to pass through, and the second through hole is used for the rotating shaft of the second encoder to pass through.

9. The electrical machine apparatus of any one of claims 1 to 8, wherein the first encoder and the second encoder each employ an absolute value encoder.

10. The electric machine arrangement according to any of claims 1 to 8, characterized in that the calibration module is configured to send an alarm indication if the difference between the first and second axis position information meets a preset condition.