TWM591160U - A double-feedback rotary encoder eccentricity correction apparatus - Google Patents

Abstract

A double-feedback rotary encoder eccentricity correction apparatus comprises a servo driver, a first rotary encoder and a second rotary encoder. The servo driver transforms a servo speed order to a current control order in order to control spinning of an axis of a rotor. A transmission apparatus is activated by the axis of the rotor, and a main machine axis is activated by the ransmission apparatus. The first rotary encoder is connected to the motor. The first rotary encoder is capable of producing a first speed feedback of rotary encoder by measuring spin rate of the axis of the rotor and then delivering the first speed feedback of rotary encoder to the servo driver. The second rotary encoder is connected to the main machine axis. The second rotary encoder is capable of producing a second speed feedback of rotary encoder by measuring spin rate of the main machine axis and then delivering the second speed feedback of rotary encoder to the servo driver.

Description

Eccentricity correction device for double feedback rotary encoder

This creation relates to a device for eccentricity correction of a rotary encoder, and in particular to a device for eccentricity correction of double feedback through more than two rotary encoders.

In the application of mechanical spindles, such as lathe spindles of machine tools or robot mechanical spindles, due to the need for accurate positioning of the spindle, the existing technology will install an encoder on the spindle side to avoid the reduction of the positioning accuracy caused by the mechanical error of the belt transmission structure, however If the encoder on the spindle side has eccentricity during installation, it will cause misalignment of the spindle. Therefore, most suppliers usually restrict the physical eccentricity errors caused by on-site installation or use traditional calibration modules through strict installation regulations, but these methods not only increase the multi-pass verification process, so that the lathe spindle or The robot mechanical spindle takes a lot of time, greatly reducing the friendliness of product use, and also making the time and money costs required to correct eccentric errors rise.

Therefore, this creation proposes a device for performing rapid eccentricity correction on a mechanical spindle in response to the above-mentioned lack of prior art.

The prior art paragraph is only used to help understand the content of the creation. Therefore, the content disclosed in the prior art paragraph may include some conventional technologies that are not known to those with ordinary knowledge in the technical field to which they belong. The content disclosed in the previous technical paragraph does not represent the content or the problem to be solved by one or more embodiments of this creation, and has been known or recognized by those with ordinary knowledge in the technical field prior to this creation application.

According to the shortcomings of the prior art, the purpose of this creation is to provide a double feedback rotary encoder eccentricity correction device, which can save the time for installing the mechanical spindle.

Another purpose of this creation is to provide a double feedback rotary encoder eccentricity correction device, which can make the motor have better running quality.

In order to achieve some or all of the above or other purposes, the author provides a double feedback rotary encoder eccentricity correction device, including a servo drive, a first rotary encoder and a second rotary encoder, the servo drive according to a servo speed command The servo speed command is converted into a current control command to control the rotation of the motor's operating axis. When the motor's operating axis rotates, it drives the transmission mechanism and drives the mechanical spindle through the transmission mechanism. The first rotary encoder is electrically connected to the motor. After measuring the rotation speed of the motor's operating shaft, the first rotary encoder speed feedback is generated, and the first rotary encoder speed feedback is transmitted to the servo drive; the second rotary encoder is electrically connected to the mechanical spindle The speed feedback of the second rotary encoder is generated after measuring the rotation speed of the operating shaft center of the mechanical main shaft, and the speed feedback of the second rotary encoder is transmitted to the servo driver.

In an embodiment, the servo drive includes a subtractor, the servo drive receives the speed feedback of the first rotary encoder and the speed feedback of the second rotary encoder, and returns the speed feedback of the first rotary encoder and the second rotation through the subtractor The speed feedback subtraction of the encoder produces a speed feedback error, and the error model of the speed feedback error is a sine wave.

In one embodiment, the servo drive calculates the position eccentricity error according to the speed feedback error, and uses the position eccentricity error as a correction table for self-correction of the eccentricity.

In one embodiment, the servo drive further includes an integrator, and the integrator generates a corresponding position eccentricity error according to the speed feedback error integration.

In one embodiment, the servo drive further includes a lock-in amplifier, and the lock-in amplifier calculates the amplitude and phase of the position eccentricity error according to the position eccentricity error.

In one embodiment, the amplitude and phase may be sine wave values.

In one embodiment, the servo drive further includes a position eccentricity error data storage device, and the servo drive stores the position eccentricity error in the position eccentricity error data storage device to form a correction table.

In one embodiment, the correction table includes the amplitude and phase of the position eccentricity error.

In an embodiment, the servo driver may be an integrated drive and control device.

In an embodiment, the first rotary encoder and the second rotary encoder may be magnetic, optical or electromagnetically induced rotary encoders, and the second rotary encoder includes a sensed part and a sensed part, the sensed part is located at The mechanical spindle is electrically connected to the sensor.

In an embodiment, the transmission mechanism may be a belt set, a reducer, a gear, or a coupling.

Based on the above, the embodiments of the present invention have at least one of the following advantages or effects. In the embodiment of the present invention, without the need to install additional position sensors or external accuracy measurement equipment, etc. correction equipment, the speed feedback is received and calculated by the double feedback rotary encoder eccentricity correction device After that, the eccentricity error can be predicted, and the feedback compensation can be generated according to the eccentricity error. This feedback compensation will cause the servo drive to generate the control command of the next time without eccentricity error. The accuracy of the motor when it is running gives the motor a better running quality.

In order to make the above-mentioned features and advantages of the present invention more obvious and understandable, the following examples are given in detail, together with the attached drawings for detailed description as follows.

The foregoing and other technical contents, features and effects of this creation will be clearly presented in the following detailed description with reference to one of the preferred embodiments of the drawings. The embodiments listed in the following drawings are only to help explain the technical means and effects used in this creation, but the technical means in this creation are not limited to the listed drawings. In addition, the directional terms mentioned in the following embodiments, for example: up, down, left, right, front or back, etc., are only the directions referring to the attached drawings. Therefore, the terminology used is to illustrate and not to limit this creation.

Please refer to FIG. 1. FIG. 1 is a eccentricity correction device for a double feedback rotary encoder proposed in an embodiment of the present invention, which is suitable for being installed on an existing processing machine. The eccentricity correction device for a double feedback rotary encoder 1 includes a servo driver 10. The motor 11, the first rotary encoder 12, the transmission mechanism 13, the mechanical spindle 14 and the second rotary encoder 15, the servo drive 10, the motor 11, the first rotary encoder 12, the transmission mechanism 13, the mechanical spindle 14 and the first The two rotary encoders 15 are electrically connected to each other, and the manner of the electrical connection may be, for example, wired or wireless connection. It is worth noting that the eccentricity correction device 1 of the dual feedback rotary encoder in this embodiment may include more than two rotary encoders. Here, two rotary encoders are used as examples, but not limited to this.

Please continue to refer to FIG. 1, the servo driver 10 in the eccentricity correction device 1 of the double feedback rotary encoder can command the VCMD according to the servo speed, and convert the servo speed command VCMD into a current control command ICMD to control the rotation of the operating axis 111 of the motor 11 , The motor 11 drives the transmission mechanism 13 through the operating axis 111, and drives the mechanical spindle 14 to rotate through the transmission mechanism 13, wherein the servo speed command VCMD is issued by, for example, an external controller, and the external controller is a conventional control element such as a computer , Chipsets, etc., this creation does not limit. The servo driver 10 may be an integrated drive and control device, but it is not limited to this, and the servo driver 10 may generate a servo speed command VCMD according to a rotation speed preset by a user. In addition, the mechanical main shaft 14 may be a belt set of a lathe, a reducer of a robot, a gear, or a coupling of other applications, etc. according to different application fields, which is not limited in this creation.

The first rotary encoder 12 is electrically connected to the motor 11. The first rotary encoder 12 measures the rotation speed of the operating axis 111 of the motor 11 to generate the first rotary encoder speed feedback VIBD1, and converts the first rotary encoder speed The feedback VIBD1 is transmitted to the servo drive 10, the second rotary encoder 15 is electrically connected to the mechanical spindle 14, the second rotary encoder 15 measures the operating axis of the mechanical spindle 14 (not shown in FIG. 1) and generates a second The rotary encoder speed feedback VIBD2, and transmits the second rotary encoder speed feedback VIBD2 to the servo drive 10. In this embodiment, the first rotary encoder 12 and the second rotary encoder 15 may be magnetic, optical or electromagnetic induced rotary encoders, etc., and the second rotary encoder 15 further includes a sensed component 151 and a sensed component 152, the sensed part 151 is located on the mechanical spindle 14 and electrically connected to the sensed part 152, which is not limited in this creation.

In addition, the servo drive 10 receives the first rotary encoder speed feedback VIBD1 and the second rotary encoder speed feedback VIBD2, and generates the subtraction according to the first rotary encoder speed feedback VIBD1 and the second rotary encoder speed feedback VIBD2 Speed feedback error Verror, wherein the error model of speed feedback error Verror is a sine wave, for example, a sine wave. The servo drive 10 calculates the position eccentricity error ECCDerror according to the speed feedback error Verror, and uses the position eccentricity error ECCDerror as a correction table for the servo drive 10 to perform the second rotary encoder 15 according to the correction table to perform eccentric correction on the operating axis of the mechanical spindle 14 To adjust the eccentricity error of the mechanical spindle 14 and store the correction table in the servo drive 10, or the correction table may be stored in the second rotary encoder 15 for the second rotary encoder 15 to perform self-correction. In this way, compared with the existing single encoder configuration, the eccentricity correction device of the original dual feedback rotary encoder can effectively solve the positioning error and backlash caused by the transmission mechanism, thereby improving the installation of the original dual feedback rotation The positioning accuracy and smoothness of the processing machine of the encoder eccentricity correction device can also determine whether the transmission mechanism is damaged by detecting the position eccentricity error to improve the processing efficiency.

Please refer to FIG. 2. FIG. 2 is a system architecture diagram of the servo driver 10 in the eccentricity correction device 1 of the dual feedback rotary encoder provided by the author according to the embodiment of FIG. 1. The servo drive 10 further includes a subtractor 101, an integrator 102, a lock-in amplifier 103, and a position eccentricity error data storage device 104. The subtractor 101, an integrator 102, a lock-in amplifier 103, and a position eccentricity error data storage device 104 are electrically connected to each other All operations are performed in a linear manner. In this embodiment, the order of the components of the integrator 102 and the lock-in amplifier 103 can also be reversed, which is not limited in this creation. After the servo driver 10 receives the first rotary encoder speed feedback VIBD1 and the second rotary encoder speed feedback VIBD2, the subtracter 101 subtracts the first rotary encoder speed feedback VIBD1 and the second rotary encoder speed feedback VIBD2 The speed feedback error Verror is generated and transmitted to the integrator 102. The integrator 102 performs an integral operation according to the speed feedback error Verror to generate a corresponding position eccentricity error ECCDerror, and transmits it to the lock-in amplifier 103. The lock-in amplifier 103 calculates the amplitude A-ECCDerror and the phase P-ECCDerror of the position eccentric error ECCDerror according to the position eccentricity error ECCDerror, where the amplitude A-ECCDerror and the phase P-ECCDerror are, for example, sine wave values, and the sine wave values may be sine or cosine value. The position eccentricity error data storage device 104 can store the values of the amplitude A-ECCDerror and phase P-ECCDerror of the position eccentricity error ECCDerror, and make the value of the amplitude A-ECCDerror and phase P-ECCDerror of the position eccentricity error ECCDerror into a correction table 1041 for storage The position eccentricity error data storage device 104 is used for the second rotary encoder 15 to perform eccentricity self-correction.

In this creation, only the signals of the first rotary encoder speed feedback VIBD1 and the second rotary encoder speed feedback VIBD2 are subtracted to obtain the speed feedback error Verror, and the signal of the speed feedback error Verror is integrated to After phase-locking, the amplitude and phase values of the position eccentricity error ECCD _error can be known. An example of the correction table 1041 is shown in Table 1 below, and the correction table 1041 is stored in the heart error data storage device 104 of the servo drive 10 for The servo driver 10 performs eccentricity error correction according to the correction table 1041. Table 1 Calibration Table 1041 Speed error V _error (unit: rad/sec) Corresponding position eccentricity error ECCD _error (unit: rad) 0 0 2.002234659 -0.289515309 4.007497165 -0.695499452 6.004214297 -1.171800968 8.004712222 -1.696976273 9.999965826 -2.278864535 8.004668189 -1.805135469 6.004155548 -1.301728813 4.007429858 -0.798260228 2.002162682 -0.294112326 -7.35E-05 0.206639793 -2.002306635 0.703787146 -4.019553892 1.199751839 -6.004273045 1.680753655 -8.004756254 2.153299897 -9.998070232 2.55632278 -7.996771378 1.950867536 -6.0040968 1.410083544 -4.007362551 0.881580367 -2.002090706 0.359341592

The above are only the preferred embodiments of this creation, and are not intended to limit the scope of the rights of this creation; at the same time, the above description should be understandable and implementable for those skilled in the relevant technical field, as others do not deviate from the spirit disclosed in this creation The completed equivalent changes or modifications shall be included in the scope of the patent application.

1‧‧‧Double feedback rotary encoder eccentricity correction device 10‧‧‧Servo driver 101‧‧‧Subtractor 102‧‧‧Integrator 103‧‧‧Lock-in amplifier 104‧‧‧Position eccentricity error data storage device 1041‧ ‧‧Calibration table 11‧‧‧Motor 111‧‧‧‧Motor running axis 12‧‧‧First rotary encoder 13‧‧‧ Transmission mechanism 14‧‧‧Machine spindle 15‧‧‧Second rotary encoder 151‧ ‧‧ the eccentricity error sensing element sensing element 152‧‧‧ a-ECCD _eRROR ‧‧‧ amplitude ECCD _eRROR ‧‧‧ position eccentric position error P-ECCD _eRROR ‧‧‧ the phase position of the eccentric error I _CMD ‧‧‧ Current control command V _CMD ‧‧‧Servo speed command V _ERROR ‧‧‧ Speed recovery error V _IBD1 ‧‧‧ First rotary encoder speed feedback V _IBD2 ‧‧‧ Second rotary encoder speed feedback

Fig. 1 shows the eccentricity correction device of the dual feedback rotary encoder provided by this creation according to the technology disclosed in this creation; and FIG. 2 is a schematic diagram showing the servo driver of the double feedback rotary encoder eccentricity correction device provided by the author according to the embodiment of FIG. 1.

1‧‧‧Double feedback rotary encoder eccentricity correction device

10‧‧‧Servo Drive

11‧‧‧Motor

111‧‧‧Motor shaft

12‧‧‧The first rotary encoder

13‧‧‧ Transmission mechanism

14‧‧‧machine spindle

15‧‧‧Second rotary encoder

151‧‧‧sensed piece

152‧‧‧Sensor

V _IBD1 ‧‧‧ Speed feedback of the first rotary encoder

V _IBD2 ‧‧‧ Second rotary encoder speed feedback

Claims (11)

A double feedback rotary encoder eccentricity correction device, including: A servo driver converts the servo speed command into a current control command according to a servo speed command to control the rotation of the motor's operating axis, which drives a transmission mechanism when the motor's operating axis rotates, and drives a through the transmission mechanism Mechanical spindle rotation; A first rotary encoder is electrically connected to the motor. The first rotary encoder measures the rotation speed of the operating axis of the motor and generates a first rotary encoder speed feedback, and the first rotary encoder Speed feedback is sent to the servo drive; and A second rotary encoder is electrically connected to the mechanical spindle. The second rotary encoder measures the rotation speed of the operating spindle of the mechanical spindle and generates a second rotary encoder speed feedback, and the second rotation The encoder speed feedback is sent to the servo drive. For example, the double feedback rotary encoder eccentricity correction device of the first patent application, wherein the servo drive further includes a subtractor, the servo drive receives the first rotary encoder speed feedback and the second rotary encoder speed feedback Through the subtractor, the speed feedback of the first rotary encoder and the speed feedback of the second rotary encoder are subtracted to generate a speed feedback error, and the error model of the speed feedback error is a sine wave. For example, the double feedback rotary encoder eccentricity correction device according to item 2 of the patent scope, wherein the servo drive calculates a position eccentricity error according to the speed feedback error, and uses the position eccentricity error as a correction table to perform eccentricity self-correction. For example, the eccentricity correction device for a dual feedback rotary encoder according to item 3 of the patent application, wherein the servo drive further includes an integrator, the integrator generates the corresponding position eccentricity error according to the speed feedback error integration. For example, the eccentricity correction device for a dual feedback rotary encoder according to item 3 of the patent scope, wherein the servo drive further includes a lock-in amplifier, and the lock-in amplifier calculates an amplitude and a phase of the position eccentricity error according to the position eccentricity error . For example, the double feedback rotary encoder eccentricity correction device of the fifth patent application, wherein the amplitude and the phase may be sine wave values. For example, the double feedback rotary encoder eccentricity correction device of the third patent application scope, wherein the servo drive further includes a position eccentricity error data storage device, and the servo drive stores the position eccentricity error in the position eccentricity error data storage device A correction table is formed. An eccentricity correction device for a dual feedback rotary encoder as in claim 7 of the patent scope, wherein the correction table includes the amplitude and the phase of the position eccentricity error. For example, the double feedback rotary encoder eccentricity correction device of the first patent application scope, wherein the servo driver can be an integrated drive and control device. An eccentricity correction device for dual feedback rotary encoders as claimed in item 1 of the patent scope, wherein the first rotary encoder and the second rotary encoder may be magnetic, optical or electromagnetic induced rotary encoders and the second rotary encoder The device includes a sensed component and a sensed component. The sensed component is located on the mechanical spindle and electrically connected to the sensed component. For example, the double feedback rotary encoder eccentricity correction device of the first patent application, where the transmission mechanism can be a belt set, a reducer, a gear or a coupling.

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