Position measurement method, device and linear drive servo

Abstract

The present invention provides a position measurement method, device, and linear servo driver, wherein the method includes: generating a speed control instruction and setting a limit value corresponding to the speed control instruction; the limit value is used to represent the maximum driving force allowed by the linear servo driver during operation; determining the current motion information of the linear servo driver in real time, the current motion information including the current position and a current force parameter representing the magnitude of the current driving force; and when the current driving force corresponding to the current force parameter reaches the limit driving force, using the current position as the limit position of the linear servo driver. The position measurement method, device, and linear servo driver provided by the embodiments of the present invention enable the linear servo driver to not apply significant pressure to the device even after reaching the limit position, thereby effectively ensuring that the device does not deform.

Description

Technical Field

[0001] The present invention relates to the technical field of position measurement, and in particular to a position measurement method, device and linear servo driver. Background Art

[0002] Linear servo drives are commonly used to drive equipment in linear motion and are widely used in automation equipment, industrial production lines, and other applications. However, in many cases, the range of motion must be measured and configured beforehand to prevent damage to the equipment from hitting the extremes during movement. Furthermore, in some applications, equipment must be frequently disassembled and assembled, and the reference position may shift slightly after each installation. This requires re-measuring the extremes each time.

[0003] Currently, the primary method for measuring the extreme positions of linear servo drives is manual control, where the drive is manually controlled to reach the extreme position and recorded. However, manual control has low accuracy, and the drive can easily squeeze the equipment when reaching the extreme position, causing damage. While some intelligent linear servo drives can define a position where they cannot continue to operate as the extreme position, they can still squeeze the equipment at this extreme position, potentially causing damage and deformation. Summary of the Invention

[0004] To solve the above problems, an object of the embodiments of the present invention is to provide a position measurement method, device and linear servo driver.

[0005] In a first aspect, an embodiment of the present invention provides a position measurement method, including:

[0006] Generate a speed control instruction and set a limit value corresponding to the speed control instruction; the speed control instruction is used to control the linear servo driver to operate at a preset speed, and the limit value is used to represent the maximum driving force allowed by the linear servo driver during operation; the preset speed is less than half of the maximum speed at which the linear servo driver can operate; the limit driving force is greater than the driving force required by the linear servo driver with zero load when operating at the preset speed, and is less than half of the maximum driving force that the linear servo driver can provide;

[0007] Determining in real time current motion information of the linear servo drive, the current motion information including a current position and a current force parameter representing a current driving force;

[0008] When the current driving force corresponding to the current force parameter reaches the limit driving force, the current position is used as the limit position of the linear servo drive.

[0009] Optionally, the real-time determination of current motion information of the linear servo drive includes:

[0010] determining a current current feedback value of the linear servo driver in real time, and using the current current feedback value as the current force parameter;

[0011] Alternatively, a current pressure value between the linear servo drive and the obstacle is determined in real time, and the current pressure value is used as the current force parameter.

[0012] Optionally, when the current pressure value is used as the current force parameter, the method further includes:

[0013] When the current pressure value rises to a maximum value and remains unchanged, it is determined that the current driving force corresponding to the current force parameter reaches the limit driving force.

[0014] Optionally, the method further comprises: when the current driving force corresponding to the current force parameter begins to increase, using the current position as the contact position of the linear servo driver;

[0015] Alternatively, the current motion information further includes a current speed, and the method further includes: when the current driving force corresponding to the current force parameter begins to increase and the current speed begins to decrease, using the current position as the contact position of the linear servo drive.

[0016] Optionally, the method further includes:

[0017] The limit position of the linear servo drive is determined multiple times, and an average value or a maximum value of the multiple limit positions is used as the finally determined limit position of the linear servo drive.

[0018] Optionally, the preset speed is less than 10% of the maximum speed at which the linear servo drive can operate; and the limit driving force is less than 10% of the maximum driving force that the linear servo drive can provide.

[0019] Optionally, the current position is an end position of the linear servo drive.

[0020] In a second aspect, an embodiment of the present invention further provides a position measurement device, including:

[0021] a control module configured to generate a speed control instruction and set a limit value corresponding to the speed control instruction; the speed control instruction is configured to control the linear servo driver to operate at a preset speed, and the limit value is configured to represent a maximum driving force allowed by the linear servo driver during operation; the preset speed is less than half of a maximum speed at which the linear servo driver can operate; the limit driving force is greater than a driving force required by the linear servo driver under zero load when operating at the preset speed, and is less than half of a maximum driving force that the linear servo driver can provide;

[0022] A real-time module, configured to determine in real time current motion information of the linear servo drive, wherein the current motion information includes a current position and a current force parameter representing a current driving force magnitude;

[0023] The limit position determining module is configured to use the current position as the limit position of the linear servo drive when the current driving force corresponding to the current force parameter reaches the limit driving force.

[0024] In a third aspect, an embodiment of the present invention further provides a linear servo driver, comprising: a controller, a position sensor, and a linear motion mechanism; the position sensor and the linear motion mechanism are both connected to the controller;

[0025] The position sensor is used to collect the current position of the linear servo drive in real time and send the current position to the controller;

[0026] The linear motion mechanism is used to operate based on the control instructions issued by the controller;

[0027] The controller is used to execute the position measurement method according to any one of claims 1 to 7.

[0028] Optionally, the linear servo drive further includes a force sensor;

[0029] The force sensor is located on the linear motion mechanism and is connected to the controller; the force sensor is used to collect the current pressure value between the linear motion mechanism and the obstacle in real time, and send the current pressure value to the controller.

[0030] In the solution provided in the first aspect of the embodiment of the present invention, the linear servo drive is controlled to operate at a lower preset speed, and the limit driving force allowed by the linear servo drive during operation is directly or indirectly set; when the linear servo drive operates to the limit position limited by the device, the linear servo drive operating at the lower preset speed will not cause a large impact on the device, and the driving force of the linear servo drive will not exceed the limit driving force. After the linear servo drive reaches the limit position, it will not apply a large pressure to the device, which can effectively ensure that the device does not deform. In addition, this method not only uses the linear servo drive as an operating mechanism, but also uses it as a position measurement tool, which can conveniently and accurately determine the limit position of the linear servo drive. The current driving force can be more conveniently represented by the current current feedback value or the current pressure value at the end. When the current current feedback value or the current pressure value rises to a maximum value and remains unchanged, it can be considered that the current driving force has reached the limit driving force, and the limit position can be conveniently determined. In addition, this method can also determine the contact position of the linear servo drive. This method can be applied in a variety of scenarios and has a wide range of applications.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A flow chart of a position measurement method provided by an embodiment of the present invention;

[0034] Figure 2 A schematic structural diagram of a linear drive servo provided by an embodiment of the present invention;

[0035] Figure 3 This is a flow chart of the position measurement method provided in the first embodiment of the present invention;

[0036] Figure 4 Another structural diagram of the linear drive servo provided by an embodiment of the present invention;

[0037] Figure 5 This is a flow chart of a position measurement method provided in the second embodiment of the present invention;

[0038] Figure 6A schematic structural diagram of a position measurement device provided by an embodiment of the present invention;

[0039] Figure 7 Another structural diagram of a position measurement device provided by an embodiment of the present invention;

[0040] Figure 8 A schematic diagram of another structure of the position measurement device provided by an embodiment of the present invention;

[0041] Figure 9 A schematic structural diagram of an electronic device for executing a position measurement method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0044] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0045] An embodiment of the present invention provides a position measurement method for measuring the limit position of a linear servo drive. The position measurement method can be executed by a controller of the linear servo drive itself or by another external controller to determine the limit position of the linear servo drive. Figure 1 As shown, the position measurement method includes:

[0046] Step S101: Generate a speed control instruction and set a limit value corresponding to the speed control instruction; the speed control instruction is used to control the linear servo driver to run at a preset speed, and the limit value is used to represent the maximum driving force allowed by the linear servo driver during operation; the preset speed is less than half of the maximum speed at which the linear servo driver can run; the limit driving force is greater than the driving force required for the linear servo driver with zero load to run at the preset speed, and is less than half of the maximum driving force that the linear servo driver can provide.

[0047] Specifically, when it is necessary to determine the limit position of the linear servo drive, the linear servo drive can be controlled based on the position measurement method; for example, after the linear servo drive is reinstalled on a certain device, or when it is necessary to calibrate the limit position of the linear servo drive, the linear servo drive can be controlled based on the position measurement method.

[0048] When the limit position of the linear servo driver needs to be determined, a speed control instruction is generated to control the linear servo driver to operate at a preset speed. Upon receiving the speed control instruction, the linear servo driver can respond to the speed control instruction, thereby controlling its own linear motion mechanism to operate in a certain direction, and the movement speed of the linear motion mechanism is the preset speed, which is also the movement speed of the linear servo driver. The preset speed is a fixed value, and accordingly, the speed control instruction is used to control the linear servo driver to operate at a constant speed at the preset speed.

[0049] Furthermore, embodiments of the present invention further provide a limit value for the linear servo driver, which is used to indicate the limit driving force allowed by the linear servo driver during position measurement, i.e., the driving force of the linear servo driver cannot exceed the limit driving force. For example, the limit value can be the limit driving force directly; or, the limit value can be a parameter that can indirectly indicate the magnitude of the limit driving force. For example, the control system of the linear servo driver includes two closed-loop controls: current and speed. The control system provides different drive currents to the linear servo driver (the drive current is a set value, and the current of the linear servo driver is controlled to be the set value, i.e., the actual current of the linear servo driver is controlled to be close to the set value; the control system can provide feedback of the actual current magnitude of the linear servo driver, and the current fed back by the control system is called the current feedback value; generally, the current feedback value and the drive current are close to but not identical). Thus, there is a corresponding relationship between the drive current and the drive force. In this case, the limit driving current corresponding to the limit driving force can also be used as the limit value, i.e., the drive current of the linear servo driver cannot exceed the limit driving current.

[0050] Among them, the preset speed is a lower speed. In an embodiment of the present invention, the preset speed is less than half of the maximum speed at which the linear servo drive can operate; optionally, the preset speed is less than 10% of the maximum speed at which the linear servo drive can operate, for example, the preset speed is 8%, 5%, etc. of the maximum speed at which the linear servo drive can operate. In addition, the ultimate driving force is also a smaller driving force; in an embodiment of the present invention, the ultimate driving force is less than half of the maximum driving force that the linear servo drive can provide; optionally, the ultimate driving force is less than 10% of the maximum driving force that the linear servo drive can provide, for example, the ultimate driving force is 8%, 5%, etc. of the maximum driving force that the linear servo drive can provide.

[0051] The linear servo drive operates at a relatively low speed, and when it reaches its limit, it does not cause a significant kinetic energy impact on the equipment. Furthermore, even if the equipment at the limit blocks the linear servo drive from continuing to move, the driving force provided to the linear servo drive will not exceed the limit. This prevents the linear servo drive from exerting significant pressure on the equipment, effectively preventing it from being squeezed or deformed.

[0052] In addition, to ensure that the linear servo drive can run at a preset speed, the maximum driving force also needs to be greater than the driving force required by the linear servo drive with zero load when running at a preset speed; that is, when the linear servo drive is unloaded, if it requires a driving force F1 to drive the linear servo drive to run at a preset speed, then the maximum driving force needs to be greater than the driving force F1.

[0053] Step S102: determining the current motion information of the linear servo driver in real time, where the current motion information includes the current position and a current force parameter representing the magnitude of the current driving force.

[0054] Specifically, during the operation of the linear servo drive, the current motion information of the linear servo drive can be determined in real time; wherein, the current motion information of the linear servo drive can be obtained at high speed with a higher sampling frequency, that is, the sampling frequency is higher than a preset frequency, or the sampling interval is lower than a preset time; for example, if the sampling interval is less than 0.1s, it can be considered real-time.

[0055] Among them, the current motion information includes the position of the linear servo drive at the current moment, that is, the current position. For example, the linear servo drive is generally provided with a position sensor, which is used to measure the position of the linear servo drive in real time. Optionally, the position sensor can be set at the end of the linear servo drive, and accordingly, the current position is the end position of the linear servo drive. Since the linear servo drive itself has a certain elasticity (for example, there is a gap between two adjacent assembly parts, or there is a gap between gears, etc.), this will cause the position of some parts of the linear servo drive to still have slight changes after reaching the extreme position, and the end of the linear servo drive is generally the end of a rigid structure. For example, the end of the linear servo drive is generally the end of a screw mechanism. The screw mechanism is a rigid structure and will not deform after reaching the extreme position. Taking the end position of the linear servo drive at the current moment as the current position can more accurately represent the position of the linear servo drive, especially the relative position between the linear servo drive and the device.

[0056] Furthermore, the current motion information also includes a current force parameter, which is used to represent the magnitude of the current driving force. For example, the current force parameter can directly represent the current driving force, that is, the current force parameter itself can directly represent the magnitude of the current driving force. Alternatively, the current force parameter can be represented based on other parameters other than the driving force, which is not limited in this embodiment of the present invention.

[0057] It should be noted that the current position is the position at the current moment, the current force parameter is the force parameter at the current moment, and the current driving force is the driving force at the current moment. As the current motion information is determined in real time (essentially, it is determined multiple times discretely), the current position, current force parameter, and current driving force determined at different moments may also change in real time. The current position, current force parameter, and current driving force in the embodiments of the present invention do not represent a specific value or parameter at a specific moment; of course, when the current moment is determined, the current position, current force parameter, and current driving force are a certain value that is determined. The following current speed, current current feedback value, current pressure value, etc. are similar to this and will not be described in detail later.

[0058] Step S103: When the current driving force corresponding to the current force parameter reaches the limit driving force, the current position is used as the limit position of the linear servo driver.

[0059] Specifically, the control system of the linear servo drive is a closed-loop system. When the linear servo drive is operating normally, it does not require a large driving force. If the linear servo drive encounters an obstacle, it will prevent the linear servo drive from running at normal speed, resulting in a reduction in speed. In order to enable the linear servo drive to continue to run at normal speed (e.g., a preset speed), the closed-loop control system will instruct the output of a larger driving force, such as operating at a larger driving current (correspondingly, a larger current feedback value will be fed back at this time), thereby increasing the speed of the linear servo drive. During the position measurement process, if the linear servo drive encounters an obstacle, it means that the linear servo drive has reached its limit position. At this time, the speed of the linear servo drive will be reduced, and the control system will continue to increase the driving force. Moreover, since the limit value is pre-set, the driving force will not exceed the limit driving force. Therefore, when the linear servo drive reaches the limit position, the current driving force of the linear servo drive will increase to the limit driving force. Correspondingly, if the current driving force increases to the limit driving force, it can also be said that the linear servo drive has reached the limit position, and the current position at this time can be used as the limit position.

[0060] Optionally, in order to further improve the measurement accuracy, the limit position of the linear servo drive can be determined multiple times, that is, the above steps S101-S103 are executed multiple times, and the same preset speed and limit value can be set during each execution, or different preset speeds and limit values ​​can be set; after determining multiple limit positions, the average value or maximum value of the multiple limit positions can be used as the final limit position of the linear servo drive, and then the normal operating range of the linear servo drive can be determined based on the final determined limit position.

[0061] In addition, the linear servo drive can move in the forward and reverse directions along a straight line. Regardless of whether the linear servo drive moves in the forward direction or in the reverse direction, it is applicable to the position measurement method provided in the embodiment of the present invention, so that the limit positions of the linear servo drive in the forward and reverse directions, such as the upper limit position and the lower limit position, can be determined. Then, during the normal operation of the linear servo drive, the linear servo drive can be limited to move between the two limit positions.

[0062] In an embodiment of the present invention, the linear servo drive is controlled to run at a lower preset speed, and an upper limit value of the driving force, i.e., the limit driving force, is set. This can ensure that when the linear servo drive reaches the limit position, it will not exert a large force on the device where it is located, and it is not easy to cause deformation of the position where the device contacts the linear servo drive.

[0063] Optionally, the above-mentioned step S102 "determining the current motion information of the linear servo drive in real time" includes: determining the current current feedback value of the linear servo drive in real time, and using the current current feedback value as the current force parameter; or, determining the current pressure value between the linear servo drive and the obstacle in real time, and using the current pressure value as the current force parameter.

[0064] Specifically, since the linear servo drive can obtain driving forces of different sizes based on different driving currents, the driving current can be used as a force parameter, and the actual expression of the driving current is the current feedback value fed back by the linear servo drive, so the current feedback value can be used as a force parameter; specifically, the current feedback value fed back by the control system of the linear servo drive can be obtained in real time. The current feedback value is the current value collected by the linear servo drive, and the current feedback value at the current moment is used as the current force parameter.

[0065] Alternatively, although the pressure value at the end of the linear servo drive has no direct relationship with the driving force of the linear servo drive, since the purpose of setting the limit value in the embodiment of the present invention is to limit the driving force of the linear servo drive when it reaches the extreme position, the pressure value between the linear servo drive and the obstacle will also change before and after the linear servo drive reaches the extreme position. At this time, the driving force of the linear servo drive and the pressure value between it and the obstacle can also be considered to have a corresponding relationship, and the pressure value can be used to represent the driving force of the linear servo drive, that is, the current pressure value between the linear servo drive and the obstacle can be used as the current force parameter to represent the magnitude of the current driving force.

[0066] In the case where the current current feedback value is used as the current force parameter, the current driving force corresponding to the current current feedback value can be determined based on the corresponding relationship between the current feedback value and the driving force, thereby determining whether the limit driving force has been reached. Alternatively, since the current feedback value of the linear servo drive first rises when it reaches the limit position and then remains unchanged due to the limiting effect of the limit value, the specific value of the current current feedback value can be ignored. It is only necessary that the current current feedback value rises to the maximum and remains unchanged. At this point, it can be considered that the current driving force corresponding to the current current feedback value has reached the limit driving force.

[0067] When the current pressure value is used as the current force parameter, it is difficult to determine the strict correspondence between the current pressure value and the current driving force. However, similar to the current current feedback value mentioned above, when the linear servo drive reaches the limit position and hits an obstacle, the current pressure value will first rise (starting from zero), and then remain unchanged due to the limiting effect of the limit value; therefore, when the current pressure value rises to the maximum value and remains unchanged, it is determined that the current driving force corresponding to the current force parameter has reached the limit driving force, and the current position at this time can be used as the limit position of the linear servo drive. Among them, when it is necessary to determine the limit position of the linear servo drive in the forward or reverse direction, it is necessary to have pressure sensors at both ends of the linear servo drive to be able to detect the current pressure value.

[0068] Optionally, the position measurement method further includes a process of determining a contact position, the process including: when a current driving force corresponding to a current force parameter begins to increase, using the current position as the contact position of the linear servo drive.

[0069] Among them, the contact position refers to the position of the linear servo drive when it just contacts the device it is located in. Since the device itself has a certain elasticity, after the linear servo drive reaches the contact position, it will continue to move forward a short distance until it reaches the limit position (the device will undergo a slight deformation until the device can no longer deform. This slight deformation is generally allowed and does not affect the subsequent normal operation of the device). The contact position and the limit position are two close positions.

[0070] Specifically, when the linear servo drive reaches the contact position, the device will hinder the linear servo drive from continuing to move. In order to continue to run at the preset speed, the linear servo drive requires a greater driving force, so the current force parameter will begin to increase. For example, the current current feedback value begins to increase, or the current pressure value begins to increase from zero (or the current pressure value becomes a non-zero value). The current position at this time can be used as the contact position of the linear servo drive. Afterwards, since the device can undergo slight deformation, the linear servo drive can continue to run a short distance forward from the contact position until the current force parameter reaches a maximum value, that is, the linear servo drive reaches the limit position.

[0071] Alternatively, if the current motion information also includes the current speed, the process of determining the contact position may also include: when the current driving force corresponding to the current force parameter begins to increase and the current speed begins to decrease, using the current position as the contact position of the linear servo drive.

[0072] Specifically, in step S102, the current speed of the linear servo drive can also be determined in real time. If the current speed begins to decrease and the current driving force begins to increase, the linear servo drive is considered to have contacted the device, and the corresponding current position is the contact position. This embodiment of the present invention determines the contact position based on the current speed and current force parameters, resulting in a more accurate contact position.

[0073] Furthermore, similar to determining the limit position, when a linear servo drive moves in the forward and reverse directions along a straight line, the contact position of the linear servo drive in the forward and reverse directions can also be determined, respectively. In embodiments of the present invention, after determining the contact position, the motion range of the linear servo drive can also be determined based on the contact position, thereby limiting the linear servo drive to operate within the range determined by the contact position.

[0074] For example, based on the position measurement method provided in an embodiment of the present invention, the linear servo drive is measured in the forward and reverse directions, and the forward and reverse limit positions and contact positions are determined; if the forward limit position, the forward contact position, the reverse contact position, and the reverse limit position are represented by A, B, C, and D, respectively, then the motion range of the linear servo drive can be from position B to position C, or from position A to position D, or from a position between A and B (for example, the midpoint between the two) to a position between C and D (for example, the midpoint between the two), and the specific range can be determined based on actual conditions.

[0075] An embodiment of the present invention provides a position measurement method that controls a linear servo drive to operate at a lower preset speed and directly or indirectly sets the maximum driving force allowed by the linear servo drive during operation. When the linear servo drive reaches the limit position limited by the device, the linear servo drive operating at the lower preset speed will not cause a significant impact on the device. Moreover, the driving force of the linear servo drive will not exceed the limit driving force. After reaching the limit position, the linear servo drive will not apply significant pressure to the device, effectively ensuring that the device does not deform. Furthermore, this method uses the linear servo drive not only as an operating mechanism but also as a position measurement tool, making it possible to conveniently and accurately determine the limit position of the linear servo drive. The current driving force can be conveniently represented by the current current feedback value or the current pressure value. When the current current feedback value or the current pressure value rises to a maximum value and remains unchanged, it can be considered that the current driving force has reached the limit driving force, thereby conveniently determining the limit position. In addition, this method can also determine the contact position of the linear servo drive. This method can be applied in a variety of scenarios and has a wide range of applications.

[0076] The embodiment of the present invention further provides a linear servo driver, see Figure 2As shown, the linear servo drive includes a controller 10, a position sensor 20, and a linear motion mechanism 30. Both the position sensor 20 and the linear motion mechanism 30 are connected to the controller 10. The position sensor 20 is used to acquire the current position of the linear servo drive in real time and send the current position to the controller 10. The linear motion mechanism 30 is used to operate based on control instructions issued by the controller 10. The controller 10 is used to execute the position measurement method provided in any of the above embodiments.

[0077] Specifically, the linear servo drive itself has a controller and a linear motion mechanism. The controller 10 in the embodiment of the present invention can be a controller of the linear servo drive itself, or it can be another external controller. This embodiment does not limit this. The linear motion mechanism 30 in the embodiment of the present invention is a motion mechanism of the linear servo drive itself. For example, the linear motion mechanism 30 can be a power transmission mechanism of a motor + screw, or it can be a linear motor, a voice coil motor, or other types of linear mechanisms. This embodiment does not describe this in detail.

[0078] By executing the above position measurement method, the controller 10 can control the linear servo drive to move toward the device where the linear servo drive is located at a lower speed (ie, a preset speed) under a lower driving force limit. Figure 2 As shown, the controller 10 can control the linear servo drive to move rightward to determine its limit position on the right.

[0079] The following describes in detail a working process of the linear servo driver when performing position measurement through an embodiment.

[0080] Example 1

[0081] In the embodiment of the present invention, the linear servo driver determines whether the driving force has reached the limit driving force based on the current feedback value, that is, the current current feedback value collected in real time is used as the current force parameter. Figure 3 As shown, the position measurement method includes steps S301-S307.

[0082] Step S301: Determine the forward direction of the linear servo drive and prepare to start measurement.

[0083] For example, the linear servo drive can be controlled to reversely run to a safe position, such as reversely run to a position close to another extreme position, or reversely run to an intermediate position, etc. The safe position is a general position and does not need to be a precise position.

[0084] Step S302: Generate a speed control instruction and set a maximum current setting value corresponding to the speed control instruction. That is, the maximum current setting value (ie, the maximum driving current) is used as a limit value that can represent the ultimate driving force.

[0085] Step S303: Control the linear servo drive to move along the forward direction at a preset speed.

[0086] Step S304: Read the current current feedback value and current position of the linear servo driver at high speed.

[0087] Step S305: Determine whether the current feedback value reaches a maximum value and remains unchanged. If so, proceed to step S306; otherwise, proceed to step S304.

[0088] Here, it can be determined whether the current feedback value is close to the maximum current setting value and remains unchanged. Alternatively, it is also possible to ignore whether the current feedback value actually reaches the maximum current setting value set in step S302 and, as long as the current feedback value no longer increases, it can be determined that the linear servo drive has reached its limit position. Alternatively, it can also be determined whether the current position remains unchanged. If the current feedback value reaches a maximum value and remains unchanged, and the current position also remains unchanged, it is determined that the linear servo drive has reached its limit position, and the process proceeds to step S306.

[0089] Step S306: taking the current position as the limit position of the linear servo drive in the forward direction.

[0090] Afterwards, the opposite direction of the forward direction in step S301 can be used as a new forward direction, and the above steps S302 to S306 can be re-executed to determine the limit position in the new forward direction, thereby realizing bidirectional position measurement.

[0091] Step S307: Stop applying the driving force to the linear servo driver.

[0092] After the measurement is completed, the linear servo drive is no longer controlled to move. For example, the controller 10 generates a stop instruction to stop the movement, and the linear motion mechanism 30 responds to the stop instruction and stops moving.

[0093] Alternatively, see Figure 4 As shown, the linear servo drive further includes a force sensor 40; the force sensor 40 is located on the linear motion mechanism 30 and is connected to the controller; Figure 4 As an example, a force sensor 40 is provided at one end of the linear motion mechanism 30. This force sensor 40 is used to collect the current pressure between the linear motion mechanism and the obstacle in real time and transmit this pressure value to the controller. When the linear motion mechanism reaches its limit position, the device it is located on becomes the obstacle, and the current pressure value is the pressure between the linear motion mechanism and the obstacle.

[0094] In an embodiment of the present invention, when a force sensor 40 capable of detecting pressure values ​​is provided at the end of the linear servo drive (i.e., the end of the linear motion mechanism 30), the collected current pressure value can be used as a current force parameter for determining whether the limit position has been reached. When the current driving force corresponding to the current pressure value reaches the limit driving force, it is determined that the limit position has been reached.

[0095] A flow of the position measurement process is described in detail below through another embodiment.

[0096] Example 2

[0097] In the embodiment of the present invention, a force sensor 40 is provided at the end of the linear servo drive, and position detection can be achieved based on the pressure value measured by the force sensor 40. Figure 5 As shown, the position detection process includes steps S501-S509:

[0098] Step S501: Determine the forward direction of the linear servo drive and prepare to start measurement.

[0099] Step S502: Generate a speed control command and set the corresponding limit driving force. Specifically, the limit value is directly expressed as the limit driving force. The linear servo drive's driving force is related to the drive current, and the limit driving force can also be the limit value of the drive current, i.e., the aforementioned maximum current setting value.

[0100] Step S503: Control the linear servo drive to move along the forward direction at a preset speed.

[0101] Step S504: Read the current pressure value and current position of the linear servo driver at high speed.

[0102] Step S505: Determine whether the current pressure value is zero, if so, proceed to step S504, otherwise proceed to step S506.

[0103] If the current pressure value is zero, it means that the linear servo drive has not touched the device and has not reached the contact position. On the contrary, if the current pressure value is not zero, it means that the linear servo drive has reached or even exceeded the contact position.

[0104] Step S506: If the contact position is not determined, the current position corresponding to the moment when the current pressure value changes from zero to non-zero is used as the contact position of the linear servo driver.

[0105] If the contact position has been determined, for example, after the current pressure value has become non-zero, there is no need to repeat step S506.

[0106] Step S507: Determine whether the current pressure value rises to a maximum value and remains unchanged. If so, proceed to step S508; otherwise, proceed to step S504.

[0107] Step S508: taking the current position as the limit position of the linear servo drive in the forward direction.

[0108] Step S509: Stop applying the driving force to the linear servo driver.

[0109] Similar to the above embodiment, the limit position in another direction may be measured, and the contact position in another direction may be measured, and step S509 may be executed after the measurement is completed.

[0110] The above describes in detail the process of the position measurement method. The method can also be implemented by a corresponding device. The structure and function of the device are described in detail below.

[0111] The embodiment of the present invention provides a position measurement device, see Figure 6 As shown, the position measuring device includes:

[0112] The control module 601 is configured to generate a speed control instruction and set a limit value corresponding to the speed control instruction; the speed control instruction is configured to control the linear servo driver to operate at a preset speed, and the limit value is configured to represent a maximum driving force allowed by the linear servo driver during operation; the preset speed is less than half of the maximum speed at which the linear servo driver can operate; the limit driving force is greater than the driving force required by the linear servo driver under zero load when operating at the preset speed, and is less than half of the maximum driving force that the linear servo driver can provide;

[0113] A real-time module 602 is used to determine the current motion information of the linear servo driver in real time, wherein the current motion information includes a current position and a current force parameter representing a current driving force.

[0114] The limit position determining module 603 is configured to use the current position as the limit position of the linear servo driver when the current driving force corresponding to the current force parameter reaches the limit driving force.

[0115] Optionally, the real-time module 602 determines the current motion information of the linear servo driver in real time, including:

[0116] determining a current current feedback value of the linear servo driver in real time, and using the current current feedback value as the current force parameter;

[0117] Alternatively, a current pressure value between the linear servo drive and the obstacle is determined in real time, and the current pressure value is used as the current force parameter.

[0118] Optionally, when the current pressure value is used as the current force parameter, the limit position determining module 603 is further configured to:

[0119] When the current pressure value rises to a maximum value and remains unchanged, it is determined that the current driving force corresponding to the current force parameter reaches the limit driving force.

[0120] Alternatively, see Figure 7 As shown, the apparatus further includes: a contact position determining module 604;

[0121] The contact position determination module is configured to use the current position as the contact position of the linear servo drive when the current driving force corresponding to the current force parameter begins to increase;

[0122] Alternatively, the current motion information also includes a current speed, and the contact position determination module is configured to use the current position as the contact position of the linear servo drive when the current driving force corresponding to the current force parameter begins to increase and the current speed begins to decrease.

[0123] Alternatively, see Figure 8 As shown, the device further includes a processing module 605;

[0124] The processing module 605 is configured to determine the limit position of the linear servo driver multiple times, and use the average value or maximum value of the multiple limit positions as the final limit position of the linear servo driver.

[0125] Optionally, the preset speed is less than 10% of the maximum speed at which the linear servo drive can operate; and the limit driving force is less than 10% of the maximum driving force that the linear servo drive can provide.

[0126] Optionally, the current position is an end position of the linear servo drive.

[0127] An embodiment of the present invention further provides a computer storage medium storing computer executable instructions, which includes a program for executing the above-mentioned position measurement method. The computer executable instructions can execute the method in any of the above-mentioned method embodiments.

[0128] Among them, the computer storage medium can be any available medium or data storage device that can be accessed by the computer, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO)), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NANDFLASH), solid-state drives (SSDs)), etc.

[0129] Figure 9 The block diagram of the structure of an electronic device according to another embodiment of the present invention is shown. The electronic device 1100 may be a host server with computing capabilities, a personal computer (PC), or a portable computer or terminal. The specific embodiments of the present invention do not limit the specific implementation of the electronic device.

[0130] The electronic device 1100 includes at least one processor 1110 , a communication interface 1120 , a memory array 1130 , and a bus 1140 . The processor 1110 , the communication interface 1120 , and the memory array 1130 communicate with each other via the bus 1140 .

[0131] The communication interface 1120 is used to communicate with network elements, where the network elements include, for example, a virtual machine management center, shared storage, etc.

[0132] The processor 1110 is used to execute programs. The processor 1110 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0133] Memory 1130 is used for storing executable instructions. Memory 1130 may include high-speed RAM memory, or may also include non-volatile memory, such as at least one disk storage device. Memory 1130 may also be a memory array. Memory 1130 may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules. The instructions stored in memory 1130 can be executed by processor 1110, enabling processor 1110 to perform the position measurement method in any of the above-described method embodiments.

[0134] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or alternative embodiments that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A position measurement method, characterized in that: include: Generate a speed control instruction and set a limit value corresponding to the speed control instruction; The speed control instruction is used to control the linear servo drive to operate at a preset speed, and the limit value is used to represent the maximum driving force allowed by the linear servo drive during operation; the preset speed is less than half of the maximum speed at which the linear servo drive can operate; the maximum driving force is greater than the driving force required by the linear servo drive with zero load when operating at the preset speed, and is less than half of the maximum driving force that the linear servo drive can provide; Determining in real time current motion information of the linear servo drive, the current motion information including a current position and a current force parameter representing a current driving force; When the current driving force corresponding to the current force parameter reaches the limit driving force, the current position is used as the limit position of the linear servo drive.

2. The method according to claim 1, characterized in that The real-time determination of the current motion information of the linear servo drive includes: determining a current current feedback value of the linear servo driver in real time, and using the current current feedback value as the current force parameter; Alternatively, a current pressure value between the linear servo drive and the obstacle is determined in real time, and the current pressure value is used as the current force parameter.

3. The method according to claim 2, characterized in that In the case where the current pressure value is used as the current force parameter, the method further includes: When the current pressure value rises to a maximum value and remains unchanged, it is determined that the current driving force corresponding to the current force parameter reaches the limit driving force.

4. The method according to claim 1, wherein Also includes: When the current driving force corresponding to the current force parameter begins to increase, using the current position as the contact position of the linear servo driver; Alternatively, the current motion information further includes a current speed, and the method further includes: when the current driving force corresponding to the current force parameter begins to increase and the current speed begins to decrease, using the current position as the contact position of the linear servo drive.

5. The method according to claim 1, wherein Also includes: The limit position of the linear servo drive is determined multiple times, and an average value or a maximum value of the multiple limit positions is used as the finally determined limit position of the linear servo drive.

6. The method according to claim 1, characterized in that The preset speed is less than 10% of the maximum speed at which the linear servo driver can operate; and the limit driving force is less than 10% of the maximum driving force that the linear servo driver can provide.

7. The method according to claim 1, characterized in that The current position is the end position of the linear servo drive.

8. A position measuring device, characterized in that: include: A control module, configured to generate a speed control instruction and set a limit value corresponding to the speed control instruction; The speed control instruction is used to control the linear servo drive to operate at a preset speed, and the limit value is used to represent the maximum driving force allowed by the linear servo drive during operation; the preset speed is less than half of the maximum speed at which the linear servo drive can operate; the maximum driving force is greater than the driving force required by the linear servo drive with zero load when operating at the preset speed, and is less than half of the maximum driving force that the linear servo drive can provide; A real-time module, configured to determine in real time current motion information of the linear servo drive, wherein the current motion information includes a current position and a current force parameter representing a current driving force magnitude; The limit position determining module is configured to use the current position as the limit position of the linear servo drive when the current driving force corresponding to the current force parameter reaches the limit driving force.

9. A linear servo drive, characterized in that: include: A controller, a position sensor and a linear motion mechanism; the position sensor and the linear motion mechanism are both connected to the controller; The position sensor is used to collect the current position of the linear servo drive in real time and send the current position to the controller; The linear motion mechanism is used to operate based on the control instructions issued by the controller; The controller is used to execute the position measurement method according to any one of claims 1 to 7.

10. The linear servo driver according to claim 9, characterized in that: Also included are force sensors; The force sensor is located on the linear motion mechanism and is connected to the controller; the force sensor is used to collect the current pressure value between the linear motion mechanism and the obstacle in real time, and send the current pressure value to the controller.

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