WO2022142117A1

WO2022142117A1 - Zero resetting method and apparatus for double-shaft same-guideway device

Info

Publication number: WO2022142117A1
Application number: PCT/CN2021/096941
Authority: WO
Inventors: 王亚平; 伍芬智; 王志成; 徐必业; 吴丰礼
Original assignee: 广东拓斯达科技股份有限公司
Priority date: 2020-12-28
Filing date: 2021-05-28
Publication date: 2022-07-07
Also published as: CN112894801B; CN112894801A

Abstract

A zero resetting method for a double-shaft same-guideway device. The method comprises: determining origin positions of a first shaft and a second shaft according to an encoder sector of an electric motor or according to the encoder sector of the electric motor and a position difference between the first shaft and the second shaft; after the first shaft passes through a limiting position away from the second shaft and the second shaft passes through a limiting position away from the first shaft, when the encoder sector of the electric motor is an encoder sector corresponding to the corresponding shaft at the respective origin position for the first time, determining that the first shaft returns to the origin position of the first shaft, and the second shaft returns to the origin position of the second shaft; or after the first shaft passes through the limiting position away from the second shaft, when the encoder sector of the electric motor is the encoder sector corresponding to the origin position of the first shaft for the first time, determining that the first shaft returns to the origin position of the first shaft, and after the second shaft passes through the limiting position away from the first shaft, determining, according to a position difference between the position of the second shaft and the origin position of the first shaft, that the second shaft returns to the origin position of the second shaft. Further provided is a zero resetting apparatus for a double-shaft same-guideway device.

Description

Method and device for returning to zero for dual-axis and same-rail equipment

This application claims the priority of the Chinese patent application with application number 202011582954.X filed with the China Patent Office on December 28, 2020, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of automation control, for example, to a method and device for returning to zero of a device with two axes and guide rails.

Background technique

In automation equipment, returning to zero is an indispensable link for the equipment to restore the initial attitude and ensure the absolute positioning accuracy of the equipment. For example, for Cartesian coordinate system manipulators such as injection manipulators and loading and unloading manipulators, in order to simplify the equipment structure, compress the space occupied by the equipment, and reduce the cost, multiple axis devices are often installed on one guide rail. After the position is returned to zero, multiple devices can be installed. Joint coordinated actions to complete the craft work. When there are multiple axis devices on the guide rail, each axis is independent, efficient and accurate zeroing without interference is a problem worthy of in-depth study.

Auxiliary sensors such as limit switches or zero-return switches are usually used in the zero-return method of dual-axis co-rail equipment, which cooperates with the Z signal of the motor to achieve zero-return. After the axis zeroing is completed, the zeroing operations of other axes are carried out one by one. The zeroing process is complicated and the efficiency is low.

SUMMARY OF THE INVENTION

The present application provides a method and device for returning to zero of a device with two axes and guide rails, so as to improve the reliability of returning to zero and improve the efficiency of returning to zero.

A method for returning to zero for a dual-axis co-rail device is provided, including:

Determine the origin position of the first axis and the origin position of the second axis according to the encoder sector of the motor, or according to the encoder sector of the motor and the position difference between the first axis and the second axis on the equipment guide rail; wherein, the origin The encoder sector corresponding to the position is separated by at least one sector from the encoder sector corresponding to the corresponding axis at the limit position; when the first axis passes through the limit position away from the second axis, the second axis passes through the limit position away from the first axis After that, when the encoder sector of the motor is the encoder sector corresponding to the corresponding axis at the origin position for the first time, determine that the first axis returns to the origin position of the first axis, and the second axis returns to the origin position of the second axis; Or, after the first axis passes the limit position away from the second axis, when the encoder sector of the motor is the encoder sector corresponding to the origin position of the first axis for the first time, determine that the first axis returns to the origin of the first axis position, and after the second axis passes the limit position away from the first axis, according to the position difference between the position of the second axis and the origin position of the first axis, it is determined that the second axis returns to the origin position of the second axis.

It also provides a zero return device for dual-axis co-rail equipment, including:

The origin determination module is set to determine the origin position of the first axis and the position of the second axis according to the encoder sector of the motor, or the encoder sector of the motor and the position difference between the first axis and the second axis on the equipment guide rail. Origin position; wherein, the encoder sector corresponding to the origin position and the encoder sector corresponding to the corresponding axis at the limit position are separated by at least one sector; the first zero return determination module is set to be away from the second axis when the first axis passes through After the second axis passes the limit position away from the first axis, when the encoder sector of the motor is the encoder sector corresponding to the corresponding axis at the origin position for the first time, it is determined that the first axis returns to the first axis. Origin position, the second axis returns to the origin position of the second axis; or, the second zero return determination module is set so that after the first axis passes the limit position away from the second axis, when the encoder sector of the motor is the first axis for the first time. When the encoder sector corresponds to the origin position of one axis, determine that the first axis returns to the origin position of the first axis, and after the second axis passes the limit position away from the first axis, according to the position of the second axis and the first axis The position difference of the origin position of the axis determines that the second axis returns to the origin position of the second axis.

Description of drawings

Figure 1 is a schematic diagram of the timing sequence of a pulse-type incremental encoder to determine the zero point with a Z signal;

Figure 2 is a schematic diagram of the time sequence of a pulse-type incremental encoder returning to zero with a Z signal;

Fig. 3 is a kind of time sequence schematic diagram of single-turn absolute encoder determining zero point with Z signal;

Fig. 4 is a kind of time sequence schematic diagram of single-turn absolute value encoder returning to zero with Z signal;

5 is a flowchart of a method for returning to zero of a dual-axis co-rail device provided in Embodiment 1 of the present application;

6 is a schematic diagram of a sector distribution provided in Embodiment 1 of the present application;

7 is a schematic diagram of a dual-axis co-rail device provided in Embodiment 1 of the present application;

8 is a flowchart of a method for returning to zero of a dual-axis co-rail device provided in Embodiment 2 of the present application;

Fig. 9 is a kind of pulse-type incremental encoder according to the second embodiment of the present application to determine the time sequence schematic diagram of the zero point;

10 is a schematic time sequence diagram of a pulse-type incremental encoder returning to zero by sector according to Embodiment 2 of the present application;

11 is a schematic time sequence diagram of a single-turn absolute encoder using sectors to determine a zero point according to Embodiment 2 of the present application;

12 is a schematic time sequence diagram of a single-turn absolute encoder returning to zero by sector according to Embodiment 2 of the present application;

13 is a flowchart of a method for returning to zero of a dual-axis co-rail device provided in Embodiment 3 of the present application;

14 is a schematic diagram of a biaxial motion position marker provided in Embodiment 3 of the present application;

FIG. 15 is a structural block diagram of a device for returning to zero for dual-axis co-rail equipment provided in Embodiment 4 of the present application.

Detailed ways

The present application will be described below with reference to the accompanying drawings and embodiments.

Figure 1 is a schematic diagram of the timing sequence of a pulse-type incremental encoder using Z signal to determine the zero point, Figure 2 is a timing diagram of a pulse-type incremental encoder returning to zero with Z signal, and the left mechanical limit in Figure 1 corresponds to The position point is 10, when the left limit is on the left side of the Z0 signal, the axis does not cross the Z0 signal before returning to zero, the first Z signal is searched for Z0, and the axis is at the position corresponding to the Z0 signal, that is, the first Z signal corresponds to The position after moving the offset amount offset to the right of the position point 20 is set as the origin. In Figure 2, when the left limit is on the right side of the Z0 signal, the axis has crossed the Z0 signal before returning to zero, the first Z signal is searched for Z1, and the axis is moved to the right of the position corresponding to the Z1 signal by the offset offset 30 set as the origin. In Fig. 1, the axis is set to the origin position 30 for the first time. In Fig. 2, after the limit signal fluctuates, the zero return position of the axis is not the same as the origin in Fig. 1, that is, it cannot return to the origin position correctly. Figure 3 is a schematic diagram of the time sequence of a single-turn absolute encoder using Z signal to determine the zero point, Figure 4 is a schematic diagram of the time sequence of a single-turn absolute encoder returning to zero with Z signal, and the left limit in Figure 3 is on the left side of the Z0 signal , in Figure 4, the left limit is on the right side of the Z0 signal, and the above problem also exists, that is, when the two axes return to zero with the same guide rail, the origin position is directly determined according to the first Z signal of the motor encoder, and the first Z signal is still used to return to the origin, resulting in When the limit position coincides with the Z signal, the fluctuation of the limit position causes the zero return position to differ by one circle, which affects the reliability of the zero return.

Example 1

FIG. 5 is a flowchart of a method for returning to zero of a dual-axis co-rail device provided in Embodiment 1 of the present application. This embodiment can be applied to the situation where a multi-axis co-rail device has no sensor to return to zero. This method can be performed by a dual-axis co-rail device The device can be implemented by a device returning to zero. The device can be implemented by software and/or hardware. The device can be integrated into an electronic device such as a computer with the function of returning to zero for a dual-axis co-rail device. The method includes the following steps:

Step 110: Determine the origin position of the first axis and the origin position of the second axis according to the encoder sector corresponding to the motor and the position difference between the first axis and the second axis on the device guide rail.

The encoder sector corresponding to the origin position and the encoder sector corresponding to the corresponding axis at the limit position are separated by at least one sector, for example, at least one sector can be designated N sectors (N=1, 2, 3, 4, 5). The first axis and the second axis can be electrically connected to two motors respectively, and the origin position of the first axis can be determined by the encoder sector of the motor to which the first axis is electrically connected, such as the encoder sector of the motor corresponding to the limit position of the first axis The origin position of the second axis can be determined by the encoder sector of the motor to which the second axis is electrically connected, and can also be determined by the position difference between the first axis and the second axis.

Exemplarily, FIG. 6 is a schematic diagram of a sector distribution provided by Embodiment 1 of the present application. Referring to FIG. 6 , the motor encoder takes a pulse-type incremental encoder as an example, and the encoded signal includes an ABZ quadrature pulse signal and a UVW signal. Sector signal, the motor encoder sector can be divided into six sectors Q[1] to Q[6], such as encoder forward rotation UVW sector sequence is 5, 1, 3, 2, 6, 4, namely The encoder rotates forward to sector 5 (Q[1]=5), and continues to rotate to sector 1 (Q[2]=1). The content of the encoder rotation sector sequence is well known to those skilled in the art, You can also refer to related books or literature, which will not be repeated here. FIG. 7 is a schematic diagram of a dual-axis co-rail device provided in Embodiment 1 of the present application. Referring to FIG. 7 , the guide rail 2 of the equipment machine 1 is provided with two axes, an axis A and an axis B, and the axis A is at the left mechanical limit 3 and axis B, which moves between axis A and the right mechanical limit 4, the first axis can be axis A or axis B, and the corresponding second axis is axis B or axis A. The motor (not shown in the figure) electrically connected to the shaft A can drive the shaft A to move on the guide rail 2 , and the motor (not shown in the figure) electrically connected to the shaft B can drive the shaft B to move on the guide rail 2 . Taking the first axis as the axis A as an example, the origin position of the axis A can be determined after the axis A passes the left mechanical limit 3, that is, when the axis A moves to the left mechanical limit 3 and then moves to the right, when the motor connected to the axis A is electrically connected. When the encoder sector of the motor such as Q[3] and axis A are at the left mechanical limit 3, the encoder sector of the motor such as Q[5] is separated by 2 sectors, determine the position of axis A at this time as axis A The origin position of the axis B; the origin position of the axis B can be determined after the axis B passes the right mechanical limit 4, that is, during the movement of the axis B to the right mechanical limit 4 and then to the left, when the encoder sector of the motor connected to the axis B is connected to the When the encoder sector of the motor corresponding to axis B is at right mechanical limit 4, the encoder sectors of the motor are separated by 2 sectors, determine the position of axis B at this time as the origin position of axis B, or connect the right side of axis A to the origin position of axis A. The position difference from the preset position is used as the origin position of the axis B, and the preset position difference is the position difference between the origin position of the axis B and the origin position of the axis A.

Step 120: After the first axis passes the limit position away from the second axis, when the encoder sector of the motor is the encoder sector corresponding to the origin position of the first axis for the first time, determine that the first axis returns to the first axis. Origin position.

Referring to Fig. 7, taking the first axis as axis A as an example, after axis A passes the left mechanical limit 3, that is, during the movement of axis A to the left mechanical limit 3 and then moves to the right, when the encoder of the motor to which axis A is electrically connected When the sector is the encoder sector corresponding to the origin position of the axis A for the first time, it is determined that the axis A returns to the origin position of the axis A at this time.

Step 130: After the second axis passes the limit position away from the first axis, when the encoder sector of the motor is the encoder sector corresponding to the origin position of the second axis for the first time, determine that the second axis returns to the second axis. The origin position, or, after the second axis passes the limit position away from the first axis, according to the position difference between the position of the second axis and the origin position of the first axis, determine that the second axis returns to the origin position of the second axis.

Referring to Figure 7, taking the second axis as axis B as an example, after axis B passes the right mechanical limit 4, that is, during the movement of axis B to the right mechanical limit 4 and then to the left, when the encoder of the motor to which axis B is electrically connected When the sector is the encoder sector corresponding to the origin position of axis B for the first time, it is determined that axis B returns to the origin position of axis B at this time. , to improve the return-to-zero efficiency; or when the axis B moves to the above-mentioned preset position difference from the origin of the axis A, it is determined that the axis B returns to the origin of the axis B at this time.

The method for returning to zero for a dual-axis coaxial guide device provided in this embodiment determines the origin position of the first axis according to the encoder sector of the motor. After the first axis passes through the limit position away from the second axis, when the encoder sector of the motor When it is the encoder sector corresponding to the origin position of the first axis for the first time, make sure that the first axis returns to the origin position of the first axis, so as to prevent the origin position from being determined directly according to the first Z signal of the motor encoder and still passing the first Z signal When returning to the origin, when the limit position coincides with the Z signal, the first Z signal is used to return to zero, resulting in a difference in the zero return position, which affects the reliability of the zero return. In this embodiment, the first axis and the second axis return to zero according to the encoder sector, and the position corresponding to the encoder sector corresponding to the axis at the limit position separated by at least one sector is determined as the origin position. The Z signal overlaps and the first Z signal returns to zero, causing the zero return position to differ by one circle, thus improving the reliability of the zero return; and the first axis and the second axis can operate synchronously, and the synchronous return is realized according to the encoder sector of the motor. Zero, or after the first axis returns to zero, directly according to the position difference between the position of the second axis and the origin position of the first axis, determine that the second axis returns to the origin position of the second axis, so as to quickly realize the zero return of the equipment and the lifting Return to zero efficiency.

Embodiment 2

FIG. 8 is a flowchart of a method for returning to zero of a dual-axis co-rail device provided in Embodiment 2 of the present application. This embodiment is applicable to situations such as sensor-less zero-returning of a multi-axis co-rail device. This method can be performed by a dual-axis co-rail device The device can be implemented by a device returning to zero. The device can be implemented by software and/or hardware. The device can be integrated into an electronic device such as a computer with the function of returning to zero for a dual-axis co-rail device. The method includes the following steps:

Step 210: After the first shaft passes the limit position away from the second shaft, when the first shaft moves to the encoder sector of the first motor and the encoder sector of the first motor corresponding to the first shaft at the limit position is at least In one sector, the position of the first axis at this time is determined as the origin position of the first axis.

At least one sector can be designated N sectors (N=1, 2, 3, 4, 5), the first motor is connected to the first shaft, and the first motor drives the first shaft to move, such as when the first shaft moves When the encoder sector of the first motor and the encoder sector corresponding to the limit position of the first shaft are separated by two sectors, the position of the first shaft at this time is determined as the origin position of the first shaft.

Exemplarily, FIG. 9 is a schematic time sequence diagram of a pulse-type incremental encoder provided by the second embodiment of the present application to determine the zero point by sector, and FIG. 10 is a pulse-type incremental encoder provided by the second embodiment of the present application. Figure 11 is a schematic time sequence diagram of a single-turn absolute encoder using a sector to determine the zero point according to Embodiment 2 of the present application, and Figure 12 is a schematic diagram of a single-turn absolute encoder according to Embodiment 2 of the present application. A schematic diagram of the time sequence of the loop absolute encoder returning to zero by sector, refer to Figure 9 and Figure 10 in conjunction with Figure 6, or refer to Figure 11 and Figure 12 in conjunction with Figure 6, take the first axis on the left side of the second axis as an example, Figures 9 and 11 are both the case where the left mechanical limit is on the left side of the Z0 signal. If the first axis moves to the left mechanical limit, the corresponding encoder sector of the first motor is 4 sectors, which will be the same as the 4 sectors. The 3 sectors separated by two sectors are set as the marked sector position 21. If the offset distance is set, the first marked sector position 21 is offset to the right by the offset offset as the origin position of the first axis 31 , the subsequent zero return is offset based on the marked sector position 21 of the 3 sectors, and then the origin position 31 is determined.

Step 220: After the second axis passes the limit position away from the first axis, when the second axis moves to the encoder sector of the second motor and the encoder sector of the second motor corresponding to the second axis at the limit position is separated by at least In one sector, the position of the second axis at this time is determined as the origin position of the second axis.

The second motor is connected with the second shaft, the second motor drives the second shaft to move, and the second motor and the first motor are of the same type. For example, when the second axis moves to the encoder sector of the second motor and the encoder sector of the second motor corresponding to the second axis at the limit position is separated by two sectors, it is determined that the position of the second axis at this time is the second axis. The origin of the axis.

Step 230: Control the first axis to move in the direction close to the second axis, until the encoder sector of the first motor is the encoder sector corresponding to the origin position of the first axis for the first time, determine that the first axis returns to the first axis the origin position.

Referring to Fig. 6, if it is determined that the encoder sector corresponding to the origin position of the first axis is a 2-sector, such as the edge position of the 2-sector, then control the first axis to move from the left mechanical limit to the right to the encoder of the first motor. When the sector is 2 sectors corresponding to the origin position of the first axis for the first time, it is determined that the first axis returns to the origin position of the first axis.

9 and 10 , or with reference to FIGS. 11 and 12 , both of which are the case where the left mechanical limit is on the right side of the Z0 signal, and the first axis is on the left side of the second axis as an example , control the first axis to move from the left mechanical limit to the right until the first marked sector position 21 is searched, and control the first axis to continue to move to the right offset offset, and determine that the first axis returns to the first axis at this time The origin position 31.

Step 240: Control the second axis to move in the direction close to the first axis, until the encoder sector of the second motor is the encoder sector corresponding to the origin position of the second axis for the first time, determine that the second axis returns to the second axis , or, control the movement of the second axis in the direction close to the first axis, until the position difference between the position of the second axis and the origin of the first axis is the difference between the origin of the second axis and the origin of the first axis The position difference determines that the second axis returns to the origin position of the second axis at this time.

The second axis can return to zero according to the encoder sector corresponding to the origin position of the second axis. The process of returning to zero is the same as that of the first axis. The first axis and the second axis can act synchronously to complete the avoidance and search between the axes. Mechanical limit action, and effective avoidance, realize synchronous zero return according to the encoder sectors corresponding to their respective origin positions, and improve the zero return efficiency; the second axis can also return to zero according to the position difference, and the second axis is close to the first axis move in the direction until the position difference between the position of the second axis and the origin of the first axis is the position difference between the origin of the second axis and the origin of the first axis, determine that the second axis returns to the second axis at this time. The origin position, that is, according to the relative position relationship, can directly convert the absolute coordinate position of the second axis, and quickly realize the zero position calibration of the equipment.

The zero return method for a dual-axis coaxial guide device provided in this embodiment determines the origin position of the first axis according to the encoder sector of the first motor, and controls the first axis to move in the direction of approaching the second axis until the encoding of the first motor is reached. When the encoder sector is the encoder sector corresponding to the origin position of the first axis for the first time, make sure that the first axis returns to the origin position of the first axis, so as to prevent the origin position from being directly determined according to the first Z signal of the motor encoder and still using the first Z signal. A Z signal returns to the origin, which causes the limit position to fluctuate when the limit position coincides with the Z signal, causing the zero return position to differ by one circle, which affects the reliability of the zero return. In this embodiment, the first axis returns to zero according to the encoder sector of the first motor, and the position corresponding to the encoder sector of the first motor at least one sector away from the encoder sector of the first motor corresponding to the limit position of the first axis is determined as the origin position, Since the sector is fixed, there will be no difference between the zero return position due to the overlap of the limit position with the Z signal and the zero return through the first Z signal, thus improving the reliability of zero return; and after the first axis returns to zero, According to the position difference between the position of the second axis and the origin position of the first axis, it can be determined that the second axis returns to the origin position of the second axis, that is, according to the relative position relationship, the absolute coordinate position of the second axis can be directly converted, Quickly realize the zero position calibration of the equipment.

Embodiment 3

FIG. 13 is a flowchart of a method for returning to zero of a dual-axis co-rail device provided in Embodiment 3 of the present application. This embodiment is applicable to situations such as sensor-less zero-returning of a multi-axis co-rail device. This method can be performed by a dual-axis co-rail device. The device can be implemented by a device returning to zero. The device can be implemented by software and/or hardware. The device can be integrated into an electronic device such as a computer with the function of returning to zero for a dual-axis co-rail device. The method includes the following steps:

Step 310: Control the first shaft to move in a torque-limited mode until the first shaft and the second shaft are in contact and balanced, and determine the first position of the first shaft and the first position of the second shaft at this time.

Taking the first axis on the left side of the second axis as an example, FIG. 14 is a schematic diagram of a two-axis motion position marker provided in Embodiment 3 of the present application. In FIG. 14, the first position of the first axis and the first position of the second axis are The positions are PA0 and PB0, respectively.

Exemplarily, the first shaft and the second shaft are locked, such that the first shaft approaches the second shaft in a torque mode and contacts the second shaft, and the relative position difference of the shafts at the contact point is determined by the device (the difference can be fixed. For example, the left side of the second axis is 100mm from the position of the first axis), record the respective coordinate values of the first axis and the second axis at the contact point. According to this coordinate value, the relative position of the two axes at any position can be determined. .

Step 320: Control the first axis to move to a limit position away from the second axis to achieve torque balance, and determine the second position of the first axis at this time.

Referring to Figure 14, the first axis moves to the limit position away from the second axis, that is, the left limit position and reaches the torque balance. At this time, the second position of the first axis is PA1. Correspondingly, the second axis is far away from the limit position of the first axis. That is, the right limit position is PB1.

Step 330: According to the second position of the first axis and the first position of the second axis, control the second axis to move a preset distance away from the direction of the first axis, and determine the second position of the second axis at this time.

If the position difference between the second position of the first axis and the first position of the second axis is less than the preset distance, the second axis is controlled to move away from the first axis by the preset distance, and the second axis is determined to move the preset distance The last position is the second position of the second axis, which effectively avoids the problem of mutual interference between the two-axis motion; if the position difference is greater than or equal to the preset distance, the current position of the second axis is determined to be the second position of the second axis, and the preset The distance can be the distance that the motor rotates one revolution corresponding to the distance that the shaft moves on the guide rail. As shown in FIG. 14 , if the position difference between the second position PA1 of the first axis and the first position PB0 of the second axis is greater than the preset distance, the second position of the second axis is PB0 .

Step 340: Control the movement of the first axis in a direction close to the second axis, and determine the origin position of the first axis according to the encoder sector corresponding to the second position of the first axis.

If the encoder sector of the motor corresponding to the second position of the first axis, that is, the limit position away from the second axis is k, and the encoder sector of the motor is m when the first axis moves to the motor, and m=k+2, k is an integer from 1 to 4, or m=k+2-6, and k is 5 or 6, then control the first axis to continue to move the preset offset in the direction close to the second axis, and determine the preset offset of the first axis movement. The position after the shift amount is the origin position of the first axis.

Step 350: Determine the first position according to the first position difference between the origin position of the first axis and the first position of the first axis, and the second position difference between the limit position of the second axis away from the first axis and the second position of the second axis. The origin of the two axes.

Referring to FIG. 14 , the origin of the first axis is PA2, the origin of the second axis is PB0, and PB0=PA2-PA0+PB1-PB0.

Step 360: Control the first axis to move in the direction close to the second axis, until the encoder sector of the first motor is the encoder sector corresponding to the origin position of the first axis for the first time, determine that the first axis returns to the first axis the origin position.

The process of returning the first axis to zero according to the encoder sector corresponding to the origin position of the first axis has been described in Embodiment 1 and Embodiment 2, and will not be repeated here.

Step 370: Control the second axis to move in a direction close to the first axis, until the encoder sector of the second motor is the encoder sector corresponding to the origin position of the second axis for the first time, determine that the second axis returns to the second axis , or, control the movement of the second axis in the direction close to the first axis, until the position difference between the position of the second axis and the origin of the first axis is the difference between the origin of the second axis and the origin of the first axis The position difference determines that the second axis returns to the origin position of the second axis at this time.

The process of returning the second axis to zero according to the encoder sector corresponding to the origin position of the second axis, or the process of returning to zero according to the position difference has been described in Embodiment 1 and Embodiment 2, and will not be repeated here.

The method for returning to zero of a dual-axis co-rail device provided in this embodiment determines the origin position of the first axis according to the encoder sector of the motor during the movement of the first axis, preventing the origin position from being directly determined according to the first Z signal of the motor encoder And still use the first Z signal to return to the origin, resulting in the fluctuation of the limit position when the limit position coincides with the Z signal, resulting in a difference of one circle in the return position, which affects the reliability of the return to zero. In this embodiment, the first axis returns to zero according to the encoder sector, and the position corresponding to the encoder sector that is separated by at least one sector from the second position of the first axis, that is, the limit position away from the second axis, is determined as the origin position , because the sector is fixed, there will be no difference between the zero return position due to the overlap of the limit position and the Z signal and the return to zero through the first Z signal, thus improving the reliability of zero return; the dual axis zero return process does not need to return to zero Zero switch or limit switch assistance can effectively reduce the cost of components and reduce the instability caused by sensor failure caused by external environmental influences (such as dust, oil pollution, equipment collision, vibration); and after the first axis returns to zero, it can be directly The position difference between the position of the second axis and the origin position of the first axis determines that the second axis returns to the origin position of the second axis, that is, according to the relative position relationship, the absolute coordinate position of the second axis can be directly converted, and the equipment can be quickly realized. Zero position calibration.

Embodiment 4

15 is a structural block diagram of a device for returning to zero for dual-axis co-rail equipment provided in Embodiment 4 of the present application. The device includes an origin determining module 410, a first determining module 420 for returning to zero, and a second determining module 430 for returning to zero; wherein, The origin determination module 410 is set to determine the origin position of the first axis and the position of the second axis according to the encoder sector of the motor, or the encoder sector of the motor and the position difference between the first axis and the second axis on the equipment guide rail. Origin position; wherein, the encoder sector corresponding to the origin position and the encoder sector corresponding to the corresponding axis at the limit position are separated by at least one sector; After the second axis passes the limit position away from the first axis, when the encoder sector of the motor is the encoder sector corresponding to the corresponding axis at the origin position for the first time, it is determined that the first axis returns to the first axis. Origin position, the second axis returns to the origin position of the second axis; or, the second zero return determining module 430 is set so that after the first axis passes the limit position away from the second axis, when the encoder sector of the motor is the first axis for the first time. When the encoder sector corresponds to the origin position of one axis, determine that the first axis returns to the origin position of the first axis, and after the second axis passes the limit position away from the first axis, according to the position of the second axis and the first axis The position difference of the origin position of the axis determines that the second axis returns to the origin position of the second axis.

On the basis of the above embodiment, the motor includes a first motor and a second motor, the first motor is connected to the first shaft, and the second motor is connected to the second shaft; the origin determination module 410 includes a first axis origin determination unit and a second motor An axis origin determination unit; wherein, the first axis origin determination unit is set so that after the first axis passes the limit position away from the second axis, when the first axis moves to the encoder sector of the first motor and the first axis is at the limit position When the encoder sectors of the corresponding first motor are separated by at least one sector, the position of the first axis at this time is determined as the origin position of the first axis; the second axis origin determination unit is set to be away from the first axis when the second axis passes After the limit position of the second axis, when the second axis moves to the encoder sector of the second motor and the encoder sector of the second motor corresponding to the second axis at the limit position is separated by at least one sector, determine the The position is the origin position of the second axis. Wherein, the first motor and the second motor are motors of the same type.

In one embodiment, the origin determination module 410 includes a first position determination unit, a second position determination unit, a first axis origin determination unit and a second axis origin determination unit; wherein the first position determination unit is configured to control the first position determination unit. The shaft moves in a torque-limited mode until the first shaft and the second shaft are fitted and balanced, and the first position of the first shaft and the first position of the second shaft are determined at this time; the second position determination unit is set to control the first shaft The shaft moves to the limit position away from the second shaft and reaches the torque balance, and the second position of the first shaft is determined at this time; and according to the second position of the first shaft and the first position of the second shaft, the second shaft is controlled to deviate from the The direction of the first axis moves a preset distance to determine the second position of the second axis at this time; the first axis origin determination unit is set to control the direction movement of the first axis close to the second axis, according to the second position of the first axis The corresponding encoder sector determines the origin position of the first axis; the second axis origin determination unit is set to be based on the first position difference between the origin position of the first axis and the first position of the first axis, and the second axis is far away from the first axis. The second position difference between the limit position of the axis and the second position of the second axis determines the origin position of the second axis. Wherein, the origin position of the second axis is the sum of the first position difference, the second position difference and the position distance, and the position distance is the fixed distance between the first position of the first axis and the first position of the second axis position spacing.

The above-mentioned second position determination unit includes a first subunit and a second subunit; wherein, the first subunit is set so that if the position difference between the second position of the first axis and the first position of the second axis is less than the preset distance, then Control the second axis to move a preset distance away from the first axis, and determine that the position after the second axis moves the preset distance is the second position of the second axis; the second subunit is set so that if the position difference is greater than or equal to the preset distance If the distance is set, the current position of the second axis is determined as the second position of the second axis.

Optionally, the above-mentioned first axis origin determination unit includes a first axis origin determination subunit, which is set so that if the encoder sector corresponding to the second position of the first axis is k, the first axis moves to the encoder sector of the motor. is m, and m=k+2, k is an integer from 1 to 4, or m=k+2-6, when k is 5 or 6, then control the first axis to continue to move towards the direction close to the second axis. Offset, determine the position of the first axis after the preset offset is moved as the origin position of the first axis.

Optionally, the first zero return determination module 420 includes a first axis origin determination unit and a second axis origin determination unit; wherein, the first axis origin determination unit is configured to control the movement of the first axis in the direction of approaching the second axis until When the encoder sector of the first motor is the encoder sector corresponding to the origin position of the first axis for the first time, determine that the first axis returns to the origin position of the first axis; the second axis origin determination unit is set to control the second axis Move in the direction close to the first axis until the encoder sector of the second motor is the encoder sector corresponding to the origin position of the second axis for the first time, and determine that the second axis returns to the origin position of the second axis. Wherein, the first motor and the second motor are motors of the same type.

In one embodiment, the second return-to-zero determination module 430 includes a second axis origin determination subunit, configured to control the movement of the second axis in the direction of approaching the first axis until the position of the second axis and the origin of the first axis The position difference of the position is the position difference between the origin position of the second axis and the origin position of the first axis, and it is determined that the second axis returns to the origin position of the second axis at this time.

The zero-returning device for biaxial co-rail equipment provided in this embodiment and the zero-returning method for bi-axial co-rail equipment provided by any embodiment of the present application belong to the same concept and have corresponding effects. A method for returning to zero of a dual-axis co-rail device provided by any embodiment of the present application.

Claims

A method for returning to zero for a device with two axes and guide rails, comprising:

Determine the origin position of the first axis and the origin position of the second axis according to the encoder sector of the motor, or according to the encoder sector of the motor and the position difference between the first axis and the second axis on the equipment guide rail ; Wherein, the encoder sector corresponding to the origin position and the encoder sector corresponding to the corresponding axis at the limit position are separated by at least one sector;

After the first shaft passes through the limit position away from the second shaft, and after the second shaft passes through the limit position away from the first shaft, when the encoder sector of the motor is the corresponding shaft for the first time In the encoder sector corresponding to the origin position, it is determined that the first axis returns to the origin position of the first axis, and the second axis returns to the origin position of the second axis; or,

After the first axis passes the limit position away from the second axis, when the encoder sector of the motor is the encoder sector corresponding to the origin position of the first axis for the first time, determine the first axis The axis returns to the origin position of the first axis, and after the second axis passes the limit position away from the first axis, according to the position of the second axis and the position of the origin of the first axis difference, determine that the second axis returns to the origin position of the second axis.
The method of claim 1, wherein the motor comprises a first motor and a second motor, the first motor being connected to the first shaft and the second motor being connected to the second shaft;

The determining of the origin position of the first axis and the origin position of the second axis according to the encoder sector of the motor includes:

After the first shaft passes the limit position away from the second shaft, when the first shaft moves to the position where the encoder sector of the first motor corresponds to the limit position of the first shaft When the encoder sectors of the first motor are separated by the at least one sector, determining the position of the first shaft as the origin position of the first shaft;

After the second shaft passes through the limit position away from the first shaft, when the second shaft moves to the position where the encoder sector of the second motor corresponds to the limit position of the second shaft When the encoder sectors of the second motor are separated by the at least one sector, the position of the second shaft is determined as the origin position of the second shaft.
The method according to claim 1, wherein the origin position of the first axis and the second axis are determined according to the encoder sector of the motor and the position difference between the first axis and the second axis on the equipment guide rail The origin position of the axes, including:

controlling the first shaft to move in a torque-limited speed mode until the first shaft and the second shaft fit and balance, and determine the first position of the first shaft and the first position of the second shaft ;

Controlling the movement of the first shaft to a limit position away from the second shaft and achieving moment balance, determining the second position of the first shaft;

According to the second position of the first shaft and the first position of the second shaft, the second shaft is controlled to move a preset distance away from the direction of the first shaft, and the second position of the second shaft is determined. Location;

controlling the first axis to move in a direction close to the second axis, and determining the origin position of the first axis according to the encoder sector corresponding to the second position of the first axis;

According to the first position difference between the origin position of the first axis and the first position of the first axis, the difference between the limit position of the second axis away from the first axis and the second position of the second axis The second position difference determines the origin position of the second axis.
4. The method of claim 3, wherein the controlling of the second axial movement in a direction away from the first shaft based on the second position of the first shaft and the first position of the second shaft The preset distance to determine the second position of the second axis includes:

In the case that the position difference between the second position of the first shaft and the first position of the second shaft is less than the preset distance, controlling the movement of the second shaft in the direction away from the first shaft the preset distance, and determine that the position after the second axis moves the preset distance is the second position of the second axis;

When the position difference is greater than or equal to the preset distance, the current position of the second axis is determined as the second position of the second axis.
The method according to claim 3, wherein the determining the origin position of the first axis according to the encoder sector corresponding to the second position of the first axis comprises:

The encoder sector corresponding to the second position of the first shaft is k, the encoder sector of the first shaft moving to the motor is m, and m=k+2, where k is 1 to 4 Integer, or m=k+2-6, when k is 5 or 6, control the first axis to continue to move towards the direction close to the second axis by a preset offset, and determine that the first axis moves the The position after the preset offset is the origin position of the first axis.
The method according to claim 3, wherein the origin position of the second axis is the sum of the first position difference, the second position difference and a position distance, and the position distance is the first axis A fixed position spacing between the first position and the first position of the second axis.
The method according to claim 2, wherein when the encoder sector of the motor is the encoder sector corresponding to the corresponding shaft at the origin position for the first time, it is determined that the first shaft returns to The origin of the first axis and the return of the second axis to the origin of the second axis, including:

Control the first axis to move in the direction of approaching the second axis, until the encoder sector of the first motor is the encoder sector corresponding to the origin position of the first axis for the first time, determine the first axis. One axis returns to the origin of the first axis;

Control the second axis to move in a direction close to the first axis, until the encoder sector of the second motor is the encoder sector corresponding to the origin position of the second axis for the first time, determine the first axis. The two axes return to the origin of the second axis.
The method of claim 7, wherein the first motor and the second motor are motors of the same type.
The method according to claim 1, wherein, according to the position difference between the position of the second axis and the origin position of the first axis, it is determined that the second axis returns to the origin position of the second axis ,include:

Control the movement of the second axis in a direction close to the first axis until the position difference between the position of the second axis and the origin of the first axis is the origin of the second axis and the first axis. The position difference of the origin position of one axis determines that the second axis returns to the origin position of the second axis.
A zero-returning device for dual-axis co-rail equipment, comprising:

The origin determination module is set to determine the origin position of the first axis and the origin of the first axis according to the encoder sector of the motor, or according to the encoder sector of the motor and the position difference between the first axis and the second axis on the equipment guide rail The origin position of the second axis; wherein, the encoder sector corresponding to the origin position and the encoder sector corresponding to the corresponding axis at the limit position are separated by at least one sector;

The first zero return determining module is configured to be set so that when the first axis passes through the limit position away from the second axis, and after the second axis passes through the limit position away from the first axis, when the encoder of the motor When the sector is the encoder sector corresponding to the corresponding axis at the origin position for the first time, it is determined that the first axis returns to the origin position of the first axis, and the second axis returns to the second axis the origin position of the axis; or,

The second return-to-zero determination module is set to, after the first axis passes through the limit position away from the second axis, when the encoder sector of the motor is the encoder corresponding to the origin position of the first axis for the first time During the sector, determine that the first axis returns to the origin position of the first axis, and after the second axis passes the limit position away from the first axis, according to the position of the second axis and the The position difference of the origin of the first axis determines that the second axis returns to the origin of the second axis.