CN211178514U - Absolute value encoder and servo system - Google Patents
Absolute value encoder and servo system Download PDFInfo
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- CN211178514U CN211178514U CN202020167910.XU CN202020167910U CN211178514U CN 211178514 U CN211178514 U CN 211178514U CN 202020167910 U CN202020167910 U CN 202020167910U CN 211178514 U CN211178514 U CN 211178514U
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Abstract
The utility model discloses an absolute value encoder, which comprises an encoding sensor, a storage module, a communication module, an energy storage device connected with a system power supply, and a processor respectively connected with the encoding sensor, the storage module, the communication module, the system power supply and the energy storage device; the energy storage device is used for charging when a system power supply supplies power, so that the power supply which supplies power to the processor during the system power failure can be ensured to be always in a state of sufficient electric quantity before the system power failure, the power is stably supplied to the processor when the system power supply fails, the maintenance work of detecting whether the electric quantity of the processor is sufficient or not and replacing a battery with insufficient electric quantity is not needed, the stable support is provided for the operation of an absolute value encoder after the system power failure, and the maintenance cost of the battery is reduced. The embodiment of the utility model provides a still disclose a servo system, have above-mentioned beneficial effect.
Description
Technical Field
The utility model relates to an encoder field, in particular to absolute value encoder and servo.
Background
The encoder is a feedback device of the servo motor, and the servo system controls the motor by using feedback data of the encoder. When a system is powered off, a common incremental encoder cannot remember the current position, so that zero point regression action is required every time the system is started. In some applications, frequent boot-up zero-finding makes the entire job extremely complex, thus giving birth to absolute value encoders.
The absolute value encoder is not influenced by the power supply of a system to be switched on and off in the whole stroke, the absolute value encoder also records the position of the absolute value encoder all the time during the power failure of the system, and when the system is powered on again, the position data of the absolute value encoder is memorized on the basis of the previous power failure, namely the encoder knows the current position of the absolute value encoder all the time and is unique in the whole stroke period, so that the absolute value encoder does not need to be switched on to find a zero point, and can accurately identify the position and start working when the system is switched on.
The existing absolute value encoder mainly comprises a battery type absolute value encoder and a mechanical type absolute value encoder. Wherein, battery formula absolute value encoder utilizes the battery to maintain and record many circles of data during the system power failure, but the electric quantity of battery is unstable, can't guarantee that the battery of every encoder can both provide sufficient electric quantity with the data after the recording system power failure, and it is also troublesome to change the battery, needs to invest a large amount of maintenance costs.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an absolute value encoder and servo for the operation of absolute value encoder after the assurance system falls the electricity reduces the maintenance cost.
In order to solve the above technical problem, the utility model provides an absolute value encoder, include: the system comprises a coding sensor, a storage module, a communication module, an energy storage device connected with a system power supply, and a processor respectively connected with the coding sensor, the storage module, the communication module, the system power supply and the energy storage device;
the energy storage device is used for charging when the system power supply supplies power and supplying power to the processor when the system power supply is powered off.
Optionally, the energy storage device is specifically a super capacitor.
Optionally, the energy storage device is specifically a rechargeable battery.
Optionally, the number of the energy storage devices is specifically two or more.
Optionally, the memory module is specifically a ferroelectric nonvolatile memory FRAM.
Optionally, the storage module is specifically an electrically erasable programmable read only memory EEPROM.
Optionally, the communication module is specifically an RS485 communication module.
Optionally, the processor is specifically STM32G431KBU 6.
In order to solve the above technical problem, the utility model provides a servo system is still provided, including above-mentioned arbitrary one the absolute value encoder still include servo motor, and respectively with the absolute value encoder with the servo controller that servo motor connects.
Optionally, the servo motor is specifically a brake motor.
The utility model provides an absolute value encoder, which comprises an encoding sensor, a storage module, a communication module, an energy storage device connected with a system power supply, and a processor respectively connected with the encoding sensor, the storage module, the communication module, the system power supply and the energy storage device; the energy storage device is used for charging when a system power supply supplies power, so that the power supply which supplies power to the processor during the system power failure can be ensured to be always in a state of sufficient electric quantity before the system power failure, the power is stably supplied to the processor when the system power supply fails, the maintenance work of detecting whether the electric quantity of the processor is sufficient or not and replacing a battery with insufficient electric quantity is not needed, the stable support is provided for the operation of an absolute value encoder after the system power failure, and the maintenance cost of the battery is reduced. The embodiment of the utility model provides a still provide a servo, have above-mentioned beneficial effect, no longer give unnecessary details here.
Drawings
In order to illustrate the embodiments of the present invention more clearly, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious to those skilled in the art that other drawings can be obtained from the drawings without inventive work.
Fig. 1 is a schematic structural diagram of an absolute value encoder according to an embodiment of the present invention;
fig. 2 is a circuit diagram of a power supply circuit according to an embodiment of the present invention;
fig. 3 is a circuit diagram of a memory device according to an embodiment of the present invention.
Detailed Description
The core of the utility model is to provide an absolute value encoder and servo for the operation of absolute value encoder after the assurance system falls the electricity reduces the maintenance cost.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of an absolute value encoder according to an embodiment of the present invention.
As shown in fig. 1, an absolute value encoder provided by the embodiment of the present invention includes: the system comprises a coding sensor 101, a storage module 102, a communication module 103, an energy storage device 104 connected with a system power supply, and a processor 105 respectively connected with the coding sensor 101, the storage module 102, the communication module 103, the system power supply and the energy storage device 104;
the energy storage device 104 is used for charging when the system power supply is powered and for supplying power to the processor 105 when the system power supply is powered down.
In a specific implementation, the absolute value encoder energy storage device 104 may employ a super capacitor. The super capacitor is a novel energy storage device 104, has the characteristics of short charging time, long service life, good temperature characteristic, energy conservation, environmental protection and the like, is small in size, can be integrated on a PCB of an absolute value encoder, and is convenient for the miniaturization of a system.
In addition, the absolute value encoder energy storage device 104 may also employ a rechargeable battery.
In order to further improve the power supply stability, the number of the energy storage devices 104 of one absolute value encoder may be two or more, and the energy storage devices are redundant to each other.
The storage module 102 of the absolute value encoder may adopt an EEPROM (electrically erasable and programmable read only memory) for storing the position of the motor rotor after the system is powered down.
Preferably, the memory module 102 of the absolute value encoder may employ a ferroelectric nonvolatile memory FRAM. The ferroelectric nonvolatile memory FRAM has higher writing speed and longer reading and writing life compared with the electrically erasable programmable read-only memory EEPROM, and the erasing times of the ferroelectric nonvolatile memory FRAM are 1013Secondly, the problem of FRAM bad erasing of the ferroelectric nonvolatile memory is hardly considered in the motor system.
The ferroelectric nonvolatile memory FRAM is adopted as the memory module 102, and is suitable for being used with the energy storage device 104 by adopting a super capacitor, because the storage capacity of the super capacitor is usually smaller than that of a battery, and the power supply time that can be supported is short, it is more desirable to adopt a memory module 102 that can be written into quickly, i.e. the ferroelectric nonvolatile memory FRAM.
The communication module 103 of the absolute value encoder may specifically adopt an RS232 communication module 103 or an RS485 communication module 103, and is used for communication between the upper computer and the processor 105 of the absolute value encoder.
The processor 105 of the absolute value encoder usually adopts a microprocessor 105MCU for feeding back and recording the current position of the motor rotor, and processing the position of the motor rotor at the time of stalling written into the storage module 102 after the system is powered down, and specifically, STM32G431KBU6 can be adopted.
The embodiment of the utility model provides an absolute value encoder, including coding sensor, storage module, communication module, the energy memory who is connected with the system power to and the treater that is connected with coding sensor, storage module, communication module, system power and energy memory respectively; the energy storage device is used for charging when a system power supply supplies power, so that the power supply which supplies power to the processor during the system power failure can be ensured to be always in a state of sufficient electric quantity before the system power failure, the power is stably supplied to the processor when the system power supply fails, the maintenance work of detecting whether the electric quantity of the processor is sufficient or not and replacing a battery with insufficient electric quantity is not needed, the stable support is provided for the operation of an absolute value encoder after the system power failure, and the maintenance cost of the battery is reduced.
Fig. 2 is a circuit diagram of a power supply circuit according to an embodiment of the present invention; fig. 3 is a circuit diagram of a memory device according to an embodiment of the present invention.
On the basis of the above embodiments, the embodiment of the present invention provides a scheme of an absolute value encoder suitable for practical application.
As shown in fig. 2, the system power supply is connected to the absolute value encoder circuit and is the main power supply of the absolute value encoder. A 5V direct-current power supply output by a system power supply charges a super capacitor, a diode D2, a diode D6 and a resistor R43 are arranged between the super capacitor (namely C31 in fig. 2) and the 5V direct-current power supply, a diode D4 is also arranged between the capacitor C31 and a rear-end circuit, the cathode end of the diode D4 is connected with a battery input end (VBAT, VBAT1 … …) of the rear-end circuit, and a resistor R41 can be arranged between the diode D4 and the battery input end VBAT according to actual needs; the cathode of the diode D4 is also connected to a voltage conversion element U5 IN the back-end circuit, and is used for filtering the output power of the capacitor C31 and outputting the filtered output power to an electric element, such as a 3.3V power output through the OUT terminal under the control of the EN and IN terminals. The model numbers of the diodes D2 and D6 are RB520SM-30T2R, the model number of the diode D4 is RB715FT106, and the model number of the resistor R41 is 150/0402.
By means of the supply circuit shown in fig. 2. When the system power supply normally supplies power, the processor U6 is supplied with power through the VBAT pin, and the capacitor C31 is charged through the 5V direct-current power supply. When the system power supply is powered off, the capacitor C31 supplies power to the processor U6.
As shown in fig. 3, a connection circuit between the memory module 102 and the processor 105 is that the memory module 102 (such as U3 shown in fig. 3, model FPT-8P-M02) is powered by a 3.3V dc power provided by a system power supply, and is connected to the processor U6 through an I2C bus, specifically, a PB7 pin of the processor U6 is connected to an SDA pin of the memory module U3, and a PA15 pin of the processor U6 is connected to an SC L pin of the memory module U3.
The connections of the remaining pins of the processor U6 are known in the art.
The above has detailed each embodiment that the absolute value encoder corresponds, on this basis, the utility model discloses still disclose the servo system who corresponds with above-mentioned absolute value encoder.
The embodiment of the utility model provides a servo system can include above-mentioned arbitrary embodiment the absolute value encoder still include servo motor to and the servo controller who is connected with absolute value encoder and servo motor respectively.
Preferably, the servo motor is a brake motor. The brake motor is also named as an electromagnetic power-off brake motor and a brake asynchronous motor, an electromagnetic brake is arranged at the tail part of the motor, the motor is electrified and attracted when being electrified, the motor is not braked, the motor is also powered off when being powered off, and the brake brakes the motor under the action of a spring. Under normal conditions, the servo motor can still run for a period of time due to inertia when the system is powered off, the support time of the energy storage device 104 of the absolute value encoder can be exceeded, the brake motor can brake when the system is powered off, the running time is shortened, and the absolute value encoder can accurately record the position of the motor rotor when the motor rotor stops running.
In the servo system provided in the above embodiment, the working principle of the absolute value encoder is as follows:
when the servo system works normally, the brake system is powered on, the band-type brake is released, and the motor is allowed to rotate; at the moment, a system power supply of the servo system supplies power to the absolute value encoder, and a processor 105 of the absolute value encoder feeds back the current position of the motor rotor constantly through the communication module and records the current position in the storage module 102; meanwhile, the system power supply charges the energy storage device 104 of the absolute value encoder;
when the power supply of the system is powered off, the motor is braked and powered off, and the band-type brake clasps the rotor to prevent the rotor from moving; meanwhile, the processor 105 of the absolute value encoder continues to work under the power supply support of the energy storage device 104, and after the system power failure is detected, the processor 105 reads the single-circle position, the multi-circle position and the check code of the motor rotor through the encoding sensor 101 and writes the positions into the storage module 102 until the electric quantity of the energy storage device 104 is exhausted.
When the servo system is powered on again, the processor 105 of the absolute value encoder reads single-turn data and check codes from the storage module 102 firstly, the single-turn data and the check codes are compared with real-time single-turn data collected by a single-turn sensor of the encoder, if the error is within a preset range, the motor does not run after the system is powered off, and the data recorded by the storage module 102 is valid; if the error exceeds the preset range, the motor is violently or forcefully forced to move during the contracting brake, the absolute position of the encoder is lost, the zero point should be realigned, and the absolute value system is reestablished (the violent movement is generally not allowed to occur in the application of the contracting brake motor).
It is right above that the utility model provides an absolute value encoder and servo system have carried out detailed introduction. The embodiments are described in a progressive manner, the emphasis of each embodiment is different from that of other embodiments, and the same and similar parts among the embodiments are referred to each other.
It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. An absolute value encoder, comprising: the system comprises a coding sensor, a storage module, a communication module, an energy storage device connected with a system power supply, and a processor respectively connected with the coding sensor, the storage module, the communication module, the system power supply and the energy storage device;
the energy storage device is used for charging when the system power supply supplies power and supplying power to the processor when the system power supply is powered off.
2. Absolute value encoder according to claim 1, characterized in that the energy storage means is embodied as a supercapacitor.
3. Absolute value encoder according to claim 1, characterized in that the energy storage means is in particular a rechargeable battery.
4. Absolute value encoder according to claim 1, characterized in that the number of energy storage means is in particular two or more.
5. Absolute value encoder according to claim 1, characterized in that the memory module is embodied as a ferroelectric non-volatile memory FRAM.
6. The absolute value encoder according to claim 1, characterized in that the memory module is embodied as a charged erasable programmable read-only memory EEPROM.
7. Absolute value encoder according to claim 1, characterized in that the communication module is in particular an RS485 communication module.
8. Absolute value encoder in accordance with claim 1, characterized in that the processor is in particular STM32G431KBU 6.
9. A servo system comprising the absolute value encoder according to any one of claims 1 to 8, further comprising a servo motor, and a servo controller connected to the absolute value encoder and the servo motor, respectively.
10. Servo system according to claim 9, wherein the servo motor is in particular a brake motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020167910.XU CN211178514U (en) | 2020-02-12 | 2020-02-12 | Absolute value encoder and servo system |
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| CN202020167910.XU CN211178514U (en) | 2020-02-12 | 2020-02-12 | Absolute value encoder and servo system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112701777A (en) * | 2020-12-22 | 2021-04-23 | 深圳市优必选科技股份有限公司 | Power management circuit, power management device and servo system |
| CN113406979A (en) * | 2021-06-21 | 2021-09-17 | 珠海格力电器股份有限公司 | Encoder abnormality detection method, device, storage medium, controller and equipment |
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2020
- 2020-02-12 CN CN202020167910.XU patent/CN211178514U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112701777A (en) * | 2020-12-22 | 2021-04-23 | 深圳市优必选科技股份有限公司 | Power management circuit, power management device and servo system |
| CN113406979A (en) * | 2021-06-21 | 2021-09-17 | 珠海格力电器股份有限公司 | Encoder abnormality detection method, device, storage medium, controller and equipment |
| CN113406979B (en) * | 2021-06-21 | 2022-11-18 | 珠海格力电器股份有限公司 | Encoder abnormality detection method, device, storage medium, controller and equipment |
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