High-precision electric cylinder

Abstract

The application provides a high-precision electric cylinder which collects and analyzes the motion position change information of a power output shaft of the electric cylinder during operation, so as to determine whether the driving stroke of the power output shaft by a servo motor of the electric cylinder is stable; when the driving stroke of the power output shaft is unstable, the current phase sequence output by an alternating current power source is controlled according to the relationship information between the current phase sequence output by the alternating current power source and the driving force output by the servo motor under the driving of the alternating current power source; when the driving stroke of the power output shaft is stable, the motion state image of a load driven by the power output shaft is shot and analyzed, so as to determine the motion vibration amplitude of the load, and the working on-off state of the electric cylinder is controlled according to the motion vibration amplitude, so that the stability of the power output of the electric cylinder can be improved and the long-term stable driving of the electric cylinder on the load can be ensured.

Description

Technical Field

[0001] This invention relates to the technical field of electric cylinder operation control, and particularly to a high-precision electric cylinder. Background Technology

[0002] An electric cylinder typically consists of a servo motor and a lead screw, which serves as the power output shaft of the servo motor and is connected to it. When the servo motor operates, it drives the lead screw to perform a reciprocating motion, thereby causing the lead screw to move the connected load accordingly. Theoretically, under AC power supply, the servo motor should drive the lead screw to the preset drive stroke. However, in actual operation, due to instability in the AC power supply's output current or internal issues with the servo motor itself, the servo motor may fail to drive the lead screw to the corresponding position. This affects the stability of the electric cylinder's power output and prevents the electric cylinder from providing sustained and stable drive to the load. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a high-precision electric cylinder. It collects and analyzes information on the movement and position changes of the power output shaft during operation to determine the stability of the drive stroke of the servo motor on the power output shaft. When the drive stroke is unstable, it controls the AC power output current phase sequence based on the relationship between the AC power supply current phase sequence and the driving force output by the servo motor. When the drive stroke is stable, it captures and analyzes images of the load driven by the power output shaft to determine the load's vibration amplitude. Based on this vibration amplitude, it controls the electric cylinder's on / off state. This allows for accurate determination of whether the electric cylinder is in a stable power output state based on the drive stroke of the power output shaft, and adjustment of the AC power supply current phase sequence, thereby improving the stability of the electric cylinder's power output and ensuring a sustained and stable drive of the load.

[0004] This invention provides a high-precision electric cylinder power output control method, characterized by comprising the following steps:

[0005] Step S1: Collect information on the change in the position of the power output shaft of the electric cylinder during operation, and analyze the change in the position to determine whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable.

[0006] Step S2: When the drive stroke of the servo motor on the power output shaft is unstable, obtain the relationship information between the phase sequence of the current output by the AC power supply and the driving force output by the servo motor under AC power drive; and control the phase sequence of the current output by the AC power supply according to the relationship information, so that the drive stroke of the servo motor on the power output shaft can be restored to stability.

[0007] Step S3: When the drive stroke of the servo motor on the power output shaft is stable, the motion state of the load driven by the power output shaft is captured by shooting to obtain the corresponding motion state image; the motion state image is analyzed to determine the motion vibration amplitude of the load; and the working switch state of the electric cylinder is controlled according to the motion vibration amplitude.

[0008] Furthermore, in step S1, collecting information on the change in the position of the power output shaft during the operation of the electric cylinder, and analyzing this change in position to determine whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable, specifically includes:

[0009] Step S101: Displacement detection is performed on the power output shaft during the operation of the electric cylinder to obtain information on the change of the power output shaft's position in multiple complete power output cycles.

[0010] Step S102: Analyze the motion position change information, determine the front limit motion position point and the rear limit motion position point of the power output shaft in each complete power output cycle, and then determine the straight-line distance between the front limit motion position point and the rear limit motion position point.

[0011] Step S103: Determine the average straight distance corresponding to the straight distance of the power output shaft in multiple complete power output cycles; compare the average straight distance with a preset straight distance range; if the average straight distance is within the preset straight distance range, determine that the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable; otherwise, determine that the drive stroke of the servo motor of the electric cylinder on the power output shaft is unstable.

[0012] Furthermore, in step S2, when the drive stroke of the servo motor on the power output shaft is unstable, the relationship information between the phase sequence of the AC power supply output current and the driving force output by the servo motor under AC power drive is obtained; and the phase sequence of the AC power supply output current is controlled according to the relationship information, so that the drive stroke of the servo motor on the power output shaft is restored to stability. Specifically, this includes:

[0013] Step S201: When the drive stroke of the servo motor on the power output shaft is unstable, obtain the relationship information between the phase sequence of the AC power supply output current and the change in the direction of the driving force output by the servo motor within a complete power output cycle; the relationship information refers to the correspondence between the phase change of the AC power supply output current and the direction change of the driving force output by the servo motor.

[0014] Step S202: Analyze the relationship information to determine the phase difference between the phase change of the AC power supply output current and the directional change of the driving force output by the servo motor; then, based on the phase difference, adjust the phase sequence of the AC power supply output current so that the phase change of the AC power supply output current and the directional change of the driving force output by the servo motor are synchronized, thereby restoring the driving stroke of the servo motor to the power output shaft to stability.

[0015] Furthermore, in step S3, when the drive stroke of the servo motor on the power output shaft is stable, the motion state of the load driven by the power output shaft is captured by photographing to obtain a corresponding motion state image; the motion state image is analyzed to determine the motion vibration amplitude of the load; and the working switch state of the electric cylinder is controlled according to the motion vibration amplitude, specifically including:

[0016] Step S301: When the drive stroke of the servo motor on the power output shaft is stable, the motion state of the load driven by the power output shaft is captured by binocular imaging to obtain a corresponding binocular motion state image; and based on the binocular motion state image, a three-dimensional motion state image of the load is obtained.

[0017] Step S302: Analyze the three-dimensional motion state image to determine the amplitude of the load's motion vibration in the direction perpendicular to its own motion direction;

[0018] Step S303: Compare the motion vibration amplitude with a preset amplitude threshold; if the motion vibration amplitude is less than or less than the preset amplitude threshold, maintain the current working state of the electric cylinder; otherwise, instruct the electric cylinder to stop working.

[0019] Furthermore, in step S302, analyzing the three-dimensional motion state image and determining the amplitude of the load's motion vibration in a direction perpendicular to its own motion direction specifically includes:

[0020] The process involves creating a 3D model of the three-dimensional motion image and establishing a spatial rectangular coordinate system. Then, image recognition technology is used to identify and mark the load in each frame of the 3D motion image, as well as the corresponding coordinate points. The specific steps are as follows:

[0021] Step S3021: Using the following formula (1), the load is integrated into a single mass point based on the image coordinates of the load on the three-dimensional motion state image.

[0022]

[0023] In the above formula (1), (x i y i , z i ) represents the coordinate value of the load in the i-th frame of the three-dimensional motion state image after it has been integrated into a single mass point; [x i (a), y i (a), z i (a) represents the a-th load coordinate point identified and marked in the i-th frame of the three-dimensional motion state image; n i This represents the total number of load coordinate points identified and marked in the i-th frame of the three-dimensional motion state image;

[0024] Through the above step S3022, the load in the three-dimensional motion state image is integrated into a single mass point, which facilitates subsequent calculations.

[0025] Step S3022: Using the following formula (2), based on the load of each frame of the three-dimensional motion state image integrated into the mass point, obtain the motion direction vectors of the mass point positions in the first frame of the three-dimensional image and the mass point positions in other frames of the three-dimensional image, as well as the standard motion direction vector of the load.

[0026]

[0027] In the above formula (2), when 1 < i ≤ m, (a i b i c i (a) represents the motion direction vector between the position of a particle in the first frame of the 3D image and the position of a particle in the i-th frame of the 3D image; when i = 1, (a) i b i c i ) represents the standard motion direction vector of the load; m represents the total number of three-dimensional images contained in the three-dimensional motion state image; (a0, b0, c0) represents the vector representation of the power output direction of the power output shaft in the spatial rectangular coordinate system;

[0028] Step S3023: Using the following formula (3), based on the motion direction vectors of the particle positions in the first frame of the three-dimensional motion image and the particle positions in other frames of the three-dimensional image, as well as the standard motion direction vector of the load, the amplitude of the load's motion vibration in the direction perpendicular to its own motion direction is obtained.

[0029]

[0030] In the above formula (3), G represents the amplitude of the load's motion vibration in the direction perpendicular to its own motion direction; This indicates the maximum value within the parentheses during the process of taking the value of i from 1 to m;

[0031] Formula (3) above takes the standard motion direction of the load as the motion direction of the load itself, calculates the motion vibration amplitude in the direction perpendicular to the load and its own motion direction in each frame of the three-dimensional image, and then selects the largest amplitude in all frames of the three-dimensional image as the final motion vibration amplitude. The purpose of selecting the largest amplitude is to ensure the reliability of the subsequent process of controlling the working state of the electric cylinder through the motion vibration amplitude, while also taking into account the safety of the equipment.

[0032] This invention also provides a high-precision electric cylinder, characterized in that it includes an electric cylinder power output stability judgment module, an AC power supply current phase sequence control module, a load motion state image capture and analysis module, and an electric cylinder switch control module; wherein,

[0033] The electric cylinder power output stability judgment module is used to collect information on the change in the movement position of the power output shaft during the operation of the electric cylinder, and analyze the change in the movement position information to determine whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable.

[0034] The AC power supply current phase sequence control module is used to obtain the relationship information between the current phase sequence of the AC power supply and the driving force of the servo motor when the driving stroke of the servo motor on the power output shaft is unstable; and to control the current phase sequence of the AC power supply according to the relationship information, so as to restore the driving stroke of the servo motor on the power output shaft to stability.

[0035] The load motion state image capture and analysis module is used to capture the motion state of the load driven by the power output shaft when the drive stroke of the servo motor on the power output shaft is stable, thereby obtaining the corresponding motion state image; and to analyze the motion state image to determine the motion vibration amplitude of the load.

[0036] The electric cylinder switch control module is used to control the working switch state of the electric cylinder according to the amplitude of the motion vibration.

[0037] Furthermore, the electric cylinder power output stability judgment module is used to collect information on the movement position change of the power output shaft during the operation of the electric cylinder, and analyze the movement position change information to determine whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable. Specifically, this includes:

[0038] Displacement detection is performed on the power output shaft during the operation of the electric cylinder to obtain information on the change of the power output shaft's position in multiple complete power output cycles.

[0039] Analyze the motion position change information to determine the front limit motion position point and the rear limit motion position point of the power output shaft in each complete power output cycle, and then determine the straight-line distance between the front limit motion position point and the rear limit motion position point;

[0040] Determine the average straight-line distance corresponding to the straight-line distance of the power output shaft in multiple complete power output cycles; compare the average straight-line distance with a preset straight-line distance range; if the average straight-line distance is within the preset straight-line distance range, determine that the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable; otherwise, determine that the drive stroke of the servo motor of the electric cylinder on the power output shaft is unstable.

[0041] Furthermore, the AC power supply current phase sequence control module is used to acquire the relationship information between the current phase sequence of the AC power supply and the driving force output by the servo motor when the drive stroke of the servo motor on the power output shaft is unstable; and to control the current phase sequence of the AC power supply output according to the relationship information, so as to restore the drive stroke of the servo motor on the power output shaft to stability. Specifically, this includes:

[0042] When the drive stroke of the servo motor on the power output shaft is unstable, the relationship information between the phase sequence of the AC power supply output current and the change in the direction of the driving force output by the servo motor within a complete power output cycle is obtained; the relationship information refers to the correspondence between the phase change of the AC power supply output current and the direction change of the driving force output by the servo motor.

[0043] Analyze the relationship information to determine the phase difference between the phase change of the AC power supply output current and the directional change of the driving force output by the servo motor; then, based on the phase difference, adjust the phase sequence of the AC power supply output current to synchronize the phase change of the AC power supply output current and the directional change of the driving force output by the servo motor, thereby restoring the driving stroke of the servo motor to the power output shaft to stability.

[0044] Furthermore, the load motion state image capture and analysis module is used to capture the motion state of the load driven by the power output shaft when the drive stroke of the servo motor on the power output shaft is stable, thereby obtaining the corresponding motion state image; analyzing the motion state image to determine the motion vibration amplitude of the load specifically includes:

[0045] When the drive stroke of the servo motor on the power output shaft is stable, the motion state of the load driven by the power output shaft is captured by binocular imaging to obtain the corresponding binocular motion state image; and based on the binocular motion state image, a three-dimensional motion state image of the load is obtained.

[0046] Analyze the three-dimensional motion state image to determine the amplitude of the load's motion vibration in the direction perpendicular to its own motion direction;

[0047] as well as,

[0048] The electric cylinder switch control module is used to control the working switch state of the electric cylinder according to the amplitude of the motion vibration, specifically including:

[0049] The amplitude of the motion vibration is compared with a preset amplitude threshold; if the amplitude of the motion vibration is less than or less than the preset amplitude threshold, the current working state of the electric cylinder remains unchanged; otherwise, the electric cylinder is instructed to stop working.

[0050] Compared to existing technologies, this electric cylinder power output control method and system collects and analyzes information on the movement position changes of the power output shaft during operation to determine whether the drive stroke of the servo motor on the power output shaft is stable. When the drive stroke of the power output shaft is unstable, the system controls the AC power output current phase sequence based on the relationship between the AC power output current phase sequence and the driving force of the servo motor under AC power drive. When the drive stroke of the power output shaft is stable, the system captures and analyzes images of the load's motion state to determine the load's vibration amplitude. Based on the vibration amplitude, the system controls the electric cylinder's on / off state. This allows for accurate determination of whether the electric cylinder is in a stable power output state based on the drive stroke of the power output shaft, and adjustment of the AC power current phase sequence, thereby improving the stability of the electric cylinder's power output and ensuring a sustained and stable drive of the load.

[0051] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0052] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a flowchart illustrating a high-precision electric cylinder power output control method provided by the present invention.

[0055] Figure 2 This is a schematic diagram of the structure of a high-precision electric cylinder provided by the present invention. Detailed Implementation

[0056] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] See Figure 1 This is a flowchart illustrating a high-precision electric cylinder power output control method provided by the present invention. The power output control method includes the following steps:

[0058] Step S1: Collect information on the change in the position of the power output shaft of the electric cylinder during operation, and analyze the information on the change in the position to determine whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable.

[0059] Step S2: When the drive stroke of the servo motor on the power output shaft is unstable, obtain the relationship information between the phase sequence of the current output by the AC power supply and the driving force output by the servo motor under AC power supply drive; and control the phase sequence of the current output by the AC power supply according to the relationship information, so that the drive stroke of the servo motor on the power output shaft can be restored to stability.

[0060] Step S3: When the drive stroke of the servo motor on the power output shaft is stable, the motion state of the load driven by the power output shaft is captured to obtain the corresponding motion state image; the motion state image is analyzed to determine the motion vibration amplitude of the load; and the working switch state of the electric cylinder is controlled according to the motion vibration amplitude.

[0061] The beneficial effects of the above technical solution are as follows: This power output control method collects and analyzes the position change information of the power output shaft during the operation of the electric cylinder, thereby determining whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable; when the drive stroke of the power output shaft is unstable, the method controls the current phase sequence of the AC power supply based on the relationship between the current phase sequence of the AC power supply and the driving force output by the servo motor under AC power drive; when the drive stroke of the power output shaft is stable, the method captures and analyzes the motion state image of the load driven by the power output shaft, thereby determining the motion vibration amplitude of the load, and controlling the working switch state of the electric cylinder based on the motion vibration amplitude. This allows for accurate determination of whether the electric cylinder is currently in a stable power output state based on the drive stroke of the power output shaft, and adjustment of the AC power current phase sequence of the electric cylinder, thereby improving the stability of the electric cylinder's power output and ensuring a sustained and stable drive of the load.

[0062] Preferably, in step S1, collecting information on the change in the position of the power output shaft during the operation of the electric cylinder, and analyzing this change in position to determine whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable, specifically includes:

[0063] Step S101: Displacement detection is performed on the power output shaft during the operation of the electric cylinder to obtain information on the change of the power output shaft's position in multiple complete power output cycles.

[0064] Step S102: Analyze the motion position change information, determine the front limit motion position point and the rear limit motion position point of the power output shaft in each complete power output cycle, and then determine the straight-line distance between the front limit motion position point and the rear limit motion position point.

[0065] Step S103: Determine the average straight distance corresponding to the straight distance of the power output shaft in multiple complete power output cycles; compare the average straight distance with a preset straight distance range; if the average straight distance is within the preset straight distance range, determine that the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable; otherwise, determine that the drive stroke of the servo motor of the electric cylinder on the power output shaft is unstable.

[0066] The beneficial effects of the above technical solution are as follows: The electric cylinder includes an electric motor and a power output shaft, wherein the electric motor can be, but is not limited to, a servo motor, and the power output shaft can be, but is not limited to, a lead screw. The servo motor is powered by an AC power supply, thereby enabling the servo motor to operate. The servo motor is connected to the lead screw, so that when the servo motor operates, it can drive the lead screw to reciprocate and output power accordingly. During the reciprocating motion, the lead screw can move back and forth between a front limit position and a rear limit position. The front limit position refers to the position point farthest from the servo motor that the lead screw can reach during the reciprocating motion, and the rear limit position refers to the position point closest to the servo motor that the lead screw can reach during the reciprocating motion. In actual operation, a grating ruler or proximity sensor can be installed on the lead screw to detect displacement, thereby obtaining the movement position change information of the lead screw in multiple complete power output cycles. Then, the straight-line distance between the front limit position and the rear limit position is determined, and the corresponding average straight-line distance is calculated. Next, the average straight-line distance is compared with the preset straight-line distance range. This allows for a quantitative assessment of whether there is a significant difference in the driving stroke of the servo motor during each reciprocating motion of the lead screw. If there is a difference, it indicates that the servo motor cannot drive the lead screw stably; if there is no difference, it indicates that the servo motor can drive the lead screw stably.

[0067] Preferably, in step S2, when the drive stroke of the servo motor on the power output shaft is unstable, the relationship information between the phase sequence of the AC power supply output current and the driving force output by the servo motor under AC power drive is obtained; and based on this relationship information, the phase sequence of the AC power supply output current is controlled to restore the drive stroke of the servo motor on the power output shaft to stability. Specifically, this includes:

[0068] Step S201: When the drive stroke of the servo motor on the power output shaft is unstable, obtain the relationship information between the phase sequence of the AC power supply output current and the change in the direction of the drive force output by the servo motor within a complete power output cycle; this relationship information refers to the correspondence between the phase change of the AC power supply output current and the direction change of the drive force output by the servo motor.

[0069] Step S202: Analyze the relationship information to determine the phase difference between the phase change of the AC power supply output current and the directional change of the driving force output by the servo motor; then, based on the phase difference, adjust the phase sequence of the AC power supply output current so that the phase change of the AC power supply output current and the directional change of the driving force output by the servo motor are synchronized, thereby restoring the driving stroke of the servo motor to the power output shaft to stability.

[0070] The beneficial effects of the above technical solution are as follows: When it is determined that the drive stroke of the servo motor on the output shaft of the lead screw or other motor is unstable, the relationship information between the phase sequence of the AC power supply output current and the change in the direction of the driving force output by the servo motor within a complete power output cycle is obtained. The servo motor is powered by AC power, and the phase sequence of the current supplied by the AC power supply to the servo motor directly determines the magnitude and direction of the power output by the servo motor. However, in actual operation, due to the transmission connection between the servo motor and the lead screw, the change in the phase sequence of the current and the change in the direction of the driving force output by the servo motor cannot be kept consistent, resulting in the instability of the drive stroke of the servo motor on the power output shaft of the lead screw or other motor. By adjusting the phase difference between the change in the phase of the AC power supply output current and the change in the direction of the driving force output by the servo motor according to the above relationship information, the drive stroke of the servo motor on the power output shaft can be restored to stability. This phase difference can be adjusted by directly adjusting the phase change of the AC power supply output current, which is a conventional technical choice in this field and will not be elaborated further here.

[0071] Preferably, in step S3, when the drive stroke of the servo motor on the power output shaft is stable, the motion state of the load driven by the power output shaft is captured by photographing to obtain a corresponding motion state image; the motion state image is analyzed to determine the motion vibration amplitude of the load; and the working switch state of the electric cylinder is controlled according to the motion vibration amplitude, specifically including:

[0072] Step S301: When the drive stroke of the servo motor on the power output shaft is stable, the motion state of the load driven by the power output shaft is captured by binocular imaging to obtain a corresponding binocular motion state image; and based on the binocular motion state image, a three-dimensional motion state image of the load is obtained.

[0073] Step S302: Analyze the three-dimensional motion state image to determine the amplitude of the load's motion vibration in the direction perpendicular to its own motion direction;

[0074] Step S303: Compare the amplitude of the motion vibration with a preset amplitude threshold; if the amplitude of the motion vibration is less than or less than the preset amplitude threshold, maintain the current working state of the electric cylinder; otherwise, instruct the electric cylinder to stop working.

[0075] The beneficial effects of the above technical solution are as follows: When the drive stroke of the servo motor on the power output shaft is stable, the motion state of the load driven by the power output shaft is captured by binocular imaging to obtain corresponding binocular motion state images. Analyzing these images reveals the amplitude of the load's vibration in the direction perpendicular to its own motion direction. If the vibration amplitude is too large, it indicates that the load will shift left and right during the drive of the power output shaft, thus failing to achieve stable motion. In this case, the electric cylinder needs to be stopped for further inspection. If the vibration amplitude is small, it indicates that the load will not shift left and right during the drive of the power output shaft, thus achieving stable motion. In this case, the electric cylinder can be instructed to continue operating.

[0076] Preferably, in step S302, analyzing the three-dimensional motion state image and determining the amplitude of the load's motion vibration in a direction perpendicular to its own motion direction specifically includes:

[0077] A 3D model of the motion image is created and a spatial rectangular coordinate system is established. Then, image recognition technology is used to identify and mark the load in each frame of the 3D image, as well as the corresponding coordinate points. The specific process is as follows:

[0078] Step S3021: Using the following formula (1), the load is integrated into a single mass point based on its image coordinates on the three-dimensional motion image.

[0079]

[0080] In the above formula (1), (x i y i , z i ) represents the coordinate value of the load in the i-th frame of the 3D motion image after it has been integrated into a single mass; [x i (a), y i (a), z i [a] represents the a-th load coordinate point identified and marked in the i-th frame of the 3D motion state image; n i This represents the total number of load coordinate points identified and marked in the i-th frame of the 3D motion state image;

[0081] Through the above step S3022, the load in the three-dimensional motion state image is integrated into a single mass point, which facilitates subsequent calculations.

[0082] Step S3022: Using the following formula (2), based on the load of each frame of the three-dimensional image in the three-dimensional motion state image, the motion direction vectors of the particle positions in the first frame of the three-dimensional image and the particle positions in other frames of the three-dimensional image, as well as the standard motion direction vector of the load, are obtained.

[0083]

[0084] In the above formula (2), when 1 < i ≤ m, (a i b i c i (a) represents the motion direction vector between the position of a particle in the first frame of the 3D image and the position of a particle in the i-th frame of the 3D image; when i = 1, (a) i b i c i ) represents the standard motion direction vector of the load; m represents the total number of three-dimensional images contained in the three-dimensional motion state image; (a0, b0, c0) represents the vector representation of the power output direction of the power output shaft in the spatial rectangular coordinate system;

[0085] Step S3023: Using the following formula (3), based on the motion direction vectors of the particle positions in the first frame of the three-dimensional motion image and the particle positions in other frames of the three-dimensional image, as well as the standard motion direction vector of the load, the amplitude of the load's motion vibration in the direction perpendicular to its own motion direction is obtained.

[0086]

[0087] In the above formula (3), G represents the amplitude of the load's motion vibration in the direction perpendicular to its own motion direction; This indicates the maximum value within the parentheses during the process of taking the value of i from 1 to m;

[0088] Formula (3) above takes the standard motion direction of the load as the motion direction of the load itself, calculates the motion vibration amplitude in the direction perpendicular to the load and its own motion direction in each frame of the three-dimensional image, and then selects the largest amplitude in all frames of the three-dimensional image as the final motion vibration amplitude. The purpose of selecting the largest amplitude is to ensure the reliability of the subsequent process of controlling the working state of the electric cylinder through the motion vibration amplitude, while also taking into account the safety of the equipment.

[0089] The beneficial effects of the above technical solution are as follows: Using the above formula (1), the load is integrated into a mass point according to the image coordinates of the load on the three-dimensional motion state image, which facilitates subsequent calculations. After being integrated into a mass point, the motion of the load mass point can be calculated more intuitively and clearly. Then, using the above formula (2), the motion direction vectors of the first frame mass point position and the mass point positions of other frames, as well as the standard motion direction vector of the load, are obtained according to the load integrated into a mass point in each frame of the three-dimensional motion state image. The purpose is to accurately know the position and direction of the load in each frame according to the three-dimensional motion state image, which is convenient for simulating the motion trajectory of the load. Using the above formula (3), the motion vibration amplitude of the load in the direction perpendicular to its own motion direction is obtained according to the motion direction vectors of the first frame mass point position and the other frames, as well as the standard motion direction vector of the load. The purpose of selecting the largest value is to ensure the reliability of the subsequent process of controlling the working state of the electric cylinder by the motion vibration amplitude, while also taking into account the safety of the equipment.

[0090] See Figure 2 This is a schematic diagram of a high-precision electric cylinder provided in an embodiment of the present invention. The high-precision electric cylinder includes an electric cylinder power output stability judgment module, an AC power supply current phase sequence control module, a load motion state image capture and analysis module, and an electric cylinder switch control module; wherein...

[0091] The electric cylinder power output stability judgment module is used to collect information on the change in the movement position of the power output shaft during the operation of the electric cylinder, and analyze the change in movement position information to determine whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable.

[0092] The AC power supply current phase sequence control module is used to obtain the relationship information between the current phase sequence of the AC power supply and the driving force of the servo motor when the drive stroke of the servo motor on the power output shaft is unstable; and to control the current phase sequence of the AC power supply according to the relationship information, so as to restore the drive stroke of the servo motor on the power output shaft to stability.

[0093] The load motion state image capture and analysis module is used to capture the motion state of the load driven by the power output shaft when the drive stroke of the servo motor on the power output shaft is stable, thereby obtaining the corresponding motion state image; and to analyze the motion state image to determine the motion vibration amplitude of the load.

[0094] The electric cylinder switch control module is used to control the working switch state of the electric cylinder according to the amplitude of the motion vibration.

[0095] The beneficial effects of the above technical solution are as follows: This high-precision electric cylinder collects and analyzes the information on the change in the movement position of the power output shaft during operation, thereby determining whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable; when the drive stroke of the power output shaft is unstable, the current phase sequence of the AC power supply output is used to control the servo motor output under AC power drive based on the relationship between the current phase sequence of the AC power supply and the driving force output by the servo motor; when the drive stroke of the power output shaft is stable, the motion state image of the load driven by the power output shaft is captured and analyzed to determine the motion vibration amplitude of the load, and the working switch state of the electric cylinder is controlled according to the motion vibration amplitude. In this way, it is possible to accurately determine whether the electric cylinder is currently in a stable power output state based on the drive stroke of the power output shaft, and to adjust the AC power current phase sequence of the electric cylinder, thereby improving the stability of the electric cylinder's power output and ensuring a long-term stable drive of the load.

[0096] Preferably, the electric cylinder power output stability judgment module is used to collect information on the change in the movement position of the power output shaft during the operation of the electric cylinder, and analyze this change in movement position information to determine whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable. Specifically, it includes:

[0097] Displacement detection is performed on the power output shaft during the operation of the electric cylinder to obtain information on the change of the power output shaft's position in multiple complete power output cycles.

[0098] Analyze the information on the change in the motion position to determine the front limit motion position point and the rear limit motion position point of the power output shaft in each complete power output cycle, and then determine the straight-line distance between the front limit motion position point and the rear limit motion position point;

[0099] Determine the average straight-line distance corresponding to the straight-line distance of the power output shaft in multiple complete power output cycles; compare the average straight-line distance with a preset straight-line distance range; if the average straight-line distance is within the preset straight-line distance range, then determine that the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable; otherwise, determine that the drive stroke of the servo motor of the electric cylinder on the power output shaft is unstable.

[0100] The beneficial effects of the above technical solution are as follows: The electric cylinder includes an electric motor and a power output shaft, wherein the electric motor can be, but is not limited to, a servo motor, and the power output shaft can be, but is not limited to, a lead screw. The servo motor is powered by an AC power supply, thereby enabling the servo motor to operate. The servo motor is connected to the lead screw, so that when the servo motor operates, it can drive the lead screw to reciprocate and output power accordingly. During the reciprocating motion, the lead screw can move back and forth between a front limit position and a rear limit position. The front limit position refers to the position point farthest from the servo motor that the lead screw can reach during the reciprocating motion, and the rear limit position refers to the position point closest to the servo motor that the lead screw can reach during the reciprocating motion. In actual operation, a grating ruler or proximity sensor can be installed on the lead screw to detect displacement, thereby obtaining the movement position change information of the lead screw in multiple complete power output cycles. Then, the straight-line distance between the front limit position and the rear limit position is determined, and the corresponding average straight-line distance is calculated. Next, the average straight-line distance is compared with the preset straight-line distance range. This allows for a quantitative assessment of whether there is a significant difference in the driving stroke of the servo motor during each reciprocating motion of the lead screw. If there is a difference, it indicates that the servo motor cannot drive the lead screw stably; if there is no difference, it indicates that the servo motor can drive the lead screw stably.

[0101] Preferably, the AC power supply current phase sequence control module is used to acquire the relationship information between the current phase sequence of the AC power supply and the driving force output by the servo motor when the drive stroke of the servo motor on the power output shaft is unstable; and to control the current phase sequence of the AC power supply output according to the relationship information, so as to restore the drive stroke of the servo motor on the power output shaft to stability. Specifically, this includes:

[0102] When the drive stroke of the servo motor on the power output shaft is unstable, the relationship information between the phase sequence of the AC power supply output current and the change in the direction of the driving force output by the servo motor within a complete power output cycle is obtained; this relationship information refers to the correspondence between the phase change of the AC power supply output current and the direction change of the driving force output by the servo motor.

[0103] Analyze this relationship information to determine the phase difference between the phase change of the AC power supply output current and the directional change of the driving force output by the servo motor; then, based on this phase difference, adjust the phase sequence of the AC power supply output current to synchronize the phase change of the AC power supply output current with the directional change of the driving force output by the servo motor, thereby restoring the stable drive stroke of the servo motor on the power output shaft.

[0104] The beneficial effects of the above technical solution are as follows: When it is determined that the drive stroke of the servo motor on the output shaft of the lead screw or other motor is unstable, the relationship information between the phase sequence of the AC power supply output current and the change in the direction of the driving force output by the servo motor within a complete power output cycle is obtained. The servo motor is powered by AC power, and the phase sequence of the current supplied by the AC power supply to the servo motor directly determines the magnitude and direction of the power output by the servo motor. However, in actual operation, due to the transmission connection between the servo motor and the lead screw, the change in the phase sequence of the current and the change in the direction of the driving force output by the servo motor cannot be kept consistent, resulting in the instability of the drive stroke of the servo motor on the power output shaft of the lead screw or other motor. By adjusting the phase difference between the change in the phase of the AC power supply output current and the change in the direction of the driving force output by the servo motor according to the above relationship information, the drive stroke of the servo motor on the power output shaft can be restored to stability. This phase difference can be adjusted by directly adjusting the phase change of the AC power supply output current, which is a conventional technical choice in this field and will not be elaborated further here.

[0105] Preferably, the load motion state image capturing and analysis module is used to capture the motion state of the load driven by the power output shaft when the drive stroke of the servo motor on the power output shaft is stable, thereby obtaining the corresponding motion state image; analyzing the motion state image to determine the motion vibration amplitude of the load specifically includes:

[0106] When the drive stroke of the servo motor on the power output shaft is stable, the motion state of the load driven by the power output shaft is captured by binocular imaging to obtain the corresponding binocular motion state image; and based on the binocular motion state image, a three-dimensional motion state image of the load is obtained.

[0107] Analyze the three-dimensional motion state image to determine the amplitude of the load's motion vibration in the direction perpendicular to its own motion direction;

[0108] as well as,

[0109] The electric cylinder switch control module is used to control the working switch state of the electric cylinder according to the amplitude of the motion vibration, specifically including:

[0110] The amplitude of the vibration is compared with a preset amplitude threshold. If the amplitude is less than or equal to the preset amplitude threshold, the current working state of the electric cylinder remains unchanged; otherwise, the electric cylinder is instructed to stop working.

[0111] The beneficial effects of the above technical solution are as follows: When the drive stroke of the servo motor on the power output shaft is stable, the motion state of the load driven by the power output shaft is captured by binocular imaging to obtain corresponding binocular motion state images. Analyzing these images reveals the amplitude of the load's vibration in the direction perpendicular to its own motion direction. If the vibration amplitude is too large, it indicates that the load will shift left and right during the drive of the power output shaft, thus failing to achieve stable motion. In this case, the electric cylinder needs to be stopped for further inspection. If the vibration amplitude is small, it indicates that the load will not shift left and right during the drive of the power output shaft, thus achieving stable motion. In this case, the electric cylinder can be instructed to continue operating.

[0112] As can be seen from the above embodiments, this high-precision electric cylinder collects and analyzes the positional change information of the power output shaft during operation to determine whether the drive stroke of the servo motor on the power output shaft is stable. When the drive stroke of the power output shaft is unstable, the current phase sequence of the AC power supply and the driving force output by the servo motor are controlled according to the relationship information between the current phase sequence of the AC power supply and the driving force of the servo motor under AC power drive. When the drive stroke of the power output shaft is stable, the motion state image of the load driven by the power output shaft is captured and analyzed to determine the motion vibration amplitude of the load. Based on the motion vibration amplitude, the working switch state of the electric cylinder is controlled. In this way, the electric cylinder can accurately determine whether it is in a stable power output state based on the drive stroke of the power output shaft, and adjust the AC power current phase sequence of the electric cylinder, thereby improving the stability of the electric cylinder's power output and ensuring a long-term stable drive of the load.

[0113] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for controlling the power output of a high-precision electric cylinder, characterized in that, It includes the following steps: Step S1: Collect information on the change in the position of the power output shaft of the electric cylinder during operation, and analyze the change in the position to determine whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable. Step S2: When the drive stroke of the servo motor on the power output shaft is unstable, obtain the relationship information between the phase sequence of the current output by the AC power supply and the driving force output by the servo motor under AC power drive; and control the phase sequence of the current output by the AC power supply according to the relationship information, so that the drive stroke of the servo motor on the power output shaft can be restored to stability. Step S3: When the drive stroke of the servo motor on the power output shaft is stable, the motion state of the load driven by the power output shaft is captured by photographing to obtain a corresponding motion state image; the motion state image is analyzed to determine the motion vibration amplitude of the load; and the working switch state of the electric cylinder is controlled according to the motion vibration amplitude, specifically including: Step S301: When the drive stroke of the servo motor on the power output shaft is stable, the motion state of the load driven by the power output shaft is captured by binocular imaging to obtain a corresponding binocular motion state image; and based on the binocular motion state image, a three-dimensional motion state image of the load is obtained. Step S302: Analyze the three-dimensional motion state image to determine the amplitude of the load's motion vibration in the direction perpendicular to its own motion direction; Step S303: Compare the motion vibration amplitude with a preset amplitude threshold; if the motion vibration amplitude is less than or less than the preset amplitude threshold, maintain the current working state of the electric cylinder; otherwise, instruct the electric cylinder to stop working. Specifically, in step S302, analyzing the three-dimensional motion state image and determining the amplitude of the load's motion vibration in a direction perpendicular to its own motion direction includes: The process involves creating a 3D model of the three-dimensional motion image and establishing a spatial rectangular coordinate system. Then, image recognition technology is used to identify and mark the load in each frame of the 3D motion image, as well as the corresponding coordinate points. The specific steps are as follows: Step S3021: Using the following formula (1), the load is integrated into a single mass point based on the image coordinates of the load on the three-dimensional motion state image. （1） In the above formula (1), This represents the coordinate value of the load in the i-th frame of the three-dimensional motion state image after it has been integrated into a single mass point. This represents the a-th load coordinate point identified and marked in the i-th frame of the three-dimensional motion state image; This represents the total number of load coordinate points identified and marked in the i-th frame of the three-dimensional motion state image; Through the above step S3021, the load in the three-dimensional motion state image is integrated into a single mass point, which facilitates subsequent calculations. Step S3022: Using the following formula (2), based on the load of each frame of the three-dimensional motion state image integrated into the mass point, obtain the motion direction vectors of the mass point positions in the first frame of the three-dimensional image and the mass point positions in other frames of the three-dimensional image, as well as the standard motion direction vector of the load. （2） In the above formula (2), when hour, This represents the motion direction vector between the position of a particle in the first frame of the 3D image and the position of a particle in the i-th frame of the 3D image; when hour, The standard motion direction vector of the load is represented; m represents the total number of three-dimensional image frames contained in the three-dimensional motion state image. This represents the vector representation of the power output direction of the power output shaft in a spatial rectangular coordinate system. Step S3023: Using the following formula (3), based on the motion direction vectors of the particle positions in the first frame of the three-dimensional motion image and the particle positions in other frames of the three-dimensional image, as well as the standard motion direction vector of the load, the amplitude of the load's motion vibration in the direction perpendicular to its own motion direction is obtained. （3） In the above formula (3), G represents the amplitude of the load's motion vibration in the direction perpendicular to its own motion direction; This indicates the maximum value within the parentheses during the process of taking the value of i from 1 to m; Formula (3) above takes the standard motion direction of the load as the motion direction of the load itself, calculates the motion vibration amplitude in the direction perpendicular to the load and its own motion direction in each frame of the three-dimensional image, and then selects the largest amplitude in all frames of the three-dimensional image as the final motion vibration amplitude. The purpose of selecting the largest amplitude is to ensure the reliability of the subsequent process of controlling the working state of the electric cylinder through the motion vibration amplitude, while also taking into account the safety of the equipment.

2. The power output control method as described in claim 1, characterized in that: In step S1, the information on the change in the position of the power output shaft of the electric cylinder during operation is collected and analyzed to determine whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable. Specifically, this includes: Step S101: Displacement detection is performed on the power output shaft during the operation of the electric cylinder to obtain information on the change of the power output shaft's position in multiple complete power output cycles. Step S102: Analyze the motion position change information, determine the front limit motion position point and the rear limit motion position point of the power output shaft in each complete power output cycle, and then determine the straight-line distance between the front limit motion position point and the rear limit motion position point. Step S103: Determine the average straight-line distance corresponding to the straight-line distance of the power output shaft in multiple complete power output cycles; compare the average straight-line distance with a preset straight-line distance range; if the average straight-line distance is within the preset straight-line distance range, determine that the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable; otherwise, determine that the drive stroke of the servo motor of the electric cylinder on the power output shaft is unstable.

3. The power output control method as described in claim 1, characterized in that: In step S2, when the drive stroke of the servo motor on the power output shaft is unstable, the relationship information between the phase sequence of the AC power supply output current and the driving force output by the servo motor under AC power drive is obtained; and the phase sequence of the AC power supply output current is controlled according to the relationship information, so that the drive stroke of the servo motor on the power output shaft is restored to stability. Specifically, this includes: Step S201: When the drive stroke of the servo motor on the power output shaft is unstable, obtain the relationship information between the phase sequence of the AC power supply output current and the change in the direction of the driving force output by the servo motor within a complete power output cycle; the relationship information refers to the correspondence between the phase change of the AC power supply output current and the direction change of the driving force output by the servo motor. Step S202: Analyze the relationship information to determine the phase difference between the phase change of the AC power supply output current and the directional change of the driving force output by the servo motor; then, based on the phase difference, adjust the phase sequence of the AC power supply output current so that the phase change of the AC power supply output current and the directional change of the driving force output by the servo motor are synchronized, thereby restoring the driving stroke of the servo motor to the power output shaft to stability.

4. A high-precision electric cylinder, characterized in that, It includes an electric cylinder power output stability judgment module, an AC power supply current phase sequence control module, a load motion state image capture and analysis module, and an electric cylinder switch control module; among which, The electric cylinder power output stability judgment module is used to collect information on the change in the movement position of the power output shaft during the operation of the electric cylinder, and analyze the change in the movement position information to determine whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable. The AC power supply current phase sequence control module is used to obtain the relationship information between the current phase sequence of the AC power supply and the driving force of the servo motor when the driving stroke of the servo motor on the power output shaft is unstable; and to control the current phase sequence of the AC power supply according to the relationship information, so as to restore the driving stroke of the servo motor on the power output shaft to stability. The load motion state image capture and analysis module is used to capture the motion state of the load driven by the power output shaft when the drive stroke of the servo motor on the power output shaft is stable, thereby obtaining a corresponding motion state image; analyzing the motion state image to determine the motion vibration amplitude of the load specifically includes: when the drive stroke of the servo motor on the power output shaft is stable, performing binocular imaging of the motion state of the load driven by the power output shaft to obtain a corresponding binocular motion state image; and obtaining a three-dimensional motion state image of the load based on the binocular motion state image; and analyzing the three-dimensional motion state image to determine the motion vibration amplitude of the load in the direction perpendicular to its own motion direction. The electric cylinder switch control module is used to control the working switch state of the electric cylinder according to the amplitude of the motion vibration. Specifically, it includes: comparing the amplitude of the motion vibration with a preset amplitude threshold; if the amplitude of the motion vibration is less than or less than the preset amplitude threshold, maintaining the current working state of the electric cylinder; otherwise, instructing the electric cylinder to stop working. Analyzing the motion state images to determine the amplitude of the load's motion vibration includes: The influence of the three-dimensional motion state of the load is analyzed to determine the amplitude of the load's motion vibration in the direction perpendicular to its own motion direction, specifically as follows: The process involves creating a 3D model of the three-dimensional motion image and establishing a spatial rectangular coordinate system. Then, image recognition technology is used to identify and mark the load in each frame of the 3D motion image, as well as the corresponding coordinate points. The specific steps are as follows: Using the following formula (1), the load is integrated into a single mass point based on the image coordinates of the load on the three-dimensional motion state image. （1） In the above formula (1), This represents the coordinate value of the load in the i-th frame of the three-dimensional motion state image after it has been integrated into a single mass point. This represents the a-th load coordinate point identified and marked in the i-th frame of the three-dimensional motion state image; This represents the total number of load coordinate points identified and marked in the i-th frame of the three-dimensional motion state image; Through the above process, the load in the three-dimensional motion state image is integrated into a single mass point, which facilitates subsequent calculations. Using the formula (2) below, based on the load of each frame of the three-dimensional motion state image integrated into the mass point, the motion direction vectors of the mass point positions in the first frame of the three-dimensional image and the mass point positions in other frames of the three-dimensional image, as well as the standard motion direction vector of the load, are obtained. （2） In the above formula (2), when hour, This represents the motion direction vector between the position of a particle in the first frame of the 3D image and the position of a particle in the i-th frame of the 3D image; when hour, The standard motion direction vector of the load is represented; m represents the total number of three-dimensional image frames contained in the three-dimensional motion state image. This represents the vector representation of the power output direction of the power output shaft in a spatial rectangular coordinate system. Using the formula (3) below, based on the motion direction vectors of the particle positions in the first frame of the three-dimensional motion image and the particle positions in other frames of the three-dimensional image, as well as the standard motion direction vector of the load, the motion vibration amplitude of the load in the direction perpendicular to its own motion direction is obtained. （3） In the above formula (3), G represents the amplitude of the load's motion vibration in the direction perpendicular to its own motion direction; This indicates the maximum value within the parentheses during the process of taking the value of i from 1 to m; The above formula (3) takes the standard motion direction of the load as the motion direction of the load itself, calculates the motion vibration amplitude in the direction perpendicular to the load and its own motion direction in each frame of the three-dimensional image, and then selects the largest amplitude in all frames of three-dimensional images as the final motion vibration amplitude. The purpose of selecting the largest is to ensure the reliability of the subsequent process of controlling the working state of the electric cylinder through the motion vibration amplitude, while also taking into account the safety of the equipment. as well as, The electric cylinder switch control module is used to control the working switch state of the electric cylinder according to the amplitude of the motion vibration.

5. The high-precision electric cylinder as described in claim 4, characterized in that: The electric cylinder power output stability judgment module is used to collect information on the movement position change of the power output shaft during the operation of the electric cylinder, and analyze the movement position change information to determine whether the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable. Specifically, it includes: Displacement detection is performed on the power output shaft during the operation of the electric cylinder to obtain information on the change of the power output shaft's position in multiple complete power output cycles. Analyze the motion position change information to determine the front limit motion position point and the rear limit motion position point of the power output shaft in each complete power output cycle, and then determine the straight-line distance between the front limit motion position point and the rear limit motion position point; Determine the average straight-line distance corresponding to the straight-line distance of the power output shaft in multiple complete power output cycles; compare the average straight-line distance with a preset straight-line distance range; if the average straight-line distance is within the preset straight-line distance range, determine that the drive stroke of the servo motor of the electric cylinder on the power output shaft is stable; otherwise, determine that the drive stroke of the servo motor of the electric cylinder on the power output shaft is unstable.

6. The high-precision electric cylinder as described in claim 5, characterized in that: The AC power supply current phase sequence control module is used to acquire the relationship information between the current phase sequence of the AC power supply and the driving force output by the servo motor when the drive stroke of the servo motor on the power output shaft is unstable; and to control the current phase sequence of the AC power supply output according to the relationship information, so as to restore the drive stroke of the servo motor on the power output shaft to stability. Specifically, this includes: When the drive stroke of the servo motor on the power output shaft is unstable, the relationship information between the phase sequence of the AC power supply output current and the change in the direction of the driving force output by the servo motor within a complete power output cycle is obtained; the relationship information refers to the correspondence between the phase change of the AC power supply output current and the direction change of the driving force output by the servo motor. Analyze the relationship information to determine the phase difference between the phase change of the AC power supply output current and the directional change of the driving force output by the servo motor; then, based on the phase difference, adjust the phase sequence of the AC power supply output current to synchronize the phase change of the AC power supply output current and the directional change of the driving force output by the servo motor, thereby restoring the driving stroke of the servo motor to the power output shaft to stability.

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