Double-shaft synchronous movement system based on encoder compensation

Abstract

The invention provides a double-shaft synchronous movement system based on encoder compensation. The double-shaft synchronous movement system comprises a first shaft sliding module, a second shaft sliding module, a transverse shaft, a bearing, an encoder and a control unit. A first driver of the first shaft sliding module drives a first sliding block to slide on a first sliding rail. A second driver of the second shaft sliding module drives a second sliding block to slide on a second sliding rail. The transverse shaft is connected to the first slider and the second slider, respectively. The bearing is pivoted between the transverse shaft and the first sliding block or between the transverse shaft and the second sliding block. The encoder is assembled to measure the rotation angle of the transverse shaft relative to the first sliding block or the second sliding block. The control unit is connected to the first driver, the second driver and the encoder and is assembled to control the first driver and the second driver based on encoder compensation, so that the first sliding block and the second sliding block drive the transverse shaft to slide.

Description

TECHNICAL FIELD

[0001] The present application relates to a double-shaft homokinetic system, in particular, especially to a double-shaft homokinetic system based on encoder compensation, which reads the rotation angle change of the transverse shaft relative to the double shaft through bearings and encoders, optimizes the control of double-shaft homokinetic, improves the speed, and improves the vibration problem of double-shaft homokinetic control. BACKGROUND

[0002] Generally speaking, the gantry double-shaft homokinetic structure is used in various industrial processes. The structure mainly uses structural support or PIN positioning at both ends of the transverse shaft, and the two ends of the transverse shaft are fixed to two sets of parallel drive modules by bolts, so as to limit the degrees of freedom and drive the transverse shaft in the middle by the two sets of parallel drive modules to move in a single feed.

[0003] However, the double-shaft homokinetic system is easily affected by the errors of assembly and machining precision, resulting in an increase in internal stress and resistance of the system during operation after assembly, thereby affecting the control results of the drive module, causing vibration, and affecting the positioning performance.

[0004] On the other hand, the fixed connection between the transverse shaft and the drive module is not conducive to external sensing, so the real situation of the system operation cannot be obtained, and only indirect judgment can be made from the motor current and other values of the drive module, and the optimal control of the system cannot be realized.

[0005] Therefore, it is necessary to provide a double-shaft homokinetic system based on encoder compensation, which reads the rotation angle change of the transverse shaft relative to the double shaft through bearings and encoders, optimizes the control of double-shaft homokinetic, improves the speed, and improves the vibration problem of double-shaft homokinetic control. SUMMARY

[0006] The purpose of the present application is to provide a double-shaft homokinetic system based on encoder compensation, which reads the rotation angle change of the transverse shaft relative to the double shaft through bearings and encoders, optimizes the control of double-shaft homokinetic, improves the speed, and improves the vibration problem of double-shaft homokinetic control.

[0007] Another object of the present application is to provide a dual-axis synchronous system based on encoder compensation. The bearing and the encoder read the change of the reading value of the transverse shaft relative to the dual-axis. The reading value of the encoder is used to determine the displacement condition and internal stress of the transverse shaft in real time, and the control unit controls the driver on the dual-axis based on the change of the reading value of the encoder to achieve a stable state movement, so that the angle change value, the distortion degree and the real-time reading value tend to zero, thereby achieving the purpose of optimizing the control of the dual-axis synchronous system. The bearing and the encoder are not limited to being arranged at one end or both ends of the transverse shaft, and the inner ring and the outer ring of the bearing can be installed through the connecting slide block protruding column and the sleeve joint of the transverse shaft, and the encoder is correspondingly arranged. The structure is simplified, the control of the dual-axis synchronous system is optimized, the overall operation speed is improved, and the vibration problem of the dual-axis synchronous control is improved.

[0008] To achieve the above object, a more general embodiment of the present application provides a dual-axis synchronous system based on encoder compensation, comprising a first shaft sliding module, a second shaft sliding module, a transverse shaft, a bearing, an encoder and a control unit. The first shaft sliding module comprises a first slide block, a first slide rail and a first driver, wherein the first driver drives the first slide block to slide on the first slide rail. The second shaft sliding module is spatially relative to the first shaft sliding module and comprises a second slide block, a second slide rail and a second driver, wherein the second driver drives the second slide block to slide on the second slide rail. The transverse shaft has opposite first and second ends connected to the first and second slide blocks respectively. The bearing is pivotally connected between any one of the first end and the first slide block or the second end and the second slide block. The encoder is spatially relative to the bearing and is configured to measure the angle of rotation of any one of the transverse shaft relative to the first slide block or the transverse shaft relative to the second slide block. The control unit is connected to the first driver, the second driver and the encoder, and is configured to control the first driver and the second driver based on the angle, so that the first slide block and the second slide block drive the transverse shaft to slide.

[0009] In an embodiment, the control unit receives the angle and performs a difference operation to determine the displacement condition and the internal stress of the transverse shaft, and controls the first driver and the second driver.

[0010] In an embodiment, the control unit controls the first driver and the second driver to move in a stable state, and the change value of the angle tends to zero.

[0011] In an embodiment, the encoder is configured to measure the angle and has a position reading value, and an offset reading value is measured by the encoder when the transverse shaft moves relative to the first slide rail or the second slide rail, wherein the control unit estimates the distortion degree of the first end or the second end according to the difference between the offset reading value and the position reading value, and the control unit controls the first driver and the second driver to move in a stable state, and the distortion degree tends to zero.

[0012] In one embodiment, the first-axis sliding module includes a first driver position encoder, the second-axis sliding module includes a second driver position encoder, the control unit includes a master controller, a position controller, and a speed controller, the speed controller is connected to the first driver, the master controller is connected to the encoder, the first driver position encoder, and the second driver position encoder, wherein the master controller drives the first speed controller according to the position difference value and the position reading value obtained by the first driver position encoder and the second driver position encoder, so as to control the first driver or the second driver.

[0013] In one embodiment, the control unit includes a compensator, which receives the angles and a predetermined adjustment value, so as to control the first driver and the second driver.

[0014] In one embodiment, the dual-axis synchronous system further includes a transverse sliding module, which includes a third sliding block, a third sliding rail, and a third driver, wherein the third driver drives the third sliding block to slide on the third sliding rail.

[0015] To achieve the above object, a more general embodiment of the present application provides a dual-axis synchronous system based on encoder compensation, which includes a first-axis sliding module, a second-axis sliding module, a transverse axis, a first bearing, a first encoder, a second bearing, a second encoder, and a control unit. The first-axis sliding module includes a first sliding block, a first sliding rail, and a first driver, wherein the first driver drives the first sliding block to slide on the first sliding rail. The second-axis sliding module is spatially relative to the first-axis sliding module, and includes a second sliding block, a second sliding rail, and a second driver, wherein the second driver drives the second sliding block to slide on the second sliding rail. The transverse axis has a first end and a second end, which are respectively connected to the first sliding block and the second sliding block. The first bearing is pivotally connected between the first end and the first sliding block. The first encoder is spatially relative to the first bearing, and is configured to measure a first angle of rotation of the first end of the transverse axis relative to the first sliding block. The second bearing is pivotally connected between the second end and the second sliding block. The second encoder is spatially relative to the second bearing, and is configured to measure a second angle of rotation of the second end of the transverse axis relative to the second sliding block. The control unit is connected to the first driver, the second driver, the first encoder, and the second encoder, and is configured to control the first driver and the second driver based on the first angle and the second angle, so that the first sliding block and the second sliding block drive the transverse axis to slide.

[0016] In one embodiment, the control unit receives the first angle and the second angle, and performs a difference operation, so as to determine the displacement state and the internal stress of the transverse axis, and control the first driver and the second driver.

[0017] In one embodiment, the control unit controls the first driver and the second driver to move in a stable state, and the change value of the first angle and the change value of the second angle tend to be zero.

[0018] In one embodiment, the first encoder has a first position reading and measures a first offset reading when the first end of the transverse axis moves relative to the first slide rail at a first moving speed, wherein the control unit estimates a first degree of twist at the first end based on the difference between the first offset reading and the first position reading; wherein the second encoder has a second position reading and measures a second offset reading when the second end of the transverse axis moves relative to the second slide rail at a second moving speed, wherein the control unit estimates a second degree of twist at the second end based on the difference between the second offset reading and the second position reading.

[0019] In one embodiment, the control unit controls the first driver and the second driver to move in a stable state, and the first degree of twist and the second degree of twist approach zero.

[0020] In one embodiment, the control unit includes a compensator that receives a first position reading and a second position reading, calculates a first degree of distortion and a second degree of distortion, and receives a predetermined adjustment value to control the first driver and the second driver.

[0021] In one embodiment, the first axis sliding module includes a first driver position encoder, the second axis sliding module includes a second driver position encoder, and the control unit includes a first master controller, a first position controller, a first speed controller, a second master controller, a second position controller, and a second speed controller. The first speed controller is connected to the first driver, and the first master controller is connected to the first encoder, the first driver position encoder, and the second driver position encoder. The first master controller drives the first speed controller based on the position difference obtained by the first driver position encoder and the second driver position encoder, as well as a first position reading, to control the first driver. The second speed controller is connected to the second driver, and the second master controller is connected to the second encoder, the first driver position encoder, and the second driver position encoder. The second master controller drives the second speed controller based on the position difference obtained by the first driver position encoder and the second driver position encoder, as well as a second position reading, to control the second driver.

[0022] In one embodiment, the transverse shaft includes a first fitting and a second fitting respectively adjacent to the first end and the second end. The first slider further includes a first protrusion passing through the first fitting, the inner ring of the first bearing connected to the first protrusion, and the outer ring of the first bearing connected to the first fitting. The second slider further includes a second protrusion passing through the second fitting, the inner ring of the second bearing connected to the second protrusion, and the outer ring of the second bearing connected to the second fitting.

[0023] In one embodiment, the dual-axis synchronous system further includes a lateral sliding module, comprising a third slider, a third slide rail, and a third driver, wherein the third driver drives the third slider to slide on the third slide rail. Attached Figure Description

[0024] The following detailed description of the present invention and the schematic diagrams of the embodiments are intended to enable those skilled in the art to better understand the above content, and are not intended to limit the present invention.

[0025] Figure 1 A three-dimensional structural diagram of the dual-axis co-motion system of the first preferred embodiment of the present invention is disclosed.

[0026] Figure 2 A cross-sectional view of the dual-axis co-motion system according to a first preferred embodiment of the present invention is disclosed.

[0027] Figure 3 The control block diagram of the dual-axis co-motion system of the first preferred embodiment of the present invention is disclosed.

[0028] Figure 4 The present invention discloses a schematic diagram of the angle reading of the encoder at the initial position in the dual-axis synchronous motion system of the first preferred embodiment of the present invention.

[0029] Figure 5 A schematic diagram of the encoder angle reading after movement in a dual-axis synchronous motion system according to a first preferred embodiment of the present invention is disclosed.

[0030] Figure 6 The first preferred embodiment of the present invention discloses the compensator operation logic diagram in a dual-axis synchronous motion system.

[0031] Figure 7 A schematic diagram of the encoder's position reading at the initial position in a dual-axis synchronous motion system according to a first preferred embodiment of the present invention is disclosed.

[0032] Figure 8 A schematic diagram of the encoder position reading after movement in a dual-axis synchronous system according to a first preferred embodiment of the present invention is disclosed.

[0033] Figure 9 The control logic diagram of the dual-axis co-motion system of the first preferred embodiment of the present invention is disclosed.

[0034] Figure 10 A three-dimensional structural diagram of the dual-axis co-motion system of the second preferred embodiment of the present invention is disclosed.

[0035] Figure 11 A cross-sectional view of the dual-axis co-motion system according to a second preferred embodiment of the present invention is disclosed.

[0036] Figure 12 A schematic diagram of the encoder's position reading at the initial position in a dual-axis synchronous motion system according to a second preferred embodiment of the present invention is disclosed.

[0037] Figure 13 A schematic diagram of the encoder's position reading after movement in a dual-axis synchronous motion system according to a second preferred embodiment of the present invention is disclosed.

[0038] Figure 14 The control logic diagram of the dual-axis co-motion system of the second preferred embodiment of the present invention is disclosed.

[0039] The attached figures are labeled as follows:

[0040] 1, 1a: Dual-axis co-motion system

[0041] 10: First axis sliding module

[0042] 11: First slider

[0043] 111: First convex post

[0044] 12: First slide rail

[0045] 13: First Driver

[0046] 20: Second axis sliding module

[0047] 21: Second slider

[0048] 211: Second convex post

[0049] 22: Second slide rail

[0050] 23: Second Driver

[0051] 30: Horizontal axis

[0052] 301: First End

[0053] 302: Second end

[0054] 303: First set of fitting

[0055] 304: Second set of fitting

[0056] 31: Third slider

[0057] 32: Third slide rail

[0058] 33: The Third Driver

[0059] 40a: First bearing

[0060] 40b: Second bearing

[0061] 50a: First encoder

[0062] 51a: First driver position encoder

[0063] 50b: Second encoder

[0064] 51b: Second driver position encoder

[0065] 60: Control Unit

[0066] 61: Compensator

[0067] 62a: First Master Controller

[0068] 63a: First position controller

[0069] 64a: First speed controller

[0070] 62b: Second Master Controller

[0071] 63b: Second position controller

[0072] 64b: Second speed controller

[0073] d1: First position read value

[0074] d1': First offset reading

[0075] d2: Second position reading

[0076] d2': Second offset reading

[0077] K1, K2: Gain values

[0078] V1, V1': First angle readings

[0079] V2, V2': Second angle readings

[0080] vel1: First movement speed

[0081] vel2: Second movement speed

[0082] ΔV1: Change in the first angle

[0083] ΔV2: Change in the second angle

[0084] δ1: First degree of distortion

[0085] δ2: Second degree of distortion

[0086] x1, x2: Position

[0087] xd: Pre-set adjustment value

[0088] Δx1, Δx2: Position difference

[0089] X1: First Axial Direction

[0090] X2: Second Axial Direction

[0091] X, Y, Z: Axes Detailed Implementation

[0092] Some typical embodiments embodying the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can be varied in different ways without departing from its scope, and the descriptions and drawings herein are illustrative in nature and not intended to limit the invention. For example, if the following description of the present invention refers to a first feature disposed on or above a second feature, it indicates that it includes embodiments where the first and second features are in direct contact, and also includes embodiments where additional features may be disposed between the first and second features, so that the first and second features may not be in direct contact. Furthermore, different embodiments of the present invention may use repeated reference numerals and / or markings. These repetitions are for simplification and clarity and are not intended to limit the relationships between the various embodiments and / or the described appearance structures. Moreover, to facilitate the description of the relationship between one component or feature and another (plural) component or feature in the drawings, spatially related terms such as "front," "back," "upper," "lower," "left," "right," and similar terms may be used. In addition to the orientations shown in the accompanying drawings, spatially relevant terms are used to cover different orientations of the device in use or operation. The device may also be otherwise positioned (e.g., rotated 90 degrees or located in other orientations), and the descriptions of the spatially relevant terms used will be interpreted accordingly. Furthermore, when a component is referred to as "connected to" or "coupled to" another component, it may be directly connected to or coupled to the other component, or there may be intervening components. Additionally, it is understood that while terms such as "first," "second," etc., may be used in the claims to describe different components, these components should not be limited by these terms, and the components described accordingly in the embodiments are represented by different component symbols. These terms are used to distinguish different components. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component, without departing from the scope of the embodiments. The term "and / or" as thus used includes any or all combinations of one or more of the related listed items.

[0093] Figure 1 A three-dimensional structural diagram of the dual-axis co-motion system of the first preferred embodiment of the present invention is disclosed. Figure 2 A cross-sectional view of the dual-axis co-motion system according to a first preferred embodiment of the present invention is disclosed. Figure 3 This invention discloses a control block diagram of a dual-axis synchronous motion system according to a first preferred embodiment. (See reference...) Figures 1 to 3This invention provides a dual-axis synchronous motion system 1 based on encoder compensation, which can be applied, for example but not limited to, in crane systems. In this embodiment, the dual-axis synchronous motion system 1 includes a first axis sliding module 10, a second axis sliding module 20, a transverse axis 30, a first bearing 40a, a first encoder 50a, a second bearing 40b, a second encoder 50b, and a control unit 60. The first axis sliding module 10 includes a first slider 11, a first slide rail 12, and a first driver 13. The first driver 13 drives the first slider 11 to slide on the first slide rail 12, that is, drives the first slider 11 to slide along a first axis X1. The second axis sliding module 20 is spatially relative to the first axis sliding module 10 and includes a second slider 21, a second slide rail 22, and a second driver 23. The second driver 23 drives the second slider 21 to slide on the second slide rail 22, that is, drives the second slider 21 along a second axis X2. Preferably, the first slide rail 12 and the second slide rail 22 are parallel to each other. Both the first axial direction X1 and the second axial direction X2 are parallel to the X-axis. In this embodiment, the transverse shaft 30 has a first end 301 and a second end 302, which are respectively connected to the first slider 11 and the second slider 21. The first bearing 40a is pivotally connected between the first end 301 and the first slider 11. The first encoder 50a is spatially relative to the first bearing 40a and is configured to measure a first angle of rotation of the first end 301 of the transverse shaft 30 relative to the first slider 11. The second bearing 40b is pivotally connected between the second end 302 and the second slider 21. The second encoder 50b is spatially relative to the second bearing 40b and is configured to measure a second angle of rotation of the second end 302 of the transverse shaft 30 relative to the second slider 21. The control unit 60 is connected to the first driver 13, the second driver 23, the first encoder 50a, and the second encoder 50b, and is configured to control the first driver 13 and the second driver 23 based on the first and second angles, so that the first slider 11 and the second slider 21 drive the transverse shaft 30 to slide smoothly in the X-axis direction.

[0094] It should be noted that, in this embodiment, due to errors in assembly and processing precision, the sliding of the first slider 11 on the first axis X1 and the sliding of the second slider 21 on the second axis X2 cannot be completely parallel or synchronous. This invention uses the control unit 60 to receive the first angle measured by the first encoder 50a and the second angle measured by the second encoder 50b, and performs difference calculations to determine the displacement and internal stress of the transverse axis 30. This allows for the control of the first driver 13 and the second driver 23, thereby optimizing the control of the dual-axis synchronous motion, improving the overall operating speed, and mitigating the vibration problem of the dual-axis synchronous motion control. The compensation calculation logic of the control unit 60 will be further explained below.

[0095] Figure 4The present invention discloses a schematic diagram of the angle reading of the encoder at the initial position in the dual-axis synchronous motion system of the first preferred embodiment of the present invention. Figure 5 This invention discloses a schematic diagram of the encoder's angle reading after movement in a dual-axis synchronous motion system according to a first preferred embodiment of the present invention. (See reference) Figures 1 to 5 In an initial state, if the first slider 11 and the second slider 21 can smoothly drive the transverse axis 30 to slide in the X-axis direction, then the control unit 60 receives the first angle reading V1 and the second angle reading V2, which approach a constant value and do not change. Figure 4 As shown. However, due to errors in assembly and machining precision, when the sliding of the first slider 11 on the first axis X1 and the sliding of the second slider 21 on the second axis X2 are not synchronized, the first angle reading V1' obtained by the first encoder 50a and the second angle reading V2' obtained by the second encoder 50b will have a change in the first angle ΔV1 and the second angle ΔV2 compared to the initial (or stable) first angle reading V1 and the second angle reading V2. At this time, the control unit 60 can determine the displacement and internal stress of the transverse axis 30 based on the magnitude of the change in the first angle ΔV1 and the second angle ΔV2, and then control the output of the first driver 13 and the second driver 23 to make the change in the first angle ΔV1 and / or the change in the second angle ΔV1 approach zero, restoring the stable motion of the dual-axis synchronous system 1.

[0096] Figure 6 The first preferred embodiment of the present invention discloses the compensator operation logic diagram in a dual-axis synchronous motion system. Figure 7 A schematic diagram of the encoder's position reading at the initial position in a dual-axis synchronous motion system according to a first preferred embodiment of the present invention is disclosed. Figure 8 This invention discloses a schematic diagram of the encoder's position reading after movement in a dual-axis synchronous motion system according to a first preferred embodiment of the present invention. (See reference...) Figures 1 to 3 as well as Figures 6 to 8 In this embodiment, the control unit 60 includes, for example, a compensator 61, which receives a first angle and / or a second angle, and a predetermined adjustment value, to control the first driver 13 and the second driver 23 to stabilize the movement of the transverse shaft 30 along the first axis X1 and the second axis X2. The first encoder 50a is configured to measure the first angle, has a first position reading d1, and measures a first offset reading d1' when the first end 301 of the transverse shaft 30 moves relative to the first slide rail 12 at a first moving speed vel1. In this embodiment, the compensator 61 can adjust the value based on, for example, (Z...) -1The first twist degree δ1 of the first end 301 is estimated by conversion. The first twist degree δ1 can be adjusted by the gain value K1 and controlled by a predetermined adjustment value to control the first driver 13. When the control unit 60 controls the first driver 13 and the second driver 23 to move in a stable state, the first twist degree δ1 approaches zero. Similarly, the second encoder 50b is equipped to measure the second angle, has a second position reading d2, and measures the second offset reading d2' when the second end 302 of the transverse axis 30 moves relative to the second slide rail 22 at a second moving speed vel2. In this embodiment, the compensator 61 can take, for example (Z) the difference between the second offset reading d2' and the second position reading d2. -1 The second twist degree δ2 of the second terminal 302 is estimated by conversion. The second twist degree δ2 can be adjusted by the gain value K2 and controlled by the second driver 23 in conjunction with a predetermined adjustment value. When the control unit 60 controls the first driver 13 and the second driver 23 to move in a stable state, the second twist degree δ2 approaches zero.

[0097] Figure 9 The control logic diagram of the dual-axis synchronous motion system according to a first preferred embodiment of the present invention is disclosed. (See reference...) Figures 1 to 3 as well as Figures 7 to 9 In this embodiment, the first axis sliding module 10 includes a first driver position encoder 51a, and the second axis sliding module 20 includes a second driver position encoder 51b. The control unit 60 includes a first master controller 62a, a first position controller 63a, a first speed controller 64a, a second master controller 62b, a second position controller 63b, and a second speed controller 64b. The first speed controller 64a is connected to the first driver 13, and the first master controller 62a is connected to the first encoder 50a, the first driver position encoder 51a, and the second driver position encoder 51b. In this embodiment, the output of the first driver position encoder 51a, for example, is at position x1 of the first end 301 of the transverse axis 30 in the first axial direction X1, via (1-Z... -1 The position difference Δx1 of the first axial direction X1 can be obtained by conversion, and used as the input value of the first master controller 62a and the second master controller 62b. Similarly, the second speed controller 64b is connected to the second driver 23, and the second master controller 62b is connected to the second encoder 50b, the first driver position encoder 51a, and the second driver position encoder 51b. In this embodiment, the output of the second driver position encoder 51b is, for example, the position x2 of the second end 302 of the transverse axis 30 at the second axial direction X2, after (1-Z) -1The conversion yields the position difference Δx2 along the second axis X2, which serves as the input value for the first master controller 62a and the second master controller 62b. Thus, the first master controller 62a drives the first speed controller 64a based on the position differences Δx1 and Δx2 obtained from the first driver position encoder 51a and the second driver position encoder 51b, and the first position reading d1, thereby controlling the first driver 13. The first position instantaneous reading d1 n This can be represented by equation (1). Furthermore, the second master controller 62b drives the second speed controller 64b based on the position differences Δx1 and Δx2 obtained from the first driver position encoder 51a and the second driver position encoder 51b, and the second position reading d2, to control the second driver 23. The second position instantaneous reading d2 n It can be represented by equation (2).

[0098] d1 n =(vel1) n -vel2 n )dT+d1 n-1

[0099] =(x1) n-1 -x1 n-2 )-(x2 n-1 -x2 n-2 )+d1 n-1

[0100] =Δx1-Δx2+d1 n-1 (1)

[0101] d2 n =(vel2) n -vel1 n )dT+d2 n-1

[0102] =(x2) n-1 -x2 n-2 )-(x1 n-1 -x1 n-2 )+d2 n-1

[0103] =Δx2-Δx1+d1 n-1 +d2 n-1 (2)

[0104] When the control unit 60 controls the first drive 13 through the first speed controller 64a and the second drive 23 through the second speed controller 64b, the first position instantaneous reading value d1 is made. n Second position instantaneous reading d2 nApproaching zero values ​​allows for optimized control of the dual-axis synchronous motion, increasing speed and mitigating vibration issues. In other words, this invention can instantly determine the displacement and internal stress of the transverse axis 30 based on encoder readings, and the control unit 60 further controls the drivers on both axes based on encoder reading changes to ensure stable movement, minimizing angular variation, torsion, and instantaneous readings to zero, thus achieving optimized dual-axis synchronous motion control. Of course, in other embodiments, the control unit 60 can also connect a predetermined adjustment value xd to control the first driver 13 and the second driver 23. This invention is not limited to these limitations.

[0105] See Figure 1 and Figure 2 In this embodiment, the transverse shaft 30 includes a first fitting 303 and a second fitting 304 respectively adjacent to the first end 301 and the second end 302. The first slider 11 also includes a first protrusion 111 passing through the first fitting 303. The inner ring of the first bearing 40a is connected to the first protrusion 111, and the outer ring of the first bearing 40a is connected to the first fitting 303, thus pivotally connecting the first bearing 40a between the first end 301 and the first slider 11. Additionally, in this embodiment, the second slider 21 also includes a second protrusion 211 passing through the second fitting 304. The inner ring of the second bearing 40b is connected to the second protrusion 211, and the outer ring of the second bearing 40b is connected to the second fitting 304, thus pivotally connecting the second bearing 40b between the second end 302 and the second slider 21. Of course, the first end 301 and the first slider 11 can be pivotally connected by the first bearing 40a, and the second end 302 and the second slider 21 can be pivotally connected by the second bearing 40b, which can be adjusted according to actual application requirements. This invention is not limited to this.

[0106] In this embodiment, the dual-axis synchronous motion system 1 further includes a lateral sliding module, comprising a third slider 31, a third slide rail 32, and a third driver 33, wherein the third driver 33 drives the third slider 31 to slide on the third slide rail 32. Thus, the dual-axis synchronous motion system 1 can, for example, perform crane operations. Of course, the applications of the dual-axis synchronous motion system 1 of this invention are not limited to this, and will not be elaborated further.

[0107] Figure 10 A three-dimensional structural diagram of the dual-axis co-motion system of the second preferred embodiment of the present invention is disclosed. Figure 11 A cross-sectional view of the dual-axis co-motion system according to a second preferred embodiment of the present invention is disclosed. Figure 12 A schematic diagram of the encoder's position reading at the initial position in a dual-axis synchronous motion system according to a second preferred embodiment of the present invention is disclosed. Figure 13 A schematic diagram of the encoder's position reading after movement in a dual-axis synchronous motion system according to a second preferred embodiment of the present invention is disclosed. Figure 14A control logic diagram of a dual-axis co-motion system according to a second preferred embodiment of the present invention is disclosed. In this embodiment, the dual-axis co-motion system 1a and... Figures 1 to 9 The dual-axis synchronous motion system 1 shown is similar, and the same component designations represent the same components, structures, and functions, which will not be described again here. In this embodiment, the first end 301 of the transverse shaft 30 is fixed to the first slider 11 by, for example, a bolt-locking method. Compared to the first embodiment, the dual-axis synchronous motion system 1a further omits the first bearing 40a and the first encoder 50a (see...). Figure 2 ).

[0108] See Figure 3 as well as Figures 10 to 14 In this embodiment, the first axis sliding module 10 includes a first driver position encoder 51a, and the second axis sliding module 20 includes a second driver position encoder 51b. The control unit 60 includes a first position controller 63a, a first speed controller 64a, a second master controller 62b, a second position controller 63b, and a second speed controller 64b. The first speed controller 64a is connected to the first driver 13, and the first position controller 63a is connected to the first speed controller 64a. In this embodiment, the output of the first driver position encoder 51a, for example, is at position x1 of the first end 301 of the transverse axis 30 in the first axial direction X1, via (1-Z... -1 The position difference Δx1 of the first axial direction X1 can be obtained by conversion and used as the input value of the second master controller 62b. Similarly, the second speed controller 64b is connected to the second driver 23, and the second master controller 62b is connected to the second encoder 50b, the first driver position encoder 51a, and the second driver position encoder 51b. In this embodiment, the output of the second driver position encoder 51b is, for example, the position x2 of the second end 302 of the transverse axis 30 at the second axial direction X2, after (1-Z) -1 The conversion yields the position difference Δx2 along the second axis X2, which serves as the input value for the second master controller 62b. Consequently, the second master controller 62b drives the second speed controller 64b based on the position differences Δx1 and Δx2 obtained from the first and second driver position encoders 51a and 51b, and the second position reading d2, to control the second driver 23. The second position instantaneous reading d2... n It can be represented by equation (3).

[0109] d2 n =(vel2) n -vel1 n )dT+d2 n-1

[0110] =(x2) n-1 -x2 n-2 )-(x1 n-1 -x1 n-2)+d2 n-1

[0111] =Δx2-Δx1+d2 n-1 (3)

[0112] When the control unit 60 controls the first drive 13 via the first speed controller 64a and the second drive 23 via the second speed controller 64b, causing the instantaneous reading value d2n of the second position to approach zero, optimized control of the dual-axis synchronous motion can be achieved, increasing speed and improving the vibration problem of dual-axis synchronous motion control. In other words, the present invention can also determine the displacement and internal stress of the transverse axis 30 in real time through the reading value of a single-sided encoder, and the control unit 60 further controls the drives on both axes based on the changes in the encoder reading value to move in a stable state, so that the angle change value, torsion degree and instantaneous reading value approach zero, thereby achieving the purpose of optimized control of dual-axis synchronous motion. Of course, in other embodiments, the control unit 60 can also connect a predetermined adjustment value xd to complete the control of the first drive 13 and the second drive 23. The present invention is not limited to this.

[0113] As is known, the dual-axis synchronous motion system 1, 1a can instantly determine the displacement and internal stress of the transverse axis 30 through the readings of the first encoder 50a and / or the second encoder 50b. The control unit 60 can then control the first driver 13 of the first axis X1 and / or the second driver 23 of the second axis X2 based on the changes in the readings of the first encoder 50a and / or the second encoder 50b, thereby achieving stable movement of the transverse axis 30 in the X-axis direction. Of course, the arrangement of the bearings and encoders is not limited to one or both ends of the transverse axis 30. Preferably, the dual-axis synchronous motion system 1 may have a first bearing 40a and a first encoder 50a at the first end 301 of the transverse axis 30, and a second bearing 40b and a second encoder 50b at the second end 302. Using bilateral encoder reading changes for feedback control can achieve more optimized dual-axis synchronous motion control. Of course, omitting the first bearing 40a and the first encoder 50a (as in the dual-axis synchronous system 1a) or omitting the second bearing 40b and the second encoder 50b, feedback control can also be achieved through changes in the encoder reading on one side. This invention is not limited to these limitations, and will not be elaborated further.

[0114] In summary, this invention provides a dual-axis synchronous motion system based on encoder compensation. By reading the rotational angle changes of the transverse axis relative to the two axes through bearings and encoders, the control of dual-axis synchronous motion is optimized, resulting in increased speed and improved vibration control. The system reads the changes in the transverse axis's value relative to the two axes using bearings and encoders. The encoder readings are used to determine the displacement and internal stress of the transverse axis in real time. The control unit feeds back the encoder readings to control the drivers on the two axes, ensuring stable movement and minimizing angle changes, torsion, and real-time readings, thus optimizing the control of dual-axis synchronous motion. The bearings and encoders are not limited to one or both ends of the transverse axis; the inner and outer rings of the bearings can be installed via the connecting pins of the slider and the fitting joint of the transverse axis, with the encoder correspondingly installed. This simplified structure achieves optimized dual-axis synchronous motion control, improves overall operating speed, and alleviates vibration issues in dual-axis synchronous motion control.

[0115] This invention may be modified in various ways by those skilled in the art, but all such modifications shall not depart from the protection sought by the appended claims.

Claims

1. A dual-axis synchronous motion system based on encoder compensation, comprising: A first axis sliding module includes a first slider, a first slide rail and a first driver, wherein the first driver drives the first slider to slide on the first slide rail; A second axis sliding module is spatially relative to the first axis sliding module, and includes a second slider, a second slide rail, and a second driver, wherein the second driver drives the second slider to slide on the second slide rail; A transverse shaft has a first end and a second end opposite to each other, the first end and the second end being respectively connected to the first slider and the second slider; A bearing, pivotally connected between either the first end and the first slider or between the second end and the second slider; An encoder, spatially relative to the bearing, is configured to measure an angle of rotation of a first end of a transverse shaft pivotally connected to either of the bearing relative to a first slider or a second end of the transverse shaft relative to a second slider. as well as A control unit, connected to the first driver, the second driver, and the encoder, is configured to control the first driver and the second driver based on the angle, so that the first slider and the second slider drive the transverse axis to slide.

2. The dual-axis synchronous motion system based on encoder compensation as described in claim 1, wherein the control unit receives the angle and performs difference calculation to determine the displacement status and internal stress of the transverse axis, and controls the first driver and the second driver.

3. The dual-axis synchronous motion system based on encoder compensation as described in claim 2, wherein the control unit controls the first driver and the second driver to move in a stable state, and the change in angle approaches zero.

4. The dual-axis synchronous motion system based on encoder compensation as described in claim 1, wherein the encoder assembly measures the angle, has a position reading, and obtains an offset reading when the transverse axis moves relative to the first or second slide rail, wherein the control unit estimates a degree of torsion of the first or second end based on the difference between the offset reading and the position reading, wherein the control unit controls the first driver and the second driver to move in a stable state, and the degree of torsion approaches zero.

5. The dual-axis synchronous motion system based on encoder compensation as described in claim 4, wherein the first axis sliding module includes a first driver position encoder, the second axis sliding module includes a second driver position encoder, the control unit includes a master controller, a position controller, and a speed controller, the speed controller is connected to the first driver or the second driver, the master controller is connected to the encoder, the first driver position encoder, and the second driver position encoder, wherein the master controller drives the speed controller based on the position difference obtained by the first driver position encoder and the second driver position encoder and the position reading, so as to control the first driver or the second driver.

6. The encoder-compensated dual-axis synchronous system as described in claim 1, wherein the control unit includes a compensator that receives the angle and a predetermined adjustment value to control the first driver and the second driver.

7. The dual-axis synchronous motion system based on encoder compensation as described in claim 1 further includes a lateral sliding module, the lateral sliding module including a third slider, a third slide rail and a third driver, wherein the third driver drives the third slider to slide on the third slide rail.

8. A dual-axis synchronous motion system based on encoder compensation, comprising: A first axis sliding module includes a first slider, a first slide rail and a first driver, wherein the first driver drives the first slider to slide on the first slide rail; A second axis sliding module is spatially relative to the first axis sliding module, and includes a second slider, a second slide rail, and a second driver, wherein the second driver drives the second slider to slide on the second slide rail; A transverse shaft has a first end and a second end opposite to each other, which are respectively connected to the first slider and the second slider; A first bearing is pivotally connected between the first end and the first slider; A first encoder, spatially relative to the first bearing, is configured to measure a first angle of rotation of the first end of the transverse shaft relative to the first slider; A second bearing is pivotally connected between the second end and the second slider; A second encoder, spatially relative to the second bearing, is configured to measure a second angle of rotation of the second end of the transverse shaft relative to the second slider; as well as A control unit is connected to the first driver, the second driver, the first encoder, and the second encoder. Based on the first angle and the second angle, the control unit controls the first driver and the second driver to cause the first slider and the second slider to slide along the transverse axis.

9. The dual-axis synchronous motion system based on encoder compensation as described in claim 8, wherein the control unit receives the first angle and the second angle, performs difference calculation to determine the displacement status and internal stress of the transverse axis, and controls the first driver and the second driver.

10. The encoder-compensated dual-axis synchronous motion system as described in claim 9, wherein the control unit controls the first driver and the second driver to move in a stable state, and the change values ​​of the first angle and the second angle approach zero.

11. The dual-axis synchronous motion system based on encoder compensation as described in claim 8, wherein the first encoder has a first position reading and a first offset reading is measured by the first encoder when the first end of the transverse axis moves relative to the first slide rail at a first moving speed, wherein the control unit estimates a first degree of distortion of the first end based on the difference between the first offset reading and the first position reading; wherein the second encoder has a second position reading and a second offset reading is measured by the second encoder when the second end of the transverse axis moves relative to the second slide rail at a second moving speed, wherein the control unit estimates a second degree of distortion of the second end based on the difference between the second offset reading and the second position reading.

12. The encoder-compensated dual-axis synchronous motion system as described in claim 11, wherein the control unit controls the first driver and the second driver to move in a stable state, and the first degree of torsion and the second degree of torsion approach zero.

13. The encoder-compensated dual-axis synchronous system of claim 11, wherein the control unit includes a compensator that receives the first position reading and the second position reading, calculates the first degree of distortion and the second degree of distortion, and receives a predetermined adjustment value to control the first driver and the second driver.

14. The dual-axis synchronous motion system based on encoder compensation as described in claim 11, wherein the first axis sliding module includes a first driver position encoder, the second axis sliding module includes a second driver position encoder, and the control unit includes a first master controller, a first position controller, a first speed controller, a second master controller, a second position controller, and a second speed controller, wherein the first speed controller is connected to the first driver, the first master controller is connected to the first encoder, the first driver position encoder, and the second driver position encoder, and the first master controller drives the first speed controller based on the position difference obtained by the first driver position encoder and the second driver position encoder and the first position reading to control the first driver, wherein the second speed controller is connected to the second driver, the second master controller is connected to the second encoder, the first driver position encoder, and the second driver position encoder, and the second master controller drives the second speed controller based on the position difference obtained by the first driver position encoder and the second driver position encoder and the second position reading to control the second driver.

15. The dual-axis synchronous motion system based on encoder compensation as described in claim 8, wherein the transverse axis includes a first fitting and a second fitting respectively adjacent to the first end and the second end, wherein the first slider further includes a first protrusion passing through the first fitting, the inner ring of the first bearing is connected to the first protrusion, and the outer ring of the first bearing is connected to the first fitting; wherein the second slider further includes a second protrusion passing through the second fitting, the inner ring of the second bearing is connected to the second protrusion, and the outer ring of the second bearing is connected to the second fitting.

16. The dual-axis synchronous motion system based on encoder compensation as described in claim 8 further includes a lateral sliding module, the lateral sliding module including a third slider, a third slide rail and a third driver, wherein the third driver drives the third slider to slide on the third slide rail.

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