A motor calibration system and method

Abstract

The application relates to a motor calibration system and method, which comprises a first switch control module, a second switch control module, an encoder battery, a motor encoder and a limiter; the first switch control module is connected to the encoder battery, the motor encoder and the limiter; the second switch control module is connected to the encoder battery and the motor encoder; the encoder battery is connected to the motor encoder; the technical scheme has the beneficial effects that ordinary personnel can automatically coarsely calibrate the motor encoder in a simple way, the calibration process can be greatly simplified when the technology is applied to non-high-precision motion machines, and the motor position can be directly calibrated in many scenes with low precision requirements.

Description

Technical Field

[0001] This invention relates to the field of motor calibration technology, and in particular to a motor calibration system and method. Background Technology

[0002] The standard combination for modern motion machinery is a motor driving moving parts via gears or a reducer, along with an absolute encoder and limit switches. However, true absolute encoders are too expensive, and incremental encoders typically only record single-turn data and cannot memorize the number of rotations, making it impossible to save motor position information after power failure. Therefore, pseudo-absolute encoders are often used as a substitute. A pseudo-absolute encoder works by adding a battery memory function to an incremental encoder. When the motor encoder loses power, it saves the number of motor rotations on a battery-powered encoder processing board, thus preserving the motor's position information even when the system is powered off.

[0003] The traditional method of recording motor position using a pseudo-absolute encoder carries certain risks. Once the encoder battery is depleted, the data on the encoder processing board is cleared, and the motor position information is lost. In this case, only by installing a zero-point limit switch and using a driver with a homing function can calibration be performed via a host computer, allowing the equipment to continue operating normally.

[0004] However, to save costs, this function is often not included. In such cases, only after professionals use debugging software to recalibrate the motor can the equipment continue to be used.

[0005] In summary, existing calibration methods clear data when the battery is depleted, leading to problems such as loss of motor position information. Summary of the Invention

[0006] To address the problems existing in the prior art, a motor calibration system and method are provided, aiming to solve the problem that the data is cleared when the battery is depleted, resulting in the loss of motor position information.

[0007] The above technical solutions specifically include:

[0008] A motor calibration system for motor position calibration includes a first switch control module, a second switch control module, an encoder battery, a motor encoder, and a limit switch.

[0009] The first switch control module is connected to the encoder battery, the motor encoder, and the limit switch;

[0010] The second switch control module is connected to the encoder battery and the motor encoder;

[0011] The encoder battery is connected to the motor encoder;

[0012] When the encoder battery is charged and the external power supply is not turned on, the first switch control module is closed, and the motor encoder is powered by the encoder battery.

[0013] When the encoder battery is charged and the external power supply is turned on, the second switch control module is closed, and the motor encoder is powered by the external power supply.

[0014] When the encoder battery is dead and the external power supply is not turned on, the first switch control module closes, at which point the motor encoder is disconnected from the power supply, and the position of the motor is lost.

[0015] Preferably, one end of the coil of the first switch control module is connected to the signal terminal of the limit switch, and the other end of the coil is connected to the positive terminal of an external power supply;

[0016] The first switch control module also includes a first contact, a second contact, a third contact, and a fourth contact:

[0017] The first contact is connected to the negative terminal of an external power source;

[0018] The second contact is connected to one end of the coil of the second switch control module;

[0019] The third contact is connected to the grounding terminal of the motor encoder;

[0020] The fourth contact is connected to the negative terminal of the battery of the motor encoder.

[0021] Preferably, one end of the encoder battery is connected to the second contact of the first switch control module, and the other end is connected to the positive terminal of the motor encoder battery.

[0022] Preferably, the other end of the coil of the second switch control module is connected to the positive terminal of the battery of the motor encoder;

[0023] The second switch control module also includes a fifth contact and a sixth contact:

[0024] The fifth contact is connected to the negative terminal of an external power source;

[0025] The sixth contact is connected to the ground terminal of the motor encoder.

[0026] Preferably, the voltage terminal of the motor encoder is connected to the positive terminal of an external power supply.

[0027] Preferably, the input terminal of the limiter is connected to the positive terminal of an external power supply, and the output terminal is connected to the negative terminal of an external power supply.

[0028] Preferably, the limiter is provided with a sensor; the sensor is used to output a control signal to trigger the limiter, so that the signal terminal of the limiter becomes the negative terminal of the external power supply, thereby causing the first switch control module and the second switch control module to open.

[0029] Preferably, the first switch control module uses a double-pole normally closed relay.

[0030] Preferably, the second switch control module uses a single-pole normally open relay.

[0031] This embodiment also discloses a motor calibration method, which uses the above-mentioned motor calibration system. The motor calibration method includes:

[0032] When the motor position is lost, the external power supply is turned on, and the external moving parts are moved to below the limit switch. The sensor outputs a control signal to trigger the limit switch. At this time, the signal terminal of the limit switch becomes the negative terminal of the external power supply, and the first switch control module and the second switch control module are turned on.

[0033] The moving part is controlled to move away from below the limiter. At this time, the signal terminal is suspended, the first switch control module is closed, and the motor encoder is powered by an external power source to achieve coarse calibration of the motor.

[0034] The beneficial effects of the technical solution of the present invention are as follows: ordinary personnel can perform automatic coarse calibration of motor encoders in a simple way. This technology can greatly simplify the calibration process when applied to non-high-precision motion machinery. In many scenarios where the accuracy requirements are not high, this technical solution can directly realize the calibration of motor position. Attached Figure Description

[0035] Embodiments of the invention will be described more fully with reference to the accompanying drawings. However, the drawings are for illustration and explanation only and do not constitute a limitation on the scope of the invention.

[0036] Figure 1 The diagram shown is a structural schematic of a motor calibration system according to the present invention. Detailed Implementation

[0037] 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.

[0038] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0039] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0040] A motor calibration system for motor position calibration includes a first switch control module 1, a second switch control module 2, an encoder battery 3, a motor encoder 4, and a limit switch 5.

[0041] The first switch control module 1 is connected to the encoder battery 3, the motor encoder 4 and the limit switch;

[0042] The second switch control module 2 is connected to the encoder battery 3 and the motor encoder 4;

[0043] Encoder battery 3 is connected to motor encoder 4;

[0044] When the encoder battery 3 is charged and the external power supply is not turned on, the first switch control module 1 is closed, and the motor encoder is powered by the encoder battery.

[0045] When the encoder battery 3 is powered and the external power supply is turned on, the second switch control module 2 is closed, and the motor encoder 4 is powered by the external power supply.

[0046] When the encoder battery 3 is dead and the external power supply is not turned on, the first switch control module 1 closes, and the motor encoder 4 is disconnected from the power supply. The position of the motor is lost, and even if the encoder battery 3 is replaced, the position of the motor cannot be found.

[0047] For example, in this embodiment, the first switch control module 1 can be a double-pole normally closed relay; the second switch control module 2 can be a single-pole normally open relay.

[0048] In a preferred embodiment, one end of the coil of the first switch control module 1 is connected to the signal terminal of the limit switch 5, the other end of the coil is connected to the positive terminal of the external power supply, the first contact 11 is connected to the negative terminal of the external power supply, the second contact 12 is connected to one end of the coil inside the second switch control module 2, the third contact 13 is connected to the ground terminal of the motor encoder 4, and the fourth contact 14 is connected to the negative terminal of the battery of the motor encoder 4.

[0049] In a preferred embodiment, one end of the encoder battery 3 is connected to the second contact 12 of the first switch control module 1, and the other end is connected to the positive terminal of the battery of the motor encoder 4.

[0050] In a preferred embodiment, the other end of the coil of the second switch control module 2 is connected to the positive terminal of the battery of the motor encoder 4, and the second switch control module 2 further includes a fifth contact 21 and a sixth contact 22.

[0051] The fifth contact 21 is connected to the negative terminal of the external power supply;

[0052] The sixth contact 22 is connected to the ground terminal of the motor encoder 4.

[0053] In a preferred embodiment, the voltage terminal of the motor encoder 4 is connected to the positive terminal of an external power supply.

[0054] In a preferred embodiment, the input terminal of the limiter 5 is connected to the positive terminal of an external power supply, and the output terminal is connected to the negative terminal of an external power supply.

[0055] Limit switch 5 is a limit switch for external moving parts when they reach a certain end. The limiting point serves as the starting point of the moving part, i.e., the zero point where the motor begins to move. Besides the input and output terminals connected to the positive and negative terminals of the external power supply respectively, limit switch 5 also has a signal terminal. When limit switch 5 is triggered, the signal terminal changes from being floating to the negative terminal of the power supply. The signal terminal and the positive terminal of the external power supply are connected in parallel to a first switch control module 1. The first switch control module 1 controls the circuit loop of the encoder 5's battery negative terminal and the power supply negative terminal. Additionally, the positive and negative terminals of the external power supply are connected to a second switch control module 2, which controls the circuit loop of the other encoder 5's power supply negative terminal.

[0056] When the encoder battery 3 is depleted and the external power supply is on, the motor position is lost. Coarse calibration can be performed by moving the moving part to the limit point (below limiter 5) to enable the motor-controlled equipment to function normally. When the moving part moves below limiter 5, the sensor on limiter 5 is triggered, the signal terminal of limiter 5 becomes the negative power supply, and the first switch control module 1 is triggered to open. Simultaneously, because the encoder battery 3 is depleted, the second switch control module 2 also becomes open. Although the external power supply is on, the motor encoder 4 is completely de-energized, and the motor revolution count data recorded on the motor encoder 4 processing board is reset to zero. When the moving part moves in the opposite direction away from limiter 5, the signal terminal of limiter 5 becomes suspended, the first switch control module 1 closes, the external power supply is reconnected to the motor encoder 4, and the motor encoder 4 starts counting, thus achieving re-coarse calibration of the motor.

[0057] In another preferred embodiment, a first switch can be used to replace the double-pole normally closed relay as the first switch control module 1, and a second switch can be used to replace the single-pole normally open relay as the second switch control module 2, wherein both the first switch and the second switch are ordinary switches.

[0058] At this time, the motor calibration system includes:

[0059] One end of the first switch is connected to the negative terminal of the external power supply, the signal terminal of the limit switch 5, and one end of the encoder battery 3, while the other end is connected to the positive terminal of the external power supply and the negative terminal of the encoder battery 3.

[0060] One end of the second switch is connected to the negative terminal of the external power supply, and the other end is connected to the ground terminal of the motor encoder 4;

[0061] The voltage terminal of the motor encoder 4 is connected to the positive terminal of the external power supply, and the positive terminal of the battery is connected to the other end of the encoder battery 3.

[0062] When the encoder battery 3 is dead and the external power supply is on, the motor position is lost. At this time, manually open the first and second switches. The encoder will be completely powered off, and the motor revolution data recorded on the encoder processing board will be cleared to zero. Then, control the moving part to the indicated limit point, that is, below the limit switch 5. The moving part will stop moving under the control of the feedback signal of the limit switch 5. Then manually close the first and second switches. At this time, the external power supply will be reconnected to the motor encoder 4. When the moving part moves in the opposite direction and leaves the limit switch 5, the motor encoder 4 will start counting, and the motor can be recalibrated.

[0063] In this solution, only the motor revolution count data is cleared after the motor encoder 4 is powered off. The rotation angle of a single revolution is still saved by the motor-controlled device. Therefore, this embodiment can only achieve coarse calibration of the motor and is not suitable for high-precision equipment. However, in actual mechanical motion, a reducer or gear is often added to the end of the motor to greatly reduce the single revolution conversion distance of the motor. Therefore, in many scenarios where the accuracy requirement is not high, this solution can directly achieve the calibration of the motor position.

[0064] The present invention also includes a motor calibration method, which uses the above-mentioned motor calibration system and includes the following:

[0065] When the motor position is lost, the external power supply is turned on, and the external moving parts are moved to below the limit switch 5. The sensor outputs a control signal to trigger the limit switch 5. At this time, the signal terminal of the limit switch 5 becomes the negative terminal of the external power supply, the first switch control module 1 is turned on, and the second switch control module 2 is turned on.

[0066] When the control moving part moves away from below the limit switch 5, the signal terminal is suspended, the first switch control module 1 is closed, and the motor encoder 4 is powered by an external power source to achieve coarse calibration of the motor.

[0067] The beneficial effects of the technical solution of the present invention are as follows: ordinary personnel can perform automatic coarse calibration of motor encoders in a simple way. This technology can greatly simplify the calibration process when applied to non-high-precision motion machinery. In many scenarios where the accuracy requirements are not high, this technical solution can directly realize the calibration of motor position.

[0068] The above description is merely a preferred embodiment of the present invention and does not limit the implementation and protection scope of the present invention. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. An electric machine calibration system, characterized by, Applied to motor position calibration, it includes a first switch control module, a second switch control module, an encoder battery, a motor encoder, and a limit switch; The first switch control module is connected to the encoder battery, the motor encoder, and the limit switch; The second switch control module is connected to the encoder battery and the motor encoder; The encoder battery is connected to the motor encoder; When the encoder battery is charged and the external power supply is not turned on, the first switch control module is closed, and the motor encoder is powered by the encoder battery. When the encoder battery is charged and the external power supply is turned on, the second switch control module is closed, and the motor encoder is powered by the external power supply. When the encoder battery is dead and the external power supply is not turned on, the first switch control module closes, at which time the motor encoder is disconnected from the power supply and the position of the motor is lost. When the motor position is lost, the external power supply is turned on, and the external moving parts are moved to below the limit switch. The sensor outputs a control signal to trigger the limit switch. At this time, the signal terminal of the limit switch becomes the negative terminal of the external power supply, the first switch control module and the second switch control module are turned on, and the motor encoder is in a completely de-energized state. The moving part is controlled to move away from below the limiter. At this time, the signal terminal is suspended, the first switch control module is closed, and the motor encoder is powered by an external power source to achieve coarse calibration of the motor.

2. The motor calibration system according to claim 1, characterized in that, One end of the coil of the first switch control module is connected to the signal terminal of the limit switch, and the other end of the coil is connected to the positive terminal of an external power supply. The first switch control module also includes a first contact, a second contact, a third contact, and a fourth contact: The first contact is connected to the negative terminal of an external power source; The second contact is connected to one end of the coil of the second switch control module; The third contact is connected to the grounding terminal of the motor encoder; The fourth contact is connected to the negative terminal of the battery of the motor encoder.

3. The motor calibration system according to claim 2, characterized in that, One end of the encoder battery is connected to the second contact of the first switch control module, and the other end is connected to the positive terminal of the motor encoder battery.

4. The motor calibration system according to claim 1, characterized in that, The other end of the coil of the second switch control module is connected to the positive terminal of the battery of the motor encoder; The second switch control module also includes a fifth contact and a sixth contact: The fifth contact is connected to the negative terminal of an external power source; The sixth contact is connected to the ground terminal of the motor encoder.

5. The motor calibration system according to claim 1, characterized in that, The voltage terminal of the motor encoder is connected to the positive terminal of an external power supply.

6. The motor calibration system according to claim 1, characterized in that, The input terminal of the limit switch is connected to the positive terminal of an external power supply, and the output terminal is connected to the negative terminal of an external power supply.

7. The motor calibration system according to claim 1, characterized in that, The limiter is equipped with a sensor; The sensor is used to output a control signal to trigger the limit switch, so that the signal terminal of the limit switch becomes the negative terminal of the external power supply, thereby turning on the first switch control module and the second switch control module.

8. The motor calibration system according to claim 1, characterized in that, The first switch control module uses a double-pole normally closed relay.

9. The motor calibration system according to claim 1, characterized in that, The second switch control module uses a single-pole normally open relay.

10. A method for calibrating a motor, characterized in that, The motor calibration system described in any one of claims 1-9 is adopted.

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