A method for determining the status of each motor of a device driven by multiple servo motors

Abstract

The present invention relates to the field of multiple servo motors driving a device. A method for judging the status of each motor of a device driven by multiple servo motors, wherein multiple servo motors are respectively connected to a transmission shaft of the device through an expansion coupling sleeve and a right-angle gear transmission box, and the transmission shaft performs forward and reverse reciprocating motion under the action of multiple servo motors, and whether the multiple servo motors need to alarm and stop is judged according to conditions. By detecting the position feedback deviation and current feedback deviation of the servo motor encoder, a threshold value is set, and an early warning is performed, so as to judge the status of each motor of a device driven by multiple servo motors to achieve timely maintenance and adjustment. Equipment damage and substandard product quality are avoided.

Description

Technical Field

[0001] The invention relates to the field of multiple servo motors driving one piece of equipment. Background Art

[0002] In industrial production, multiple servo motors are required to drive a device to work at the same time. When a servo motor slips with the device, the output torque of the motor will be inconsistent on the device, and the torque output of the slipping motor will be small, which will cause damage to the connecting gear rack between the servo motor and the device and substandard product quality. In addition, during the long-term use of the equipment, due to the wear of the gear rack and the inconsistency of the operating characteristics caused by the replacement of the motor, the dynamic response characteristics are not adjusted in time, which eventually leads to damage to the equipment and substandard product quality. Summary of the invention

[0003] The technical problem to be solved by the present invention is: how to avoid equipment damage and product quality failure when multiple servo motors drive one device at the same time.

[0004] The technical solution adopted by the present invention is: a method for judging the status of each motor driven by multiple servo motors of a device, characterized in that: multiple servo motors (3) are respectively connected to a transmission shaft (2) of the device (1) through an expansion coupling sleeve and a right-angle gear transmission box (4), and the transmission shaft (2) performs forward and reverse reciprocating motion under the action of the multiple servo motors (3). Whether the multiple servo motors (3) need to alarm and stop is judged according to the following conditions

[0005] Condition 1: In each forward or reverse rotation cycle of the transmission shaft (2), if the difference between the angle of rotation of any servo motor (3) and the angle of rotation of any servo motor (3) among the other servo motors (3) and the servo motor (3) with the least rotation angle among all the servo motors (3) is greater than or equal to 95% and less than or equal to 1, it indicates that the operation is normal; otherwise, it indicates that the operation is abnormal and an alarm is issued or the machine is shut down;

[0006] Condition 2: If the difference between the current value of any servo motor (3) and the current value of any other servo motor (3) is less than or equal to 0.5 and greater than or equal to 0.3, it indicates that the operation is normal; otherwise, it indicates that the operation is abnormal and an alarm or shutdown is issued.

[0007] A motor encoder is installed on each servo motor (3), each motor encoder is connected to a PLC, and the PLC is connected to an alarm device. The PLC obtains the rotation speed of each servo motor through the motor encoder and then makes judgments on conditions one and two.

[0008] The beneficial effects of the present invention are: by detecting the position feedback deviation and current feedback deviation of the servo motor encoder, a threshold value is set, and an early warning is given to judge the status of each motor of a device driven by multiple servo motors to achieve timely maintenance and adjustment, thereby avoiding equipment damage and product quality failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic diagram of the connection between the multi-servo motor and the equipment of the present invention;

[0010] Among them, 1. equipment, 2. transmission shaft, 3. servo motor, 4. expansion sleeve and right-angle gear transmission box. DETAILED DESCRIPTION

[0011] The intelligent judgment method uploads the encoder's position feedback and current feedback to the PLC through communication, and installs a judgment program in the PLC. The judgment program includes the following contents:

[0012] (1) Motor position detection hysteresis diagnosis: that is, the time Δt of the position feedback of the two motors. When the equipment is working normally, the position feedback values ​​of the motors are consistent within the time Δt. If the time of the motor feedback value is greater than the time Δt, the PLC alarm prompts;

[0013] Δt=t2-t1

[0014] Sˋt2- S t1<95% ( S t2- S t1) is a fault

[0015] Sˋt2- S t1>100% ( S t2- S t1) is a fault

[0016] t1: The starting time for a motor to reach a certain position

[0017] t2 Time for other motors to reach a certain position

[0018] S t1 Initial position value

[0019] S t2 Final position value

[0020] Sˋt2 Position value at time t2

[0021] program:

[0022] A "M1.0" / / Test function activated

[0023] A "M1.1" / / Positioning function activated from 0 to L1

[0024] L S5T#5S / / Δt time value

[0025] SD T 1

[0026] NOP 0

[0027] AT 1

[0028] = "M101.1" / / Alarm.

[0029] (2) Deviation from initial value alarm: that is, the position value of the active motor. When the displacement of the driven motor returns to the initial position and deviates from the initial position value, the PLC alarms;

[0030] program:

[0031] L "PIW856"

[0032] ITD

[0033] DTR

[0034] T #rUltrasonic

[0035] L #rUltrasonic

[0036] T #rX

[0037] L 0.000000e+000

[0038] T #rXOG

[0039] L 2.768400e+004

[0040] T #rXUG

[0041] L 0.000000e+000

[0042] T #rYOG

[0043] L 8.500000e+002

[0044] T #rYUG

[0045] L #rYOG

[0046] L #rYUG

[0047] -R

[0048] T #rSw1 / / (YOG-YUG)

[0049] L #rXOG

[0050] L #rXUG

[0051] -R

[0052] T #rSw2 / / (XOG-XUG)

[0053] L #rSw1

[0054] L #rSw2

[0055] / R

[0056] T #rSw3 / / (YOG-YUG) / (XOG-XUG)

[0057] L #rX / / Input value

[0058] L #rXUG

[0059] -R / / (X-XUG)

[0060] L #rSw3

[0061] *R / / (X-XUG) * (YOG-YUG) / (XOG-XUG)

[0062] L #rYUG

[0063] +R / / YUG + ((X-XUG) * (YOG-YUG) / (XOG-XUG))

[0064] T #rY_1 / / Output value

[0065] T #Ry

[0066] A(

[0067] O(

[0068] L #Ry

[0069] L 5.000000e+000 / / Allowable deviation of the original position

[0070] >R )

[0072] O(

[0073] L #Ry

[0074] L -5.000000e+000 / / Allowable deviation of the original position

[0075] <R ) )

[0078] AM 2.1 / / Test function activation

[0079] = M 101.2 / / Alarm.

[0080] (3) Less than the current of other motors: If the current of a motor is less than 50% or greater than 30% of the current of other motors during operation, the PLC will alarm;

[0081] program:

[0082] O(

[0083] L#Ry

[0084] L MAX_IQ / / Maximum current threshold

[0085] >R )

[0087] O(

[0088] L#Ry

[0089] L MIN_IQ / / Minimum current flow threshold

[0090] <R )

[0092] = M101.6 / / Alarm

[0093] (1) and (2) are essentially about whether the corresponding changes in angular velocity satisfy the conditions.

[0094] The present invention comprehensively judges and records the motor position and current through the action status of the on-site equipment, realizes comprehensive judgment of the motor operation status and timely forecasts in advance, so as to carry out processing, maintenance and debugging in advance.

Claims

1. A method for determining the status of each motor of a device driven by multiple servo motors, characterized in that: A plurality of servo motors (3) are connected to a transmission shaft (2) of a device (1) through a tightening coupling sleeve and a right-angle gear transmission box (4), respectively. The transmission shaft (2) performs forward and reverse reciprocating motion under the action of the plurality of servo motors (3). Whether the plurality of servo motors (3) need to alarm and stop is determined according to the following conditions; Condition 1: In each forward or reverse rotation cycle of the transmission shaft (2), if the difference between the angle of rotation of any servo motor (3) and the angle of rotation of any servo motor (3) among the other servo motors (3) and the servo motor (3) with the least rotation angle among all the servo motors (3) is greater than or equal to 95% and less than or equal to 1, it indicates that the operation is normal; otherwise, it indicates that the operation is abnormal and an alarm is issued or the machine is shut down; Condition 2: If the difference between the current value of any servo motor (3) and the current value of any other servo motor (3) is less than or equal to 0.5 and greater than or equal to 0.3, it indicates that the operation is normal; otherwise, it indicates that the operation is abnormal and an alarm or shutdown is issued.

2. A method for determining the status of each motor of a device driven by multiple servo motors according to claim 1, characterized in that: A motor encoder is installed on each servo motor (3), each motor encoder is connected to a PLC, and the PLC is connected to an alarm device. The PLC obtains the rotation speed of each servo motor through the motor encoder and then makes judgments on conditions one and two.

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