CN114400619A - Design and method for preventing misoperation of motor driving device - Google Patents

Abstract

The invention relates to the technical field of motor driving devices, in particular to a design and a method for preventing misoperation of a motor driving device. The invention provides hardware and software for monitoring misoperation, wherein a reflecting plate is arranged on a driving wheel, three optical sensors are operated from the outside, the invention has the advantage that the motor can be stopped immediately when being driven to an unexpected direction of an engine, the direction can be judged according to the input sequence, the control signal for controlling the motor is captured and compared and analyzed, the actual driving wheel rotation can be sensed, so the direction has definite definition, if the program command has forward operation, the driving wheel senses whether the optical sensors actually operate in the forward direction according to the sensing of the driving wheel, and if the driving direction is found to be opposite in normal condition, an error signal is transmitted to a driving controller, so the driving is stopped.

Description

A design and method for preventing malfunction of motor drive device

technical field

The present invention relates to the technical field of motor drive devices, in particular to a design and method for preventing malfunction of the motor drive device.

Background technique

Servo motor is a servo motor, which refers to an engine that controls the operation of mechanical components in a servo system, and is an auxiliary motor indirect speed change device. The servo motor can control the speed and the position accuracy is very accurate. It can convert the voltage signal into torque and speed to drive the control object. The rotor speed of the servo motor is controlled by the input signal and can respond quickly. In the automatic control system, it is used as an actuator. , and has the characteristics of small electromechanical time constant and high linearity. It can convert the received electrical signal into angular displacement or angular velocity output on the motor shaft. It is divided into two categories: DC and AC servo motors. When the signal voltage is zero, there is no self-rotation phenomenon, and the speed decreases uniformly with the increase of torque.

A light sensor usually refers to a device that can sensitively sense light energy from ultraviolet light to infrared light and convert light energy into electrical signals. A light sensor is a sensing device, mainly composed of photosensitive elements, which are mainly divided into ambient light sensors, There are four types of infrared light sensors, sunlight sensors, and ultraviolet light sensors.

When the servo motor is working, the feedback information of the encoder will be driven whether it is in the forward or reverse direction. The wrong feedback information will induce the malfunction of the motor. If the power axis and the feedback become opposite for various reasons, the program command is positive. direction, then the motor will be driven in the reverse direction. As the position deviation increases, the motor will accelerate further in order to advance to the feedback position, and will eventually travel in an unintended direction, so it is very dangerous. At present, due to operational errors and mechanical The motor may fail due to failure and other reasons, resulting in a collision accident.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a design and method for preventing the malfunction of the motor drive device, which has the advantage of being able to stop immediately when the motor is driven in an unintended direction of the engine, and solves the problem that the motor may be Malfunctions can occur, causing problems in collision accidents.

In order to achieve the above object, the present invention provides the following technical solutions: a design for preventing the malfunction of the motor drive device, including a servo motor, a drive wheel, an encoder, a reflector and a light sensor;

The servo motor is used to control the forward drive or reverse drive of the driving wheel;

The encoder is used to feed back information to the servo motor, including forward and reverse directions;

The light sensor is arranged on the outside of the motor driving wheel, and the light sensor is distributed in a ring shape, and the light sensor is used to emit light source signals and receive them after reflection and return;

The reflecting plate is installed on the back of the motor driving wheel, and is used for reflecting the light source signal sent by the light sensor.

Preferably, the number of the light sensors is three, and the model of the light sensor is E3Z-R61.

Preferably, the encoder has five leads, three of which are pulse output lines, one is a COM terminal line, and one is a power line.

A design method for preventing malfunction of a motor drive device, the design method comprising the following steps:

Step 1: Add the data of each constant 1, 2, and 3 to the input x200, x201, and x202 of the three light sensors, and extract the forward rotation signal on the servo drive;

Step 2: When the forward rotation signal of the servo drive command is turned ON, the data of the primary sensor light sensor is set and then enters the next stage;

Step 3: Sense whether the light sensor is consistent with the forward program, and compare it with the forward rotation signal according to the logic program, and judge whether the actual driving wheel direction is the positive direction;

Step 4: Analyze the secondary sensor data and write a program to confirm whether the direction is correct, so as to drive and stop the device.

Preferably, in the first step, the three light sensors are equipped with a function of preventing mutual interference.

Preferably, in the first step, the optical sensor is also provided with a sensor IO connector that can maintain high durability even in a low temperature environment, and the operating ambient temperature range is extended to -40°C to 55°C.

Preferably, in the first step, the light sensor is equipped with an output reverse connection protection function, and a diode for reverse connection protection is added to the output line.

Preferably, in the fourth step, the program runs to determine that there is no ERROR when the forward action is performed, and ERROR is output when the reverse action is performed.

Compared with the prior art, the beneficial effects of the present invention are as follows:

The present invention provides hardware and software for monitoring malfunction. A reflector is installed on the driving wheel, and three light sensors are operated from the outside. It has the advantage of being able to stop immediately when the motor is driven in an unintended direction. Judging the direction, capturing the control signal of the control motor and comparing and analyzing it, it can sense the actual driving wheel rotation, so the direction has a clear definition. Under normal circumstances, if the drive is found in the opposite direction, it will send an error signal to the drive controller to stop the drive, which solves the current problem that the motor may fail due to operational errors and mechanical failures, resulting in a collision accident. It is effective to prevent the malfunction of the motor drive device.

Description of drawings

Fig. 1 is the front structure schematic diagram of the driving wheel of the present invention;

Figure 2 is a schematic diagram of the structure of the back of the drive wheel of the present invention;

3 is a schematic diagram of the sensor model of the present invention;

4 is a schematic diagram of the sensor circuit of the present invention;

5 is a schematic diagram of sensor perception output and positive direction signal output of the present invention;

6 is a schematic diagram of writing different values in each sensor program of the present invention;

FIG. 7 is a schematic diagram of writing a program for setting a sensing sensor according to the present invention;

FIG. 8 is a schematic diagram of writing a sensor setting program according to the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1:

A design for preventing malfunction of a motor drive device, including a servo motor, a drive wheel, an encoder, a reflector and a light sensor;

The servo motor is used to control the forward drive or reverse drive of the driving wheel;

The encoder is used to feed back information to the servo motor, including forward and reverse directions;

The light sensor is arranged on the outside of the motor driving wheel, and the light sensor is distributed in a ring shape, and the light sensor is used to emit light source signals and receive them after reflection and return;

The reflecting plate is installed on the back of the motor driving wheel, and is used for reflecting the light source signal sent by the light sensor.

In this embodiment, the number of the light sensors is three, and the model of the light sensor is E3Z-R61. By setting the light sensor, it is convenient to judge the direction according to the input sequence, capture the control signal of the control motor, and compare and analyze it.

In this embodiment, the encoder has 5 leads, of which 3 are pulse output lines, 1 is a COM terminal line, and 1 is a power line. By setting the encoder, signals or data can be programmed and converted into A device in the form of a signal that can be used for communication, transmission and storage is beneficial for converting the angular displacement of the drive wheel into an electrical signal.

A design method for preventing malfunction of a motor drive device, the design method comprising the following steps:

Step 1: Add the data of each constant 1, 2, and 3 to the input x200, x201, and x202 of the three light sensors, and extract the forward rotation signal on the servo drive;

Furthermore, the three optical sensors are equipped with a function of preventing mutual interference. The optical sensors are also equipped with sensor IO connectors that can maintain high durability even in low temperature environments. The ambient temperature range is extended to -40°C to 55°C. Reverse connection protection function, the output line adds reverse connection protection diodes, so that the function of the light sensor can meet the needs of use, and it has strong environmental adaptability to ensure that the light sensor can work continuously and stably.

Step 2: When the forward rotation signal of the servo drive command is turned ON, the data of the primary sensor light sensor is set and then enters the next stage;

Step 3: Sense whether the light sensor is consistent with the forward program, and compare it with the forward rotation signal according to the logic program, and judge whether the actual driving wheel direction is the positive direction;

Step 4: Analyze the secondary sensor data and write a program to confirm whether the direction is correct, so as to drive and stop the device.

Embodiment 2:

A design for preventing malfunction of a motor drive device, including a servo motor, a drive wheel, an encoder, a reflector and a light sensor;

The servo motor is used to control the forward drive or reverse drive of the driving wheel;

The encoder is used to feed back information to the servo motor, including forward and reverse directions;

The light sensor is arranged on the outside of the motor driving wheel, and the light sensor is distributed in a ring shape, and the light sensor is used to emit light source signals and receive them after reflection and return;

The reflecting plate is installed on the back of the motor driving wheel, and is used for reflecting the light source signal sent by the light sensor.

In this embodiment, the number of the light sensors is three, and the model of the light sensor is E3Z-R61. By setting the light sensor, it is convenient to judge the direction according to the input sequence, capture the control signal of the control motor, and compare and analyze it.

In this embodiment, the encoder has 5 leads, of which 3 are pulse output lines, 1 is a COM terminal line, and 1 is a power line. DC24V power supply. The "-" terminal of the power supply should be connected to the COM terminal of the encoder, and the "+" terminal should be connected to the power supply terminal of the encoder. Through the settings of the encoder, signals or data can be programmed and converted into signals that can be used for communication, transmission and storage. The form of equipment is conducive to converting the angular displacement of the driving wheel into an electrical signal.

A design method for preventing malfunction of a motor drive device, the design method comprising the following steps:

Step 1: Add the data of each constant 1, 2, and 3 to the input x200, x201, and x202 of the three light sensors, and extract the forward rotation signal on the servo drive;

Furthermore, the three optical sensors are equipped with a function of preventing mutual interference. The optical sensors are also equipped with sensor IO connectors that can maintain high durability even in low temperature environments. The ambient temperature range is extended to -40°C to 55°C. Reverse connection protection function, the output line adds reverse connection protection diodes, so that the function of the light sensor can meet the needs of use, and at the same time, it has strong environmental adaptability to ensure that the light sensor can work continuously and stably.

Step 2: When the forward rotation signal of the servo drive command is turned ON, the data of the primary sensor light sensor is set and then enters the next stage;

Step 3: Sense whether the light sensor is consistent with the forward program, and compare it with the forward rotation signal according to the logic program, and judge whether the actual driving wheel direction is the positive direction;

Step 4: Analyze the secondary sensor data and write a program to confirm whether the direction is correct, so as to drive and stop the device.

Further, the program running judges that there is no ERROR in forward action, and ERROR is output in reverse action, which is convenient to control the operation or stop of the equipment.

In summary, by providing hardware and software for monitoring the malfunction of the motor drive device, installing a reflector on the drive wheel, and operating three light sensors from the outside, it has the advantage of being able to stop immediately when the motor is driven in an unintended direction of the engine. Judging the direction according to the input sequence, capturing the control signal of the control motor and comparing and analyzing, the actual driving wheel rotation can be sensed, so the direction is clearly defined. Whether it is actually running in the forward direction. Under normal circumstances, if the drive is found in the opposite direction, an error signal will be sent to the drive controller to stop the drive. This solves the problem that the motor may fail due to operational errors and mechanical failures, resulting in a collision accident. It plays a significant role in preventing the malfunction of the motor drive device.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (8)

1. A design for preventing malfunction of a motor driving device is characterized in that: the device comprises a servo motor, a driving wheel, an encoder, a reflecting plate and an optical sensor;

the servo motor is used for controlling the driving wheel to drive in the forward direction or in the reverse direction;

the encoder is used for feeding back information to the servo motor, and the information comprises a positive direction and a negative direction;

the optical sensor is arranged on the outer side of the motor driving wheel and distributed annularly, and is used for transmitting a light source signal and receiving the light source signal after reflection and regression;

the reflecting plate is arranged on the back of the motor driving wheel and used for reflecting light source signals sent by the light sensor.

2. The design for preventing malfunction of a motor driving device according to claim 1, wherein: the number of the light sensors is three, and the models of the light sensors are E3Z-R61.

3. The design for preventing malfunction of a motor driving device according to claim 1, wherein: the encoder has 5 lead wires, 3 of which are pulse output lines, 1 of which is a COM terminal line, and 1 of which is a power supply line.

4. A design method for preventing misoperation of a motor driving device is characterized by comprising the following steps: the design method comprises the following steps:

the method comprises the following steps: adding each constant 1, 2 and 3 data into the input x200, x201 and x202 of the three optical sensors, and extracting a forward rotation signal on the servo driver;

step two: when the servo driver commands the forward rotation signal to be turned ON, the data of the primary sensing optical sensor is set and then enters the next stage;

step three: sensing whether the optical sensor is consistent with a forward program or not, determining to compare with a forward signal according to a logic program, and judging whether the direction of an actual driving wheel is the forward direction or not;

step four: and analyzing the secondary sensor data, writing a program for confirming whether the direction is correct, and driving and stopping the equipment.

5. The design and method for preventing malfunction of motor driving device according to claim 1, wherein: in the first step, three optical sensors are provided with a function of preventing mutual interference.

6. The design and method for preventing malfunction of motor driving device according to claim 1, wherein: in the first step, the optical sensor is also provided with a sensor IO connector which can maintain high durability even in a low-temperature environment, and the temperature range of the use environment is expanded to-40-55 ℃.

7. The design and method for preventing malfunction of motor driving device according to claim 1, wherein: in the first step, the optical sensor is provided with an output reverse connection protection function, and a reverse connection protection diode is added to an output circuit.

8. The design and method for preventing malfunction of motor driving device according to claim 1, wherein: in the fourth step, the program runs to judge that ERROR does not exist during the forward action and outputs ERROR during the reverse action.

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