TWI703311B - A double-feedback rotary encoder eccentricity correction apparatus - Google Patents
A double-feedback rotary encoder eccentricity correction apparatus Download PDFInfo
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Description
本發明是有關於一種旋轉編碼器偏心校正之裝置,且尤其是有關於一種透過兩個以上的旋轉編碼器進行雙回授的偏心校正之裝置。 The present invention relates to a device for eccentricity correction of a rotary encoder, and more particularly to a device for double feedback eccentricity correction through two or more rotary encoders.
在機械主軸應用中,如工具機的車床主軸或機器人機械主軸等,由於主軸有準確定位的需求,因此現有技術會在主軸側安裝編碼器以避免皮帶傳動結構的機械誤差造成定位精度降低,然而主軸側的編碼器若於安裝上有偏心問題,反而會導致主軸定位失準。因此,多數供應商通常透過嚴格的安裝規範來限制在現場安裝時所造成的實體偏心誤差或使用傳統的校正模組,但這些方法不僅會增加多道驗證程序,讓安裝工具機的車床主軸或機器人機械主軸時耗費許多時間,大幅減少產品使用的友善性,也使得校正偏心誤差所需要的時間以及金錢成本上升。 In mechanical spindle applications, such as machine tool lathe spindles 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 mechanical error of the belt transmission structure and reduce the positioning accuracy. However, If the encoder on the spindle side is installed with eccentricity, it will cause the spindle to be positioned incorrectly. Therefore, most suppliers usually use strict installation specifications to limit the physical eccentricity caused by the on-site installation or use traditional correction modules. However, these methods will not only increase multi-channel verification procedures, allow the installation of machine tool lathe spindles or The mechanical spindle of the robot takes a lot of time, which greatly reduces the user friendliness of the product, and also increases the time and money required to correct the eccentricity error.
因此,本發明針對上述現有技術的缺失提出一種針對機械主軸進行快速偏心校正的裝置。 Therefore, the present invention provides a device for rapid eccentricity correction of a mechanical spindle in response to the above-mentioned deficiency in the prior art.
先前技術段落只是用來幫助了解本發明內容,因此在先前技術段落所揭露的內容可能包含一些沒有構成所屬技術領域中具有通常知識者所知道 的習知技術。在先前技術段落所揭露的內容,不代表所述內容或者本發明一個或多個實施例所要解決的問題,在本發明申請前已被所屬技術領域中具有通常知識者所知曉或認知。 The previous technical paragraphs are only used to help understand the content of the present invention. Therefore, the content disclosed in the previous technical paragraphs may include some that do not constitute what is known to those with ordinary knowledge in the technical field. Of learned technology. 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 the present invention, and has been known or recognized by those with ordinary knowledge in the technical field before the application of the present invention.
根據現有技術的缺點,本發明的目的是提供一種雙回授旋轉編碼器偏心校正裝置,能夠節省安裝機械主軸的時間。 Based on the shortcomings of the prior art, the object of the present invention is to provide a double feedback rotary encoder eccentricity correction device, which can save the time of installing the mechanical spindle.
本發明的另一目的是提供一種雙回授旋轉編碼器偏心校正裝置,能夠讓馬達有較好的運轉品質。 Another object of the present invention is to provide a double feedback rotary encoder eccentricity correction device, which can make the motor have better running quality.
為達上述一部分或全部目的或是其他目的,本發明提供一種雙回授旋轉編碼器偏心校正裝置,包括伺服驅動器、第一旋轉編碼器與第二旋轉編碼器,伺服驅動器根據一伺服速度命令將伺服速度命令轉換為電流控制命令以控制馬達的運轉軸心轉動,馬達的運轉軸心轉動時帶動傳動機構,並透過傳動機構帶動機械主軸轉動;第一旋轉編碼器與馬達電性連接,並量測馬達的運轉軸心的轉速後產生第一旋轉編碼器速度回授,且將第一旋轉編碼器速度回授傳送至伺服驅動器;第二旋轉編碼器與機械主軸電性連接,並量測機械主軸的運轉軸心的轉速後產生第二旋轉編碼器速度回授,且將第二旋轉編碼器速度回授傳送至伺服驅動器。 In order to achieve part or all of the above objectives or other objectives, the present invention provides a double feedback rotary encoder eccentricity correction device, including a servo driver, a first rotary encoder and a second rotary encoder. The servo driver will The servo speed command is converted into a current control command to control the rotation of the motor shaft. When the motor shaft rotates, the transmission mechanism is driven, and the mechanical spindle is driven through the transmission mechanism; the first rotary encoder is electrically connected to the motor and measured The speed feedback of the first rotary encoder is generated after measuring the rotation speed of the rotating shaft of the motor, and the speed feedback of the first rotary encoder is transmitted to the servo drive; the second rotary encoder is electrically connected to the mechanical spindle, and the mechanical The rotation speed of the rotating shaft of the main shaft generates a second rotary encoder speed feedback, and transmits the second rotary encoder speed feedback to the servo driver.
在一實施例中,伺服驅動器包括減法器,伺服驅動器接收第一旋轉編碼器速度回授以及第二旋轉編碼器速度回授,並透過減法器將第一旋轉編碼器速度回授以及第二旋轉編碼器速度回授相減產生速度回授誤差,且速度回授誤差的誤差模型為一弦波。 In one embodiment, the servo driver includes a subtractor, and the servo driver receives the speed feedback of the first rotary encoder and the speed feedback of the second rotary encoder, and returns the speed of the first rotary encoder and the second rotary encoder through the subtractor. The encoder speed feedback subtraction produces the speed feedback error, and the error model of the speed feedback error is a sine wave.
在一實施例中,伺服驅動器根據速度回授誤差計算位置偏心誤差,並將位置偏心誤差作為校正表以進行偏心自我校正。 In one embodiment, the servo driver calculates the position eccentricity error according to the speed feedback error, and uses the position eccentricity error as a correction table to perform eccentricity self-correction.
在一實施例中,伺服驅動器更包括積分器,積分器根據速度回授誤差積分而產生對應的位置偏心誤差。 In one embodiment, the servo drive further includes an integrator, and the integrator generates a corresponding position eccentricity error according to the integration of the speed feedback error.
在一實施例中,伺服驅動器更包括鎖相放大器,且鎖相放大器根據位置偏心誤差計算位置偏心誤差的振幅以及相位。 In an embodiment, the servo driver 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.
在一實施例中,振幅及相位可為弦波值。 In an embodiment, the amplitude and phase may be sine wave values.
在一實施例中,伺服驅動器更包括位置偏心誤差資料儲存裝置,伺服驅動器將位置偏心誤差儲存於位置偏心誤差資料儲存裝置中形成校正表。 In one embodiment, the servo driver further includes 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.
在一實施例中,校正表包括位置偏心誤差的振幅以及相位。 In one embodiment, the correction table includes the amplitude and phase of the position eccentricity error.
在一實施例中,伺服驅動器可為驅控一體裝置。 In an embodiment, the servo driver may be an integrated drive and control device.
在一實施例中,第一旋轉編碼器以及第二旋轉編碼器可為磁性、光學或電磁誘導旋轉編碼器,以及第二旋轉編碼器包含被感測件以及感測件,被感測件位於機械主軸並電性連接感測件。 In an embodiment, the first rotary encoder and the second rotary encoder may be magnetic, optical or electromagnetic induced rotary encoders, and the second rotary encoder includes a sensed part and a sensing part, and the sensed part is located at The mechanical spindle is electrically connected to the sensing part.
在一實施例中,傳動機構可為皮帶組、減速機、齒輪或連軸器。 In an embodiment, the transmission mechanism may be a belt set, a reducer, a gear or a coupling.
基於上述,本發明的實施例至少具有以下其中一個優點或功效。在本發明的實施例中,在不需要裝設額外的位置感測器或是外部精度量測設備等等校正設備下,藉由雙回授旋轉編碼器偏心校正裝置接收速度回授並且經過運算後,能夠預測偏心誤差,並根據此偏心誤差生成回授補償,此回授補償會讓伺服驅動器產生下一時間的控制命令,且不帶有偏心誤差,並藉此固定精度誤差,能夠即時提升馬達運轉時的精度表現,讓馬達有較好的運轉品質。 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 installing additional position sensors or external precision measurement equipment and other calibration equipment, the speed feedback is received by the double feedback rotary encoder eccentricity correction device and the calculation is performed Later, it can predict the eccentricity error and generate feedback compensation based on the eccentricity error. This feedback compensation will allow the servo drive to generate the next control command without eccentricity error, and use this to fix the accuracy error, which can improve instantly The precision performance when the motor is running gives the motor a better running quality.
為讓本發明的上述特徵和優點能更明顯易懂,下文特舉實施例,並配合所附圖式作詳細說明如下。 In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.
1:雙回授旋轉編碼器偏心校正裝置 1: Double feedback rotary encoder eccentricity correction device
10:伺服驅動器 10: Servo drive
101:減法器 101: Subtractor
102:積分器 102: Integrator
103:鎖相放大器 103: Lock-in amplifier
104:位置偏心誤差資料儲存裝置 104: Position eccentricity error data storage device
1041:校正表 1041: Calibration table
11:馬達 11: Motor
111:馬達的運轉軸心 111: The axis of rotation of the motor
12:第一旋轉編碼器 12: The first rotary encoder
13:傳動機構 13: Transmission mechanism
14:機械主軸 14: Mechanical spindle
15:第二旋轉編碼器 15: The second rotary encoder
151:感測件 151: Sensor
152:被感測件 152: sensed part
A-ECCDERROR:位置偏心誤差的振幅 A-ECCD ERROR : Amplitude of position eccentricity error
ECCDERROR:位置偏心誤差 ECCD ERROR : Position eccentricity error
P-ECCDERROR:位置偏心誤差的相位 P-ECCD ERROR : Phase of position eccentricity error
ICMD:電流控制命令 I CMD : Current control command
VCMD:伺服速度命令 V CMD : Servo speed command
VERROR:速度回收誤差 V ERROR : Speed recovery error
VIBD1:第一旋轉編碼器速度回授 V IBD1 : The first rotary encoder speed feedback
VIBD2:第二旋轉編碼器速度回授 V IBD2 : Second rotary encoder speed feedback
圖1是根據本發明所揭露的技術,表示本發明所提供之雙回授旋轉編碼器偏心校正裝置;以及圖2是根據圖1的實施例,表示本發明所提供之雙回授旋轉編碼器偏心校正裝置之伺服驅動器的示意圖。 FIG. 1 is a diagram showing the eccentricity correction device of a double feedback rotary encoder provided by the present invention according to the technology disclosed in the present invention; and FIG. 2 is an embodiment according to FIG. 1 showing the double feedback rotary encoder provided by the present invention Schematic diagram of the servo driver of the eccentric correction device.
為使貴審查委員對於本發明之結構目的和功效有更進一步之了解與認同,茲配合圖示詳細說明如後。以下將參照圖式來描述為達成本發明目的所使用的技術手段與功效,而以下圖式所列舉之實施例僅為輔助說明,以利貴審查委員瞭解,但本案之技術手段並不限於所列舉圖式。此外,以下實施例中所提到的方向用語,例如:上、下、左、右、前或後等,僅是參考附加圖式的方向。因此,使用的方向用語是用來說明並非用來限制本發明。 In order to enable your reviewer to have a better understanding and approval of the structural purpose and effect of the present invention, the detailed description is given below with the drawings. The technical means and effects used to achieve the purpose of the invention will be described below with reference to the drawings, and the examples listed in the following drawings are only an aid to help your reviewers understand, but the technical means of this case are not limited to the enumerated Schema. In addition, the directional terms mentioned in the following embodiments, such as: up, down, left, right, front or back, etc., are only directions for referring to the attached drawings. Therefore, the directional terms used are used to illustrate but not to limit the present invention.
請參考圖1,圖1是本發明一實施例所提出的一種雙回授旋轉編碼器偏心校正裝置,適於安裝於現有加工機台上,雙回授旋轉編碼器偏心校正裝置1包括伺服驅動器10、馬達11、第一旋轉編碼器12、傳動機構13、機械主軸14以及第二旋轉編碼器15,伺服驅動器10、馬達11、第一旋轉編碼器12、傳動機構13、機械主軸14以及第二旋轉編碼器15彼此電性連接,其中電性連接的方式
例如可為有線或無線連接。值得注意的是,本實施例中的雙回授旋轉編碼器偏心校正裝置1可以包含2個以上之旋轉編碼器,在此以2個旋轉編碼器為例,但不限於此。
Please refer to Figure 1. Figure 1 is a double feedback rotary encoder eccentricity correction device proposed by an embodiment of the present invention, suitable for installation on existing processing machines, the double feedback rotary encoder
請繼續參考圖1,雙回授旋轉編碼器偏心校正裝置1中的伺服驅動器10可根據伺服速度命令VCMD,並將伺服速度命令VCMD轉化為電流控制命令ICMD以控制馬達11的運轉軸心111轉動,馬達11透過運轉軸心111帶動傳動機構13,並透過傳動機構13帶動機械主軸14進行轉動,其中伺服速度命令VCMD例如是由外部控制器所發出,外部控制器為習知的控制元件如電腦、晶片組等,本發明對此不加以限制。伺服驅動器10可為驅控一體裝置,但不限於此,伺服驅動器10可根據使用者預設的轉速而產生伺服速度命令VCMD。另外,機械主軸14依據應用領域之不同可以是車床的皮帶組、機器人的減速機、齒輪或其他應用的連軸器等,本發明對此不加以限制。
Please continue to refer to Figure 1. The
第一旋轉編碼器12與馬達11電性連接,第一旋轉編碼器12量測馬達11的運轉軸心111的轉速後產生第一旋轉編碼器速度回授VIBD1,並將第一旋轉編碼器速度回授VIBD1傳至伺服驅動器10,第二旋轉編碼器15與機械主軸14電性連接,第二旋轉編碼器15量測機械主軸14的運轉軸心(未繪示於圖1)後產生第二旋轉編碼器速度回授VIBD2,並將第二旋轉編碼器速度回授VIBD2傳至伺服驅動器10。本實施例中,第一旋轉編碼器12以及第二旋轉編碼器15可為磁性、光學或電磁誘導旋轉編碼器等,且第二旋轉編碼器15還包含被感測件152以及感測件151,被感測件152位於機械主軸14並電性連接感測件151,本發明對此並不加以限制。
The first
此外,伺服驅動器10接收第一旋轉編碼器速度回授VIBD1以及第二旋轉編碼器速度回授VIBD2,並根據第一旋轉編碼器速度回授VIBD1以及第二旋轉
編碼器速度回授VIBD2相減產生速度回授誤差Verror,其中速度回授誤差Verror的誤差模型為弦波,例如是正弦波。伺服驅動器10根據速度回授誤差Verror計算位置偏心誤差ECCDerror,並將位置偏心誤差ECCDerror作為校正表以供伺服驅動器10根據校正表進行第二旋轉編碼器15對機械主軸14的運轉軸心進行偏心校正,以調整機械主軸14的偏心誤差,並且將校正表儲存於伺服驅動器10中,也可以將校正表儲存於第二旋轉編碼器15中以供第二旋轉編碼器15進行自我校正。如此一來,相較於現有的單一編碼器配置,本發明的雙回授旋轉編碼器偏心校正裝置可有效解決因傳動機構造成的定位誤差與背隙問題,進而提升安裝本發明雙回授旋轉編碼器偏心校正裝置的加工機台的定位精準度與平順度,也能夠透過檢測位置偏心誤差判斷傳動機構是否損壞,以提高加工效能。
In addition, the
請參考圖2,圖2是根據圖1的實施例,表示本發明所提供之雙回授旋轉編碼器偏心校正裝置1中的伺服驅動器10之系統架構圖。伺服驅動器10還包括減法器101、積分器102、鎖相放大器103以及位置偏心誤差資料儲存裝置104,減法器101、積分器102、鎖相放大器103以及位置偏心誤差資料儲存裝置104彼此電性連接且都以線性方式進行運算。本實施例中,積分器102以及鎖相放大器103的元件順序也可以對調,本發明對此並不加以限制。伺服驅動器10接收第一旋轉編碼器速度回授VIBD1以及第二旋轉編碼器速度回授VIBD2後,由減法器101第一旋轉編碼器速度回授VIBD1以及第二旋轉編碼器速度回授VIBD2相減以產生速度回授誤差Verror並傳送至積分器102。積分器102根據速度回授誤差Verror進行積分運算以產生對應的位置偏心誤差ECCDerror,並傳送至鎖相放大器103。鎖相放大器103根據位置偏心誤差ECCDerror計算位置偏心誤差ECCDerror的振幅A-ECCDerror以及相位P-ECCDerror,其中振幅A-ECCDerror以及相位P-ECCDerror例如為弦波值,弦波值可為正弦值或餘弦值。位置偏心誤差資料儲
存裝置104可儲存位置偏心誤差ECCDerror之振幅A-ECCDerror以及相位P-ECCDerror的數值,並將位置偏心誤差ECCDerror之振幅A-ECCDerror以及相位P-ECCDerror的數值製作成校正表1041儲存於位置偏心誤差資料儲存裝置104中,以供第二旋轉編碼器15進行偏心自我校正。
Please refer to FIG. 2. FIG. 2 is a system architecture diagram of the
本發明中,僅需第一旋轉編碼器速度回授VIBD1以及第二旋轉編碼器速度回授VIBD2的訊號相減即可得到速度回授誤差Verror,並對於速度回授誤差Verror的訊號進行積分以鎖相後,即可得知位置偏心誤差ECCDerror之振幅以及相位的數值,校正表1041示例如下表一,並將校正表1041儲存於伺服驅動器10的偏心誤差資料儲存裝置104中,以供伺服驅動器10根據校正表1041進行偏心誤差校正。
In the present invention, only the signals of the first rotary encoder speed feedback V IBD1 and the second rotary encoder speed feedback V IBD2 are subtracted to obtain the speed feedback error V error , and for the speed feedback error V error After the signal is integrated to phase lock, the amplitude and phase values of the position eccentricity error ECCD error can be obtained. An example of the correction table 1041 is shown in Table 1, and the correction table 1041 is stored in the eccentricity error
上述僅為本發明之較佳實施例,並非用以限定本發明之權利範圍;同時以上的描述,對於相關技術領域之專門人士應可明瞭及實施,因其他未脫離本發明所揭示之精神下所完成的等效改變或修飾,均應包含在申請專利範圍中。 The above are only preferred embodiments of the present invention, and are not intended to limit the scope of rights of the present invention. At the same time, the above description should be understood and implemented by those skilled in the relevant technical fields, because other things do not deviate from the spirit of the present invention. All equivalent changes or modifications completed should be included in the scope of the patent application.
1:雙回授旋轉編碼器偏心校正裝置 1: Double feedback rotary encoder eccentricity correction device
10:伺服驅動器 10: Servo drive
11:馬達 11: Motor
111:馬達的運轉軸心 111: The axis of rotation of the motor
12:第一旋轉編碼器 12: The first rotary encoder
13:傳動機構 13: Transmission mechanism
14:機械主軸 14: Mechanical spindle
15:第二旋轉編碼器 15: The second rotary encoder
151:感測件 151: Sensor
152:被感測件 152: sensed part
VIBD1:第一旋轉編碼器速度回授 V IBD1 : The first rotary encoder speed feedback
VIBD2:第二旋轉編碼器速度回授 V IBD2 : Second rotary encoder speed feedback
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Citations (4)
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US4143311A (en) * | 1976-09-30 | 1979-03-06 | Xerox Corporation | Hysteresis synchronous motor rate servo system |
TW201435529A (en) * | 2013-03-14 | 2014-09-16 | Mitsubishi Electric Corp | Servo control device |
CN208276183U (en) * | 2018-05-16 | 2018-12-25 | 深圳市硕方精密机械有限公司 | A kind of numerical-control turn-milling composite main shaft double back awards structure |
TWM591160U (en) * | 2019-08-30 | 2020-02-21 | 新代科技股份有限公司 | A double-feedback rotary encoder eccentricity correction apparatus |
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2019
- 2019-08-30 TW TW108131249A patent/TWI703311B/en active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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US4143311A (en) * | 1976-09-30 | 1979-03-06 | Xerox Corporation | Hysteresis synchronous motor rate servo system |
TW201435529A (en) * | 2013-03-14 | 2014-09-16 | Mitsubishi Electric Corp | Servo control device |
CN208276183U (en) * | 2018-05-16 | 2018-12-25 | 深圳市硕方精密机械有限公司 | A kind of numerical-control turn-milling composite main shaft double back awards structure |
TWM591160U (en) * | 2019-08-30 | 2020-02-21 | 新代科技股份有限公司 | A double-feedback rotary encoder eccentricity correction apparatus |
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