Gap adjustment method and device for eccentric structure, calculation equipment, and medium

Abstract

The embodiment of the present invention provides a gap adjustment method and device, a computing device, and a medium for an eccentric structure, wherein the method comprises: determining a target gap between an eccentric shaft and a concentric shaft; determining a reference gap between the eccentric shaft and the concentric shaft; calculating the gap difference between the target gap and the reference gap; calculating the target number corresponding to this gap adjustment according to the transmission relationship between the eccentric shaft and the motor, the gap difference, and the eccentricity of the eccentric shaft; wherein the target number is the cumulative number of pulses emitted by the encoder when the gap between the eccentric shaft and the concentric shaft reaches the target gap from the reference gap; starting the motor to run, counting the cumulative number of pulses emitted by the encoder during the operation of the motor, and controlling the motor to stop running according to the real-time counted cumulative number and the target number. The embodiment of the present invention can improve the automation of gap adjustment.

Description

Technical Field

[0001] The invention relates to the field of motor control, and in particular to a gap adjustment method and device, a computing device and a medium for an eccentric structure. Background Art

[0002] Eccentric structures are used in many application scenarios. For example, in the production process of corrugated paper products, corrugated paper and face paper need to be extruded and formed. The thickness of different corrugated paper products is different, so the gap between the eccentric shaft and the concentric shaft needs to be able to adapt to the thickness of different corrugated paper products. Because the eccentric shaft performs cam motion during rotation, the gap between the eccentric shaft and the concentric shaft will change, thereby adjusting the gap to meet the production needs of different corrugated paper products. At present, the gap between the eccentric shaft and the concentric shaft is generally adjusted by a handle connecting rod mechanism, and the degree of automation of this gap adjustment method is relatively low. Summary of the invention

[0003] The invention provides a gap adjustment method and device, a computing device and a medium for an eccentric structure, which can realize automatic adjustment of the gap.

[0004] In a first aspect, an embodiment of the present invention provides a gap adjustment method for an eccentric structure, wherein the eccentric structure comprises an eccentric shaft and a concentric shaft, wherein the eccentric shaft is transmission-connected to a motor, and an encoder is installed on the motor, and the method comprises:

[0005] determining a target gap between the eccentric shaft and the concentric shaft;

[0006] Determine a reference gap between the eccentric shaft and the concentric shaft; wherein the gap between the eccentric shaft and the concentric shaft when the inner circle center and the outer circle center of the eccentric shaft are located on the same horizontal line is the reference gap;

[0007] Calculating a gap difference between the target gap and the reference gap;

[0008] According to the transmission relationship between the eccentric shaft and the motor, the gap difference and the eccentricity of the eccentric shaft, the target number corresponding to the current gap adjustment is calculated; wherein the target number is the cumulative number of pulses emitted by the encoder when the gap between the eccentric shaft and the concentric shaft reaches the target gap from the reference gap;

[0009] The motor is started to run, the cumulative number of pulses sent by the encoder is counted during the running of the motor, and the motor is controlled to stop running according to the real-time counted cumulative number and the target number.

[0010] In a second aspect, an embodiment of the present invention provides a gap adjustment device of an eccentric structure, wherein the eccentric structure comprises an eccentric shaft and a concentric shaft, wherein the eccentric shaft is transmission-connected to a motor, and an encoder is installed on the motor, wherein the device comprises:

[0011] A first determination module, configured to determine a target gap between the eccentric shaft and the concentric shaft;

[0012] A second determination module is used to determine a reference gap between the eccentric shaft and the concentric shaft; wherein the gap between the eccentric shaft and the concentric shaft when the inner circle center and the outer circle center of the eccentric shaft are located on the same horizontal line is the reference gap;

[0013] A first calculation module, used for calculating the gap difference between the target gap and the reference gap;

[0014] A second calculation module is used to calculate the target number corresponding to the current gap adjustment according to the transmission relationship between the eccentric shaft and the motor, the gap difference and the eccentricity of the eccentric shaft; wherein the target number is the cumulative number of pulses emitted by the encoder when the gap between the eccentric shaft and the concentric shaft reaches the target gap from the reference gap;

[0015] The motor control module is used to start the motor, count the cumulative number of pulses sent by the encoder during the operation of the motor, and control the motor to stop running according to the real-time counted cumulative number and the target number.

[0016] In a third aspect, an embodiment of the present invention provides a gap adjustment system for an eccentric structure, wherein the eccentric structure includes an eccentric shaft and a concentric shaft, and the gap adjustment system includes a motor and an encoder mounted on the motor, wherein the eccentric shaft is transmission-connected to the motor, and the encoder is connected to a controller of the motor, and the controller is the gap adjustment device provided in the second aspect.

[0017] In a fourth aspect, an embodiment of the present invention provides a computing device, the device comprising: at least one memory and at least one processor;

[0018] The at least one memory is used to store a machine-readable program;

[0019] The at least one processor is used to call the machine-readable program to execute the method provided by the first aspect.

[0020] In a fifth aspect, an embodiment of the present invention provides a computer-readable medium, on which computer instructions are stored. When the computer instructions are executed by a processor, the processor executes the method provided in the first aspect.

[0021] The gap adjustment method and device, computing device, and medium of the eccentric structure provided by the embodiments of the present invention each have at least the following beneficial effects when combined:

[0022] 1. First, determine the target gap and reference gap between the eccentric shaft and the concentric shaft, and then calculate the gap difference between the two. Then, according to the transmission relationship between the motor and the eccentric shaft, the gap difference and the eccentricity of the eccentric shaft, the target number corresponding to this gap adjustment can be calculated; then start the motor, count the cumulative number of pulses emitted by the encoder, and control the motor to stop running according to the real-time cumulative number and the target number. The degree of personnel participation in this process is low. Personnel only need to input relevant parameters to realize automatic adjustment of the gap. It can be seen that the method provided by the embodiment of the present invention can achieve a high degree of automation, thereby improving the accuracy of gap adjustment, reducing human errors, and increasing the speed of gap adjustment, while also saving labor costs.

[0023] 2. When calculating the target quantity, multiple factors are taken into consideration. Among them, the number of teeth of the two gears reflects the transmission relationship between the motor and the eccentric shaft, the gap difference reflects the amplitude of the eccentric shaft to rotate, the eccentric distance reflects the degree of eccentricity of the eccentric shaft, and the number of unit pulses reflects the resolution index of the encoder. These parameters are important factors affecting the target quantity. Therefore, the target quantity calculated based on these parameters can meet the needs of actual scenarios and avoid changes in some influencing factors that affect the calculation accuracy of the target quantity.

[0024] 3. If the initial gap before this adjustment is a reference gap, the motor can be controlled to stop running when the cumulative number of statistics reaches the target number corresponding to this adjustment. If the initial gap before this adjustment is not a reference gap, the adjustment can be made based on the target number corresponding to this adjustment. Specifically, the difference between the target number corresponding to this gap adjustment and the target number corresponding to the previous gap adjustment is calculated, the rotation direction of the motor is determined according to the positive or negative of the difference, the motor is started to run in the rotation direction, and the motor is controlled to stop running when the cumulative number of statistics during this gap adjustment reaches the absolute value of the difference. It can be seen that regardless of whether the initial gap before this adjustment is a reference gap, the gap can be adjusted to the target gap without the need to readjust the gap to the reference gap before each gap adjustment. That is, each gap adjustment can be achieved on the basis of the previous adjustment, which can simplify the gap adjustment process.

[0025] 4. If an abnormal power failure occurs during the gap adjustment process, the adjustment can be automatically continued after power-on, so that the gap is adjusted to the required target gap after power-on. That is to say, even if an abnormal problem occurs during the gap adjustment process, it will not affect the gap adjustment process. It can be seen that the solution provided by the embodiment of the present invention is very practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a schematic flow chart of a gap adjustment method of an eccentric structure provided by an embodiment of the present invention;

[0028] Figure 2 is a schematic diagram of the installation of an eccentric structure and a gap adjustment system in one embodiment of the present invention;

[0029] Figure 3 yes Figure 1 A flowchart of an implementation method of S140 in FIG.

[0030] Figure 4 yes Figure 1 A flowchart of an implementation method of S150 in FIG.

[0031] Figure 5 It is a structural block diagram of a gap adjustment device of an eccentric structure provided by an embodiment of the present invention.

[0032] Description of reference numerals:

[0033]

[0034] DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] In a first aspect, an embodiment of the present invention provides a method for adjusting a gap of an eccentric structure.

[0037] The eccentric structure includes an eccentric shaft and a concentric shaft, the eccentric shaft is connected to the motor in a transmission manner, and an encoder is installed on the motor. The so-called eccentric shaft refers to an axis structure in which the center axis of the outer circle and the center axis of the inner circle do not coincide. The concentric shaft refers to an axis structure in which the center axis of the outer circle and the center axis of the inner circle coincide. The method provided in the embodiment of the present invention is to adjust the gap between the eccentric shaft and the concentric shaft.

[0038] See also Figure 1 The method provided in the embodiment of the present invention may include the following steps S110 to S150:

[0039] S110, determining a target gap between the eccentric shaft and the concentric shaft;

[0040] It is understandable that the method provided in the embodiment of the present invention can be executed by the controller of the motor. The user can input the target gap into the relevant equipment through the human-computer interaction interface at the production site, and the controller can obtain the target gap from the relevant equipment. Alternatively, the user can input the target gap into the relevant equipment in the central control room, and then send the target gap to the controller of the motor.

[0041] Of course, the method provided in the embodiment of the present invention may also be executed by other computing devices other than the controller.

[0042] S120, determining a reference gap between the eccentric shaft and the concentric shaft; wherein the gap between the eccentric shaft and the concentric shaft when the inner circle center and the outer circle center of the eccentric shaft are located on the same horizontal line is the reference gap;

[0043] That is, when the line connecting the inner circle center and the outer circle center of the eccentric shaft is a horizontal line, the gap between the eccentric shaft and the concentric shaft is the reference gap. The size of the reference gap is fixed, and the user knows the reference gap in advance, and then inputs the gap into the relevant equipment, so that the motor controller can obtain the reference gap from the relevant equipment.

[0044] It is understandable that, regardless of whether the gap between the eccentric shaft and the concentric shaft is the reference gap at this time, the reference gap is used as the basis, and the target gap is used as the target to calculate the target quantity in the subsequent steps. If it is the first gap adjustment, the gap between the concentric shaft and the eccentric shaft is the reference gap before the adjustment. If it is not the first gap adjustment, the gap between the concentric shaft and the eccentric shaft may be the reference gap or may not be the reference gap before the adjustment. If the gap between the eccentric shaft and the concentric shaft is not the reference gap, then the adjustment can be added or subtracted based on the target quantity.

[0045] The reference gap may be a reference value or a reference value for gap adjustment, but not a minimum gap.

[0046] S130, calculating the gap difference between the target gap and the reference gap;

[0047] Normally, the target gap is not equal to the reference gap, so the eccentric shaft needs to be rotated. Since the outer periphery of the eccentric shaft performs cam motion, the gap between the eccentric shaft and the concentric shaft will change. For example, starting from the reference gap, rotating the eccentric shaft counterclockwise will increase the gap. However, rotating clockwise will reduce the gap. On the basis that the initial gap is the reference gap, the amount by which the eccentric shaft needs to rotate is related to the size of the above-mentioned gap difference. The larger the gap difference, the larger the amount by which the eccentric shaft needs to rotate. Similarly, the smaller the gap difference, the smaller the amount by which the eccentric shaft needs to rotate.

[0048] It is understandable that the amplitude of the eccentric shaft rotation is related to the number of pulses emitted by the encoder. The greater the amplitude of the eccentric shaft rotation, the more turns of the motor are required. Since the encoder emits a pulse signal when the motor rotates one circle, the number of pulses emitted by the encoder is also greater. Therefore, the gap difference is used as an important influencing factor in the subsequent calculation of the target number.

[0049] S140, calculating the target number corresponding to the current gap adjustment according to the transmission relationship between the eccentric shaft and the motor, the gap difference, and the eccentricity of the eccentric shaft; wherein the target number is the cumulative number of pulses emitted by the encoder when the gap between the eccentric shaft and the concentric shaft reaches the target gap from the reference gap;

[0050] It is understandable that the target number means: the motor drives the eccentric shaft to rotate, so that the gap between the eccentric shaft and the concentric shaft increases from the reference gap to the target gap, and the cumulative number of pulses emitted by the encoder during this process.

[0051] It is understandable that in the process of calculating the target quantity, the gap difference is an important influencing factor. In addition, there is the transmission relationship between the motor and the eccentric shaft. The transmission relationship can reflect the angle of the eccentric shaft that can be driven by one rotation of the motor. Therefore, the transmission relationship is also a factor that affects the target quantity. When eccentric shafts with different eccentricity rotate at the same angle, the change in the gap between the eccentric shaft and the concentric shaft is different. Because the change amplitude of the cam curve of eccentric shafts with different eccentricity is different when performing cam motion, it can be seen that the eccentricity of the eccentric shaft is also an important influencing factor, and the eccentricity can characterize the eccentricity of the eccentric shaft. The so-called eccentricity is the distance between the center of the inner circle and the center of the outer circle.

[0052] It can be seen that the transmission relationship between the motor and the eccentric shaft, the eccentricity of the eccentric shaft, and the gap difference between the target gap and the reference gap are all key influencing factors. Therefore, in the process of calculating the target quantity, the target quantity can be calculated based on these three influencing factors, and the obtained target quantity conforms to the actual scenario.

[0053] In one embodiment, see Figure 2 The transmission mechanism between the motor 1 and the eccentric shaft 6 may include a first gear 4 and a second gear 3 in a meshing relationship; the first gear 4 is connected to the motor 1 so that the first gear 4 is driven to rotate when the motor 1 is running; the second gear 3 is an eccentric gear, and the second gear 3 is coaxially connected to the eccentric shaft 6.

[0054] Based on the above transmission relationship, when the motor 1 is running, it drives the first gear 4 to rotate, the first gear 4 drives the second gear 3 to rotate, and the second gear 3 drives the eccentric shaft 6 to rotate, so as to adjust the gap between the eccentric shaft 6 and the concentric shaft 7. During the operation of the motor 1, the encoder 2 sends a pulse signal. Among them, an adjustment shaft 5 is also provided. The rotation of the motor 1 drives the adjustment shaft 5 to rotate, thereby driving the first gear 4 to rotate.

[0055] Further, based on the above transmission relationship, see Figure 3 S140 may specifically include the following steps S141 to S143:

[0056] S141, determining the number of teeth of the first gear and the number of teeth of the second gear;

[0057] The number of teeth on the first gear and the number of teeth on the second gear can reflect the transmission relationship between the eccentric shaft and the motor.

[0058] The user may also input the number of teeth of the two gears in the relevant device, and then the controller of the motor obtains the number of teeth of the two gears from the relevant device.

[0059] S142, determining the number of unit pulses of the encoder; wherein the number of unit pulses is the cumulative number of pulses emitted by the encoder when it rotates one circle;

[0060] It is understandable that some encoders are single-turn encoders and some encoders are multi-turn encoders.

[0061] For example, a single-turn encoder rotates one circle, and the corresponding number of pulses is 1024, that is, the number of unit pulses is 1024. A single-turn encoder rotates one circle, and the corresponding angle is 360°, and the corresponding length is, for example, 100mm. Then the angle resolution is 360 / 1024, and each pulse corresponds to 0.35156°. The length resolution is 100 / 1024, and each pulse corresponds to 0.097656mm. For a multi-turn encoder, each circle corresponds to 1024 pulses. If it can rotate 10 circles, the total number of pulses is 10240.

[0062] It can be seen that the number of unit pulses of the encoder can reflect the resolution index of the angle or length of the encoder. Since the target number of pulses sent by the encoder is calculated, the resolution index of the encoder is also an important influencing factor.

[0063] S143. Calculate the target number according to the number of teeth of the first gear, the number of teeth of the second gear, the gap difference, the eccentricity, and the unit pulse number.

[0064] It can be seen that when calculating the target number, the transmission relationship between the eccentric shaft and the motor is reflected according to the first number of teeth and the second number of teeth, and the resolution index of the encoder is reflected according to the number of unit pulses. Therefore, the required target number is calculated based on factors such as the number of teeth of the two gears, the number of unit pulses, the gap difference, and the eccentricity.

[0065] Furthermore, in S143, a first calculation formula may be used to calculate the target quantity, and the first calculation formula is:

[0066]

[0067] Wherein, N0 is the target number, K2 is the number of teeth of the second gear, K1 is the number of teeth of the first gear, ΔH is the gap difference, M is the unit pulse number, and L is the eccentricity.

[0068] Among them, multiple factors are taken into consideration when calculating the target quantity. Among them, the number of teeth of the two gears reflects the transmission relationship between the motor and the eccentric shaft, the gap difference can reflect the amplitude of the eccentric shaft to be rotated, the eccentric distance can reflect the degree of eccentricity of the eccentric shaft, and the number of unit pulses can reflect the resolution index of the encoder. These parameters are important factors affecting the target quantity. Therefore, the target quantity calculated based on these parameters can meet the needs of actual scenarios and avoid changes in some influencing factors that affect the calculation accuracy of the target quantity.

[0069] The following is a brief description of the origin of the first calculation formula:

[0070] First, the initial state is that the centers of the eccentric shaft and the concentric shaft are on the same horizontal line, and the rotation angle of the second gear is 0°. When the rotation angle of the second gear is α°, the eccentric shaft also rotates α°, that is, the angle between the line connecting the inner circle center and the outer circle center of the eccentric shaft and the horizontal line is α°. α can be expressed as:

[0071]

[0072] Among them, N is the cumulative number of pulses that the encoder has currently sent in this gap adjustment, and the meanings of the other parameters are the same as above.

[0073] At this time, the change ΔH of the gap between the eccentric shaft and the concentric shaft is expressed as: ΔH = L*Sinα;

[0074] Next, the gap between the eccentric shaft and the concentric shaft is expressed as H1+ΔH, where H1 is the reference gap;

[0075] Based on the above expressions, the first calculation formula can be obtained through a series of derivations.

[0076] S150, starting the motor to run, counting the cumulative number of pulses emitted by the encoder during the running of the motor, and controlling the motor to stop running according to the real-time counted cumulative number and the target number.

[0077] In the method provided by the embodiment of the present invention, the target gap and the reference gap between the eccentric shaft and the concentric shaft are first determined, and then the gap friction difference between the two is calculated, and then the target number corresponding to this gap adjustment can be calculated according to the transmission relationship between the motor and the eccentric shaft, the gap difference and the eccentricity of the eccentric shaft; then, the rotation direction of the motor can be determined according to the positive or negative of the gap difference, and then the motor is started according to the rotation direction, the cumulative number of pulses emitted by the encoder is counted, and the motor is controlled to stop running according to the real-time cumulative number and the target number. The degree of personnel participation in this process is low, and the personnel only need to input relevant parameters to realize the automatic adjustment of the gap. It can be seen that the method provided by the embodiment of the present invention can achieve a high degree of automation, thereby improving the accuracy of the gap adjustment, reducing human errors, and increasing the speed of the gap adjustment, while also saving labor costs.

[0078] It is understandable that after the target number is calculated, the motor can be started. During the motor startup process, the encoder sends pulses, so the number of pulses is counted. If the initial gap before this adjustment is the reference gap, when the cumulative number of statistics reaches the target number, the motor is controlled to stop running. At this time, the gap between the eccentric shaft and the concentric shaft is exactly the target gap. If the initial gap before this adjustment is not the reference gap, it can be adjusted based on the target number.

[0079] That is, in one embodiment, see Figure 4 , S150 may specifically include the following steps S151-S152:

[0080] S151, obtaining the target gap corresponding to the last gap adjustment;

[0081] S152. If the target gap corresponding to the last gap adjustment is the reference gap, the rotation direction of the motor is determined according to the positive or negative value of the gap difference, the motor is started according to the rotation direction, the cumulative number of pulses emitted by the encoder during this gap adjustment is counted, and the motor is controlled to stop running when the cumulative number reaches the target number corresponding to this adjustment.

[0082] That is to say, before this gap adjustment, the initial gap between the eccentric shaft and the concentric shaft is the reference gap. Therefore, during this gap adjustment, when the cumulative number of statistics reaches the target number calculated for this adjustment, the gap between the eccentric shaft and the concentric shaft reaches the target gap corresponding to this adjustment, and the motor is controlled to stop.

[0083] Of course, if this adjustment is the first adjustment, the motor is controlled to stop running when the cumulative number counted reaches the target number corresponding to this adjustment.

[0084] Furthermore, it is also possible that the gap between the eccentric shaft and the concentric shaft is not the reference gap before the gap adjustment. Figure 4 , S150 may further include the following steps S153 to S156:

[0085] S153, if the target gap corresponding to the last gap adjustment is not equal to the reference gap, obtaining the target quantity corresponding to the last gap adjustment;

[0086] S154, calculating the difference between the target quantity corresponding to the current gap adjustment and the target quantity corresponding to the previous gap adjustment;

[0087] S155, determining the rotation direction of the motor according to the positive or negative value of the difference;

[0088] S156, start the motor to run in the rotation direction to adjust the gap between the eccentric shaft and the concentric shaft; count the cumulative number of pulses emitted by the encoder during this gap adjustment process, and control the motor to stop running when the cumulative number reaches the absolute value of the difference.

[0089] It is understandable that if the gap between the eccentric shaft and the concentric shaft is not the reference gap before this adjustment, the target number corresponding to the last gap adjustment is obtained. Then the difference between the target number calculated for this gap adjustment and the target number corresponding to the last gap adjustment is calculated. If the difference is a positive value, it means that the gap needs to be increased this time. If the difference is a negative value, it means that the gap needs to be reduced this time. For example, if the motor rotates forward, the gap will become larger after this adjustment, and if the motor rotates reversely, the gap will become smaller after this adjustment. Therefore, the rotation direction of the motor can be determined according to the positive and negative of the difference, so that the motor runs in this rotation direction. When the cumulative number of pulses emitted by the encoder in this adjustment reaches the absolute value of the difference, it means that the gap between the eccentric shaft and the concentric shaft has changed from the target gap corresponding to the last gap adjustment to the target gap corresponding to this gap adjustment, and the gap adjustment is achieved.

[0090] It can be seen that if the initial gap before this adjustment is a reference gap, the motor can be controlled to stop running when the cumulative number of statistics reaches the target number corresponding to this adjustment. If the initial gap before this adjustment is not a reference gap, the adjustment can be made based on the target number corresponding to this adjustment. Specifically, the difference between the target number corresponding to this gap adjustment and the target number corresponding to the previous gap adjustment is calculated, the rotation direction of the motor is determined according to the positive or negative of the difference, the motor is started to run in the rotation direction, and the motor is controlled to stop running when the cumulative number of statistics during this gap adjustment reaches the absolute value of the difference. It can be seen that regardless of whether the initial gap before this adjustment is a reference gap, the gap can be adjusted to the target gap without the need to readjust the gap to the reference gap before each gap adjustment. That is, each gap adjustment can be achieved on the basis of the previous adjustment, which can simplify the gap adjustment process.

[0091] In one embodiment, the method provided by the embodiment of the present invention may further include the following steps:

[0092] If an abnormal power failure occurs during the operation of the motor, the cumulative number of pulses emitted by the encoder at the time of the power failure is recorded;

[0093] After power-on, obtain the cumulative number recorded when power is off;

[0094] The motor is started to run, the cumulative number of pulses sent by the encoder after the current power-on is counted, and the motor is controlled to stop running according to the real-time counted cumulative number, the target number and the recorded cumulative number.

[0095] That is, during a gap adjustment process, if an abnormality occurs and a power failure occurs midway, the cumulative number of pulses that the encoder has sent is recorded. If the gap between the eccentric shaft and the concentric shaft is the reference gap before the gap adjustment before the power failure, the difference between the target number and the recorded cumulative number is calculated, and then when the real-time cumulative number reaches the difference, the motor can be controlled to stop running.

[0096] If the gap between the eccentric shaft and the concentric shaft is not the reference gap before the gap adjustment before power failure, the motor control can be performed according to S151 to S156. For example, the difference between the target number corresponding to the current gap adjustment and the target number corresponding to the previous gap adjustment is calculated and recorded as the first difference. The rotation direction of the motor is determined based on the positive or negative of the first difference. Then, the motor is started after power is turned on, and the cumulative number of pulses sent by the encoder after this power-on is counted. When the real-time counted cumulative number reaches the difference between the absolute value of the first difference and the cumulative number recorded when the power is turned off, the motor can be controlled to stop running.

[0097] It can be seen that if an abnormal power failure occurs during the gap adjustment process and the gap adjustment is terminated, the cumulative number of pulses that the encoder has sent will be recorded. After power is turned on, the gap adjustment will continue. At this time, the gap adjustment is based on the target number, the cumulative number of pulses recorded when the power is off, and the cumulative number of pulses counted in real time, so as to continue to complete the gap adjustment task.

[0098] Of course, after completing a gap adjustment, the target gap and target quantity will also be recorded.

[0099] It can be seen that if an abnormal power failure occurs during the gap adjustment process, the adjustment can be automatically continued after power-on, so that the gap is adjusted to the required target gap after power-on. In other words, even if an abnormal problem occurs during the gap adjustment process, it will not affect the gap adjustment process. It can be seen that the solution provided by the embodiment of the present invention is very practical.

[0100] In a second aspect, an embodiment of the present invention provides a gap adjustment device of an eccentric structure. The eccentric structure comprises an eccentric shaft and a concentric shaft, the eccentric shaft is drivingly connected to a motor, and an encoder is installed on the motor.

[0101] See also Figure 5 , the device 100 comprises:

[0102] A first determination module 110, configured to determine a target gap between the eccentric shaft and the concentric shaft;

[0103] A second determination module 120 is used to determine a reference gap between the eccentric shaft and the concentric shaft; wherein the gap between the eccentric shaft and the concentric shaft when the inner circle center and the outer circle center of the eccentric shaft are located on the same horizontal line is the reference gap;

[0104] A first calculation module 130, configured to calculate a gap difference between the target gap and the reference gap;

[0105] A second calculation module 140 is used to calculate the target number corresponding to the current gap adjustment according to the transmission relationship between the eccentric shaft and the motor, the gap difference, and the eccentricity of the eccentric shaft; wherein the target number is the cumulative number of pulses emitted by the encoder when the gap between the eccentric shaft and the concentric shaft reaches the target gap from the reference gap;

[0106] The motor control module 150 is used to start the motor, count the cumulative number of pulses sent by the encoder during the operation of the motor, and control the motor to stop running according to the real-time counted cumulative number and the target number.

[0107] In one embodiment, the transmission mechanism between the motor and the eccentric shaft includes a first gear and a second gear in a meshing relationship; the first gear is connected to the motor so that the first gear is driven to rotate when the motor is running; the second gear is an eccentric gear, and the second gear is coaxially connected to the eccentric shaft.

[0108] Furthermore, the second calculation module includes:

[0109] a first determining unit, configured to determine the number of teeth of the first gear and the number of teeth of the second gear;

[0110] A second determination unit is used to determine the number of unit pulses of the encoder; wherein the number of unit pulses is the cumulative number of pulses emitted by the encoder when it rotates one circle;

[0111] The first calculation unit is used to calculate the target number according to the number of teeth of the first gear, the number of teeth of the second gear, the gap difference, the eccentricity and the unit pulse number.

[0112] Furthermore, the first calculation unit is used to calculate the target quantity using a first calculation formula, and the first calculation formula is:

[0113]

[0114] Wherein, N0 is the target number, K2 is the number of teeth of the second gear, K1 is the number of teeth of the first gear, ΔH is the gap difference, M is the unit pulse number, and L is the eccentricity.

[0115] In one embodiment, the motor control module includes:

[0116] A first acquisition unit, used to acquire a target gap corresponding to the last gap adjustment;

[0117] The first control unit is used to: if the target gap corresponding to the last gap adjustment is the reference gap, determine the rotation direction of the motor according to the positive or negative value of the gap difference, start the motor according to the rotation direction, count the cumulative number of pulses emitted by the encoder during this gap adjustment, and control the motor to stop running when the cumulative number reaches the target number corresponding to this adjustment.

[0118] Furthermore, the motor control module also includes:

[0119] A second acquisition unit is used to: if the target gap corresponding to the last gap adjustment is greater than the reference gap, acquire the target quantity corresponding to the last gap adjustment;

[0120] A second calculation unit is used to calculate the difference between the target quantity corresponding to the current gap adjustment and the target quantity corresponding to the previous gap adjustment;

[0121] A direction determination unit, used to determine the rotation direction of the motor according to the positive or negative value of the difference;

[0122] The second control unit is used to start the motor to run in the rotation direction to adjust the gap between the eccentric shaft and the concentric shaft; count the cumulative number of pulses emitted by the encoder during this gap adjustment process, and control the motor to stop running when the cumulative number reaches the absolute value of the difference.

[0123] In one embodiment, the apparatus further comprises:

[0124] The exception handling unit is used to: if an abnormal power failure occurs during the operation of the motor, record the cumulative number of pulses sent by the encoder when the power is off; obtain the cumulative number recorded when the power is off after power is on; start the motor to run, count the cumulative number of pulses sent by the encoder after this power-on, and control the motor to stop running according to the real-time counted cumulative number, the target number and the recorded cumulative number.

[0125] It is understandable that the explanation, specific implementation, beneficial effects, examples, etc. of the relevant contents in the device provided in the embodiment of the present invention can be found in the corresponding parts of the method provided in the first aspect above, and will not be repeated here.

[0126] In a third aspect, an embodiment of the present invention provides a gap adjustment system for an eccentric structure, wherein the eccentric structure includes an eccentric shaft and a concentric shaft, and the gap adjustment system includes a motor and an encoder mounted on the motor, wherein the eccentric shaft is transmission-connected to the motor, and the encoder is connected to a controller of the motor, and the controller is the gap adjustment device provided in the second aspect.

[0127] That is, the gap adjustment system provided by the embodiment of the present invention includes a motor and an encoder, and the motor and the eccentric shaft can be connected by a transmission mechanism; the encoder is arranged on the motor and is used to send a pulse signal when the motor is running. The motor includes a controller, and the controller adjusts the gap by executing the method provided by the first aspect.

[0128] In one embodiment, the gap adjustment system may further include: a transmission mechanism between the motor and the eccentric shaft, the transmission mechanism including a meshing first gear and a second gear, wherein: the first gear is connected to the motor; wherein the motor drives the first gear to rotate when it is running; the second gear is an eccentric gear and is coaxially connected to the eccentric shaft.

[0129] A transmission mechanism is provided here. When the motor runs, it drives the first gear to rotate, the first gear drives the second gear to rotate, and the second gear drives the eccentric shaft to rotate, thereby realizing gap adjustment.

[0130] It is understandable that the explanation of the relevant contents, specific implementation methods, beneficial effects, examples, etc. in the system provided in the embodiment of the present invention can be found in the corresponding parts of the method provided in the first aspect, and will not be repeated here.

[0131] In a fourth aspect, an embodiment of the present invention provides a computing device, comprising: at least one memory and at least one processor; the at least one memory is used to store a machine-readable program; and the at least one processor is used to call the machine-readable program to execute the method provided in the first aspect.

[0132] It is understandable that the explanation, specific implementation, beneficial effects, examples, etc. of the relevant contents in the computing device provided in the embodiment of the present invention can be found in the corresponding parts of the method provided in the first aspect, and will not be repeated here.

[0133] In a fifth aspect, an embodiment of the present invention provides a computer-readable medium, on which computer instructions are stored. When the computer instructions are executed by a processor, the processor executes the method provided in the first aspect.

[0134] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0135] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0136] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0137] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0138] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0139] It is understandable that the explanation, specific implementation methods, beneficial effects, examples, etc. of the relevant contents in the computer-readable medium provided in the embodiment of the present invention can be found in the corresponding parts of the method provided in the first aspect, and will not be repeated here.

[0140] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0141] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the present invention can be implemented by hardware, software, widgets, or any combination thereof. When implemented by software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium.

[0142] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solution of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for adjusting the gap of an eccentric structure, characterized in that: The eccentric structure includes an eccentric shaft and a concentric shaft, the eccentric shaft is transmission-connected to a motor, an encoder is installed on the motor, and the method includes: determining a target gap between the eccentric shaft and the concentric shaft; Determine a reference gap between the eccentric shaft and the concentric shaft; wherein the gap between the eccentric shaft and the concentric shaft when the inner circle center and the outer circle center of the eccentric shaft are located on the same horizontal line is the reference gap; Calculating a gap difference between the target gap and the reference gap; According to the transmission relationship between the eccentric shaft and the motor, the gap difference and the eccentricity of the eccentric shaft, the target number corresponding to the current gap adjustment is calculated; wherein the target number is the cumulative number of pulses emitted by the encoder when the gap between the eccentric shaft and the concentric shaft reaches the target gap from the reference gap; The motor is started to run, the cumulative number of pulses sent by the encoder is counted during the running of the motor, and the motor is controlled to stop running according to the real-time counted cumulative number and the target number.

2. The method according to claim 1, characterized in that The transmission mechanism between the motor and the eccentric shaft includes a first gear and a second gear in a meshing relationship; the first gear is connected to the motor so that the first gear is driven to rotate when the motor is running; the second gear is an eccentric gear, and the second gear is coaxially connected to the eccentric shaft.

3. The method according to claim 2, characterized in that The step of calculating the target quantity corresponding to the current gap adjustment according to the transmission relationship between the eccentric shaft and the motor, the gap difference, and the eccentricity of the eccentric shaft includes: determining the number of teeth of the first gear and the number of teeth of the second gear; Determine the number of unit pulses of the encoder; wherein the number of unit pulses is the cumulative number of pulses emitted by the encoder when it rotates one circle; The target number is calculated according to the number of teeth of the first gear, the number of teeth of the second gear, the gap difference, the eccentricity, and the unit pulse number.

4. The method according to claim 3, characterized in that The calculating the target quantity according to the number of teeth of the first gear, the number of teeth of the second gear, the gap difference, the eccentricity and the number of unit pulses includes: calculating the target quantity using a first calculation formula, wherein the first calculation formula is: Wherein, N0 is the target number, K2 is the number of teeth of the second gear, K1 is the number of teeth of the first gear, ΔH is the gap difference, M is the unit pulse number, and L is the eccentricity.

5. The method according to claim 1, characterized in that The starting of the motor to run, counting the cumulative number of pulses sent by the encoder during the running of the motor, and controlling the motor to stop running according to the real-time counted cumulative number and the target number, includes: Get the target gap corresponding to the last gap adjustment; If the target gap corresponding to the last gap adjustment is the reference gap, the rotation direction of the motor is determined according to the positive or negative value of the gap difference, the motor is started according to the rotation direction, the cumulative number of pulses emitted by the encoder during this gap adjustment process is counted, and the motor is controlled to stop running when the cumulative number reaches the target number corresponding to this adjustment.

6. The method according to claim 5, characterized in that The method of starting the motor to run, counting the cumulative number of pulses sent by the encoder during the running of the motor, and controlling the motor to stop running according to the real-time counted cumulative number and the target number, further includes: If the target gap corresponding to the last gap adjustment is not the reference gap, obtaining the target quantity corresponding to the last gap adjustment; Calculate the difference between the target quantity corresponding to this gap adjustment and the target quantity corresponding to the previous gap adjustment; Determining the rotation direction of the motor according to the positive or negative value of the difference; The motor is started to run in the rotation direction to adjust the gap between the eccentric shaft and the concentric shaft; the cumulative number of pulses emitted by the encoder during this gap adjustment process is counted, and the motor is controlled to stop running when the counted cumulative number reaches the absolute value of the difference.

7. The method according to claim 1, characterized in that Also includes: If an abnormal power failure occurs during the operation of the motor, the cumulative number of pulses emitted by the encoder at the time of the power failure is recorded; After power-on, obtain the cumulative number recorded when power is off; The motor is started to run, the cumulative number of pulses sent by the encoder after the current power-on is counted, and the motor is controlled to stop running according to the real-time counted cumulative number, the target number and the recorded cumulative number.

8. A gap adjustment device of an eccentric structure, characterized in that: The eccentric structure comprises an eccentric shaft and a concentric shaft, the eccentric shaft is in driving connection with a motor, an encoder is installed on the motor, and the device (100) comprises: A first determination module (110) is used to determine a target gap between the eccentric shaft and the concentric shaft; A second determination module (120) is used to determine a reference gap between the eccentric shaft and the concentric shaft; wherein the gap between the eccentric shaft and the concentric shaft when the inner circle center and the outer circle center of the eccentric shaft are located on the same horizontal line is the reference gap; A first calculation module (130) is used to calculate a gap difference between the target gap and the reference gap; A second calculation module (140) is used to calculate a target number corresponding to the current gap adjustment according to the transmission relationship between the eccentric shaft and the motor, the gap difference, and the eccentricity of the eccentric shaft; wherein the target number is the cumulative number of pulses emitted by the encoder when the gap between the eccentric shaft and the concentric shaft reaches the target gap from the reference gap; The motor control module (150) is used to start the motor to run, count the cumulative number of pulses sent by the encoder during the motor running process, and control the motor to stop running according to the real-time counted cumulative number and the target number.

9. A gap adjustment system for an eccentric structure, characterized in that: The eccentric structure includes an eccentric shaft (6) and a concentric shaft (7), the gap adjustment system includes a motor (1) and an encoder (2) mounted on the motor, the eccentric shaft (6) is transmission-connected to the motor (1), the encoder (2) is connected to a controller of the motor (1), and the controller is the gap adjustment device (100) according to claim 8.

10. The system according to claim 9, characterized in that The gap adjustment system further comprises: a transmission mechanism between the motor and the eccentric shaft, the transmission mechanism comprising a meshing first gear (4) and a second gear (3), wherein: the first gear (4) is connected to the motor (1); wherein the motor (1) drives the first gear (4) to rotate when it is running; and the second gear (3) is an eccentric gear and is coaxially connected to the eccentric shaft (6).

11. A computing device, characterized in that: The computing device includes: at least one memory and at least one processor; The at least one memory is used to store a machine-readable program; The at least one processor is configured to call the machine-readable program to execute the method according to any one of claims 1 to 7.

12. A computer-readable medium, characterized in that The computer readable medium stores computer instructions, and when the computer instructions are executed by a processor, the processor executes the method according to any one of claims 1 to 7.

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