CN210863035U - Eccentric correcting device of double-feedback rotary encoder - Google Patents
Eccentric correcting device of double-feedback rotary encoder Download PDFInfo
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- CN210863035U CN210863035U CN201921439769.8U CN201921439769U CN210863035U CN 210863035 U CN210863035 U CN 210863035U CN 201921439769 U CN201921439769 U CN 201921439769U CN 210863035 U CN210863035 U CN 210863035U
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Abstract
The utility model discloses an eccentric correcting unit of two feedback rotary encoder, including servo driver, first rotary encoder and second rotary encoder. The servo driver converts the servo speed command into a current control command according to the servo speed command so as to control the rotation of the operation axis of the motor, the rotation of the operation axis of the motor drives the transmission mechanism, and the transmission mechanism drives the mechanical spindle to rotate. The first rotary encoder is electrically connected with the motor, generates a first rotary encoder speed feedback after measuring the rotating speed of the rotating axis of the motor, and transmits the first rotary encoder speed feedback to the servo driver. The second rotary encoder is electrically connected with the mechanical spindle, generates a second rotary encoder speed feedback after measuring the rotating speed of the operating axis of the mechanical spindle, and transmits the second rotary encoder speed feedback to the servo driver.
Description
Technical Field
The present invention relates to an apparatus for calibrating eccentricity of a rotary encoder, and more particularly, to an apparatus for calibrating eccentricity by performing dual feedback through more than two rotary encoders.
Background
In the application of a mechanical spindle, such as a lathe spindle of a machine tool or a robot mechanical spindle, because the spindle has a requirement for accurate positioning, in the prior art, an encoder is installed on the spindle side to avoid reduction of positioning accuracy caused by mechanical errors of a belt transmission structure, but if the encoder on the spindle side is installed, the spindle is misaligned. Therefore, most suppliers usually limit the physical eccentricity error caused by field installation or use the conventional calibration module through strict installation specifications, but these methods not only increase the number of verification procedures, so that the lathe spindle or the robot spindle of the machine tool is time-consuming to install, the product use friendliness is greatly reduced, but also the time and money cost required for calibrating the eccentricity error are increased.
Therefore, the present inventor proposes a device for performing fast eccentricity correction on a mechanical spindle in response to the above-mentioned shortcomings of the prior art.
The preceding paragraphs are intended merely to aid in understanding the present disclosure, and thus, what is disclosed in the preceding paragraphs may include some techniques not well known to those of ordinary skill in the art. The disclosures in the preceding paragraphs do not represent a representation of the contents or problems to be solved by one or more embodiments of the present disclosure, but are understood or appreciated by those of ordinary skill in the art prior to the filing of the present application.
SUMMERY OF THE UTILITY MODEL
In view of the shortcomings of the prior art, it is an object of the present invention to provide an eccentric calibration device for a dual feedback rotary encoder, which can save the time for installing a spindle of a machine.
Another objective of the present invention is to provide an eccentric calibration device for a dual feedback rotary encoder, which can provide a better operation quality for the motor.
In order to achieve some or all of the above objectives or other objectives, the present inventor provides an eccentric calibration apparatus for a dual feedback rotary encoder, which includes a servo driver, a first rotary encoder and a second rotary encoder, wherein the servo driver converts a servo speed command into a current control command according to the servo speed command to control an operation axis of a motor to rotate, and the operation axis of the motor drives a transmission mechanism when rotating, and drives a mechanical spindle to rotate through the transmission mechanism; the first rotary encoder is electrically connected with the motor, measures the rotating speed of the rotating axis of the motor, generates a first rotary encoder speed feedback and transmits the first rotary encoder speed feedback to the servo driver; the second rotary encoder is electrically connected with the mechanical spindle, measures the rotation speed of the operation axis of the mechanical spindle, generates a second rotary encoder speed feedback, and transmits the second rotary encoder speed feedback to the servo driver.
In one embodiment, the servo driver includes a subtractor, and the servo driver receives the first rotary encoder speed feedback and the second rotary encoder speed feedback, and subtracts the first rotary encoder speed feedback and the second rotary encoder speed feedback through the subtractor to generate a speed feedback error, and an error model of the speed feedback error is a sine wave.
In one embodiment, the servo driver calculates the position eccentricity error according to the velocity feedback error, and uses the position eccentricity error as a calibration table to perform eccentricity self-calibration.
In one embodiment, the servo driver further includes an integrator, and the integrator generates the corresponding position eccentricity error according to the velocity feedback error integral.
In one embodiment, the servo driver further comprises a phase-locked amplifier, and the phase-locked 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 driver further comprises a position eccentricity error data storage device, and the servo driver 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 one embodiment, the servo driver may be a drive and control integrated device.
In one embodiment, the first rotary encoder and the second rotary encoder may be magnetic, optical or electromagnetic induction rotary encoders, and the second rotary encoder includes a sensed member and a sensing member, the sensed member is located on the mechanical spindle and electrically connected to the sensing member.
In one embodiment, the transmission mechanism may be a belt set, a speed reducer, a gear, or a coupling.
Based on the above, the embodiments of the present disclosure have at least one of the following advantages or effects. In the embodiment of the present invention, under the condition that no extra position sensor or external precision measurement device or other calibration devices are required to be installed, the eccentric calibration device of the dual-feedback rotary encoder receives the velocity feedback and performs calculation, so as to predict the eccentric error, and generate the feedback compensation according to the eccentric error, wherein the feedback compensation will enable the servo driver to generate the control command of the next time without the eccentric error, and thereby fix the precision error, thereby improving the precision performance of the motor during operation in real time, and enabling the motor to have better operation quality.
In order to make the aforementioned and other features and advantages of the present disclosure more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
FIG. 1 is a schematic diagram illustrating an apparatus for calibrating eccentricity of a dual-feedback rotary encoder according to the disclosed technique; and
FIG. 2 is a schematic diagram of a servo driver of the eccentric calibration device of the dual-feedback rotary encoder according to the embodiment of FIG. 1
Eccentric correcting device of 1 double feedback rotary encoder
10 servo driver
101 subtracter
102 integrator
103 phase-locked amplifier
104 position eccentricity error data storage device
1041 correction table
11 Motor
111 motor running axle center
12 first rotary encoder
13 drive mechanism
14 mechanical main shaft
15 second rotary encoder
151 sensed member
152 sensing member
A-ECCDerrorAmplitude of position eccentricity error
ECCDerrorError of position eccentricity
P-ECCDerrorPhase of position eccentricity error
ICMDCurrent control command
VCMDServo velocity command
VerrorSpeed recovery error
VIBD1First rotary encoder speed feedback
VIBD2Second rotary encoder speed feedback
Detailed Description
The foregoing and other technical matters, features and effects of the present disclosure will be apparent from the following detailed description of a preferred embodiment, which is to be read in connection with the accompanying drawings. The embodiments shown in the following drawings are only for assisting the description of the technical means and functions used by the present invention, but the technical means of the present invention is not limited to the drawings. In addition, directional terms referred to in the following examples, for example: up, down, left, right, front or rear, etc., are referred to only in the direction of the attached drawings. Accordingly, the directional terminology used is intended to be illustrative and is not intended to be limiting of the present teachings.
Referring to fig. 1, fig. 1 is a schematic diagram of an eccentricity calibration apparatus for a dual feedback rotary encoder, which is suitable for being installed on an existing processing machine, the eccentricity calibration apparatus 1 for a dual feedback rotary encoder includes a servo driver 10, a motor 11, a first rotary encoder 12, a transmission mechanism 13, a mechanical spindle 14, and a second rotary encoder 15, the 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 are electrically connected to each other, wherein the electrical connection may be a wired or wireless connection, for example. It should be noted that the dual feedback rotary encoder eccentricity correction apparatus 1 in the present embodiment may include more than 2 rotary encoders, and the example is 2 rotary encoders, but is not limited thereto.
With continued reference to FIG. 1, the servo driver 10 of the eccentricity correction device 1 of the dual-feedback rotary encoder can be used to adjust the servo speed command VCMDAnd sends a servo velocity command VCMDConverted into a current control command ICMDTo control the rotation of the operation axis 111 of the motor 11, the motor 11 drives the transmission mechanism 13 through the operation axis 111, and drives the mechanical main shaft 14 to rotate through the transmission mechanism 13, wherein the servo speed command VCMDFor example, the external control is sent from an external controller, which is a conventional control component such as a computer, a chip set, etc., and the present invention is not limited thereto. The servo driver 10 can be a driving and controlling integrated device, but is not limited thereto, and the servo driver 10 can generate the servo speed command V according to the rotation speed preset by the userCMD. The machine spindle 14 may be a belt set of a lathe, a reduction gear of a robot, a gear, or a coupling for other applications, depending on the application field, and the present invention is not limited thereto.
The first rotary encoder 12 is electrically connected to the motor 11, and the first rotary encoder 12 measures the rotation speed of the rotating shaft 111 of the motor 11 to generate a first rotary encoder speed feedback VIBD1And feeding back the speed of the first rotary encoderIBD1The feedback signal is transmitted to the servo driver 10, the second rotary encoder 15 is electrically connected to the mechanical spindle 14, and the second rotary encoder 15 measures the operation axis (not shown in FIG. 1) of the mechanical spindle 14 to generate a second rotary encoder speed feedback VIBD2And feeding back the speed of the second rotary encoderIBD2To the servo driver 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 member 151 and a sensing member 152, the sensed member 151 is located on the mechanical spindle 14 and electrically connected to the sensing member 152, which is not limited by the present disclosure.
In addition, the servo driver 10 receives a first rotary encoder speed feedback VIBD1And second rotary encoder speed feedback VIBD2And according to the speed feedback V of the first rotary encoderIBD1And second rotary encoder speed feedback VIBD2Subtracting to generate a velocity feedback error VerrorWherein the velocity feedback error VerrorThe error model of (2) is a sine wave, for example, a sine wave. The servo driver 10 feeds back the error V according to the velocityerrorCalculating position eccentricity error ECCDerrorAnd the position eccentricity error ECCDerrorThe calibration table is used by the servo driver 10 to perform eccentricity calibration on the operation axis of the mechanical spindle 14 by the second rotary encoder 15 according to the calibration table, so as to adjust the eccentricity error of the mechanical spindle 14, and the calibration table is stored in the servo driver 10, or the calibration table can be stored in the second rotary encoder 15 to perform self-calibration by the second rotary encoder 15. Therefore, compared with the existing single encoder configuration, the double-feedback rotary encoder eccentric correction device can effectively solve the problems of positioning error and back clearance caused by the structure of the transmission machine, further improve the positioning accuracy and smoothness of the processing machine for installing the double-feedback rotary encoder eccentric correction device, and also can judge whether the transmission mechanism is damaged or not through detecting the position eccentric error so as to improve the processing efficiency.
Referring to fig. 2, fig. 2 is a diagram showing a system architecture of a servo driver 10 in a dual feedback rotary encoder eccentricity correction apparatus 1 according to the embodiment of fig. 1. The servo driver 10 further includes a subtractor 101, an integrator 102, a lock-in amplifier 103, and a position eccentricity error data storage device 104, wherein the subtractor 101, the integrator 102, the lock-in amplifier 103, and the position eccentricity error data storage device 104 are electrically connected to each other and all operate in a linear manner. In this embodiment, the order of the components of the integrator 102 and the lock-in amplifier 103 may be reversed, which is not limited by the present disclosure. The servo driver 10 receives a first rotary encoder speed feedback VIBD1And second rotary encoder speed feedback VIBD2Then, the subtractor 101 feeds back the speed V of the first rotary encoderIBD1And second rotary encoder speed feedback VIBD2Are subtracted to produce a velocityDegree feedback error VerrorAnd transmitted to the integrator 102. The integrator 102 feeds back the error V according to the speederrorPerforming an integration operation to generate a corresponding position eccentricity error ECCDerrorAnd transmitted to the lock-in amplifier 103. Lock-in amplifier 103 ECCD based on position eccentricity errorerrorCalculating position eccentricity error ECCDerrorAmplitude of A-ECCDerrorAnd phase P-ECCDerrorWherein the amplitude is A-ECCDerrorAnd phase P-ECCDerrorFor example, a sine wave value, which may be a sine value or a cosine value. The position eccentricity error data storage device 104 can store the position eccentricity error ECCDerrorAmplitude of A-ECCDerrorAnd phase P-ECCDerrorAnd the position eccentricity error ECCDerrorAmplitude of A-ECCDerrorAnd phase P-ECCDerrorThe value-making correction table 1041 is stored in the position eccentricity error data storage device 104 for the second rotary encoder 15 to perform eccentricity self-correction.
In this creation, only the first rotary encoder speed feedback V is neededIBD1And second rotary encoder speed feedback VIBD2Subtracting the signals to obtain the velocity feedback error VerrorAnd for the velocity feedback error VerrorAfter the signal is integrated and phase-locked, the position eccentricity error ECCD can be obtainederrorThe calibration table 1041 is shown as the following table one, and the calibration table 1041 is stored in the heart error data storage device 104 of the servo driver 10, so that the servo driver 10 can perform eccentricity error calibration according to the calibration table 1041.
Table-correction table 1041
The above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; while the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (11)
1. A dual feedback rotary encoder eccentricity correction device, comprising:
a servo driver, which converts the servo speed command into a current control command according to a servo speed command to control the rotation of the rotation axis of a motor, wherein the rotation axis of the motor drives a transmission mechanism when rotating, and drives a mechanical main shaft to rotate through the transmission mechanism;
the first rotary encoder is electrically connected with the motor, measures the rotating speed of the rotating axis of the motor, generates a first rotary encoder speed feedback and transmits the first rotary encoder speed feedback to the servo driver; and
and the second rotary encoder is electrically connected with the mechanical spindle, measures the rotating speed of the running axis of the mechanical spindle, generates a second rotary encoder speed feedback and transmits the second rotary encoder speed feedback to the servo driver.
2. The apparatus of claim 1, wherein the servo driver further comprises a subtractor, the servo driver receives the first rotary encoder speed feedback and the second rotary encoder speed feedback, and subtracts the first rotary encoder speed feedback and the second rotary encoder speed feedback via the subtractor to generate a speed feedback error, and an error model of the speed feedback error is a sine wave.
3. The apparatus of claim 2, wherein the servo driver calculates a position eccentricity error according to the velocity feedback error, and uses the position eccentricity error as a calibration table for self-calibration of eccentricity.
4. The apparatus of claim 3, wherein the servo driver further comprises an integrator, the integrator generating the corresponding position eccentricity error according to the velocity feedback error integral.
5. The apparatus of claim 3, wherein the servo driver further comprises a phase lock amplifier, and the phase lock amplifier calculates an amplitude and a phase of the position eccentricity error according to the position eccentricity error.
6. The apparatus of claim 5, wherein the amplitude and the phase are sinusoidal values.
7. The apparatus of claim 3, wherein the servo driver further comprises a position eccentricity error data storage device, and the servo driver stores the position eccentricity error in the position eccentricity error data storage device to form a calibration table.
8. The apparatus of claim 5, wherein the calibration table comprises the amplitude and the phase of the position eccentricity error.
9. The apparatus of claim 1, wherein the servo driver is a drive-control integrated apparatus.
10. The apparatus of claim 1, wherein the first rotary encoder and the second rotary encoder are magnetic, optical or electromagnetic rotary encoders, and the second rotary encoder comprises a sensed member and a sensing member, the sensed member is disposed on the spindle and electrically connected to the sensing member.
11. The apparatus of claim 1, wherein the transmission mechanism is a belt set, a speed reducer, a gear or a coupling.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921439769.8U CN210863035U (en) | 2019-08-30 | 2019-08-30 | Eccentric correcting device of double-feedback rotary encoder |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921439769.8U CN210863035U (en) | 2019-08-30 | 2019-08-30 | Eccentric correcting device of double-feedback rotary encoder |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110530573A (en) * | 2019-08-30 | 2019-12-03 | 新代科技(苏州)有限公司 | Double back awards rotary encoder eccentric correction device |
| CN115398132A (en) * | 2020-11-09 | 2022-11-25 | 帝肯贸易股份公司 | Rotary valve with encoder on rotor |
-
2019
- 2019-08-30 CN CN201921439769.8U patent/CN210863035U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110530573A (en) * | 2019-08-30 | 2019-12-03 | 新代科技(苏州)有限公司 | Double back awards rotary encoder eccentric correction device |
| CN110530573B (en) * | 2019-08-30 | 2024-10-08 | 新代科技(苏州)有限公司 | Eccentric correction device of double feedback rotary encoder |
| CN115398132A (en) * | 2020-11-09 | 2022-11-25 | 帝肯贸易股份公司 | Rotary valve with encoder on rotor |
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