Full-automatic motor zero setting tool

Abstract

The invention relates to the technical field of motor zero setting tools, in particular to a full-automatic motor zero setting tool. According to the technical scheme, the zero setting device comprises an electric control box, a zero setting tool table assembly and an auxiliary servo driver, a motor mounting flange is fixedly mounted on the zero setting tool table assembly, and a servo motor to be subjected to zero setting is detachably mounted on the motor mounting flange; a linear sliding table movable platform and a driving assembly for driving the linear sliding table movable platform to move are installed on the zero setting tool table assembly in a sliding mode, an encoder is detachably installed on the linear sliding table movable platform, and a stepping motor for driving the encoder is fixedly installed on the linear sliding table movable platform. The magnetic declination zero-searching operation step during motor production is simplified, the product consistency is improved, and the risk of manual operation errors is reduced. The initial debugging time of motor production and assembly can be effectively saved, the production efficiency is greatly improved, and the quality controllability of the motor is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of motor zeroing tooling, and in particular to a full-automatic motor zeroing tooling. Background Art

[0002] The six-degree-of-freedom motion platform used in flight simulators is commonly a Stewart motion platform, which is essentially a six-degree-of-freedom parallel robot, mainly composed of an upper platform, a lower platform, six parallel linear actuators (electric cylinders), and upper and lower connecting hinges. The servo motor connected to the electric cylinder is the main power source. The servo motor is mostly a permanent magnet synchronous motor with an absolute encoder, usually installed at the tail of the cylinder. Since the servo motor must be zeroed when the encoder is initially assembled, the servo drive can accurately control it and achieve the highest efficiency and output maximum torque with minimum current.

[0003] Due to the randomness of the encoder's rotation angle position during assembly, the motor pole has magnetic declination, and there is a deviation between the magnetic zero angle and the electrical zero angle. It is usually necessary for a dedicated person to adjust the initial zero position of the motor after assembly. The common methods are: direct zero writing by the programmer (common in communication-type advanced encoders), DC injection waveform observation method (common in incremental encoder zeroing), and specific types of encoder zeroing tooling methods (such as resolver zeroing tooling).

[0004] For encoders that can be written with a programmer, the programmer is expensive and the motor needs to be in a specific state, which has certain threshold requirements for operators and operating steps. The existing servo motor zeroing operation is time-consuming, and the instruments used for zeroing require operating technical thresholds, which will reduce the overall work efficiency. The existing servo motor zeroing technology requires operators to have a deep understanding of permanent magnet synchronous motors and drives, and requires high professional technical capabilities to operate. Summary of the invention

[0005] The purpose of the present invention is to provide a fully automatic motor zeroing tool to solve the problems existing in the background technology.

[0006] The technical solution of the present invention is: a fully automatic motor zeroing tool, comprising an electrical control box, a zeroing tooling table assembly and an auxiliary servo driver, wherein a motor mounting flange is fixedly mounted on the zeroing tooling table assembly, and a servo motor to be zeroed is detachably mounted on the motor mounting flange;

[0007] A linear slide movable platform and a driving component for driving the linear slide movable platform to move are slidably mounted on the zeroing tooling assembly, and an encoder is detachably mounted on the linear slide movable platform and a stepping motor for driving the encoder is fixedly mounted.

[0008] Optionally, the zeroing workbench assembly includes an anti-roll linear slide base, on which a torque sensor is fixedly mounted, and on which a friction torque protector and a coupling for connecting to an output shaft of a servo motor to be zeroed are fixedly mounted.

[0009] Optionally, the drive assembly includes a threaded screw rotatably installed in the anti-roll linear slide base, the threaded screw is threadedly connected to the linear slide movable platform, the linear slide movable platform is slidably connected to the anti-roll linear slide base, a servo motor is fixedly installed on the anti-roll linear slide base, and the output shaft of the servo motor is coaxially fixedly connected to the threaded screw.

[0010] Optionally, a reducer is fixedly mounted on the output shaft of the stepper motor, a rubber conical top cap is fixedly mounted on the output shaft of the reducer, and the output shaft of the reducer is fixedly connected to the encoder via the rubber conical top cap.

[0011] Optionally, a clamping screw is threadedly connected on the moving platform of the linear slide, and the drive encoder is fixedly connected to the moving platform of the linear slide via the clamping screw.

[0012] Optionally, a mounting plate is fixedly installed in the electrical control box, and an input cable fixing head, a DIN rail, a branch terminal group, a circuit breaker, a switching power supply, a terminal fixing, a servo drive, a stepper drive, a single-chip control circuit board and an output cable fixing head are fixedly installed on the mounting plate in sequence.

[0013] In summary, the present application includes at least one of the following beneficial technical effects:

[0014] Simplify the steps of magnetic declination zeroing during motor production, improve product consistency, and reduce the risk of human error. The zeroing device can realize the zeroing operation during servo motor production without tedious operations, and has a simple and reliable structure, low tooling production cost, and the zeroing accuracy fully meets the accuracy requirements required for servo system motion control, which can effectively save the initial debugging time of motor production and assembly, greatly improve production efficiency and effectively improve the controllability of motor quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural diagram of the fully automatic motor zeroing tooling;

[0016] Figure 2 It is a schematic diagram of the structure inside the electrical control box;

[0017] Figure 3 This is a schematic diagram of the connection relationship between the stepper motor and the encoder;

[0018] Figure 4 This is a block diagram of the internal components of the single-chip control board;

[0019] Figure 5 It is the logic flow chart of the single-chip microcomputer control board;

[0020] Figure 6 It is the circuit diagram of the STM32 processor of the single-chip control board;

[0021] Figure 7 This is the circuit diagram of the Ethernet PHY chip LAN8720A;

[0022] Figure 8 It is the AD7606C differential analog signal acquisition chip.

[0023] Figure numerals: 1. Electrical control box; 2. Torque sensor; 3. Friction torque protector; 4. Coupling; 5. Motor mounting flange; 6. Threaded screw; 7. Encoder; 8. Reducer; 9. Stepper motor; 10. Servo motor; 11. Clamping screw; 12. Anti-roll linear slide base; 13. Linear slide moving platform; 14. Rubber conical top cap; 15. Servo drive; 16. Servo motor to be zeroed; 17. Input cable fixing head; 18. DIN rail; 19. Branch terminal group; 20. Circuit breaker; 21. Switching power supply; 22. Terminal fixing piece; 23. Servo drive; 24. Stepper drive; 25. Mounting plate; 26. Single-chip microcomputer control circuit board; 27. Output cable fixing head. DETAILED DESCRIPTION

[0024] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0025] See also Figures 1 to 5 As shown, a fully automatic motor zeroing tool proposed by the present invention comprises an electrical control box 1, a zeroing tooling assembly and an auxiliary servo driver 15, a motor mounting flange 5 is fixedly mounted on the zeroing tooling assembly, and a servo motor 16 to be zeroed is detachably mounted on the motor mounting flange 5;

[0026] A linear slide movable platform 13 and a driving component for driving the linear slide movable platform 13 to move are slidably mounted on the zeroing tooling assembly. An encoder 7 is detachably mounted on the linear slide movable platform 13 and a stepping motor 9 for driving the encoder 7 is fixedly mounted.

[0027] Furthermore, the zeroing workbench assembly includes an anti-roll linear slide base 12, on which a torque sensor 2 is fixedly mounted, and on which a friction torque protector 3 and a coupling 4 for connecting to the output shaft of the servo motor 16 to be zeroed are fixedly mounted.

[0028] The driving assembly includes a threaded screw 6 rotatably installed in the anti-roll linear slide base 12, the threaded screw 6 is threadedly connected to the linear slide movable platform 13, the linear slide movable platform 13 is slidably connected to the anti-roll linear slide base 12, a servo motor 10 is fixedly installed on the anti-roll linear slide base 12, and the output shaft of the servo motor 10 is coaxially fixedly connected to the threaded screw 6. The servo motor 10 is controlled to rotate by the electrical control box 1, which can drive the threaded screw 6 to rotate, and the rotating threaded screw 6 will drive the linear slide movable platform 13 to move.

[0029] The output shaft of the stepper motor 9 is fixedly mounted with a reducer 8, the output shaft of the reducer 8 is fixedly mounted with a rubber conical top cap 14, and the output shaft of the reducer 8 is fixedly connected to the encoder 7 through the rubber conical top cap 14. The output shaft of the stepper motor 9 is equipped with a reducer 8 to meet the accuracy requirements.

[0030] In this embodiment, a clamping screw 11 is threadedly connected to the linear slide movable platform 13 , and the drive encoder 7 is fixedly connected to the linear slide movable platform 13 via the clamping screw 11 .

[0031] The servo motor 16 to be zeroed is installed on the motor mounting flange 5. The motor mounting flange 5 of the tooling can be designed with multiple sets of screw holes to adapt to servo motors 16 to be zeroed of various sizes. It is worth noting that the servo motor 16 to be zeroed must be firmly installed with the motor mounting flange 5, and when the encoder 7 is clamped by the clamping screw 11, the encoder 7 must be installed in the mounting hole when the linear slide moving platform 13 is close to the tail of the servo motor 16 to be zeroed, to prevent the components from being out of center or the mounting holes from being misaligned. The rubber conical top cap 14 for adjusting the core angle of the encoder 7 can be quickly replaced and the shape is determined according to the shape of the encoder 7.

[0032] Furthermore, a mounting plate 25 is fixedly installed in the electrical control box 1, and an input cable fixing head 17, a DIN rail 18, a branch terminal group 19, a circuit breaker 20, a switching power supply 21, a terminal fixing part 22, a servo drive 23, a stepper drive 24, a single-chip control circuit board 26 and an output cable fixing head 27 are fixedly installed on the mounting plate in sequence.

[0033] Among them, the single-chip control circuit board 26 is an EtherCAT master station control board (SOEM solution) with a single-chip microcomputer as the processor. The external AC power supply converts AC220V into DC5V through the on-board power module IRM-20-5 and sends it to the power chip TLV62568 to obtain 3.3V to power the STM32F407 single-chip microcomputer and its peripherals. The STM32F407 single-chip microcomputer is the core processor of the control board. It is connected to three important peripherals, namely: the differential digital-to-analog converter AD7606-C for collecting torque measurement values, the EtherCAT master station transceiver LAN8720A for controlling the servo drive and stepper drive, and the ROM memory AT24C16 for storing SOEM parameters. The logic flow of the single-chip control circuit board 26 is as follows: Figure 5 shown.

[0034] The peripheral initialization includes the initialization of the onboard chip of the circuit board, the conversion of the three external bus-type drivers to OP operating state, and the initialization of the SOEM master bus. It is worth noting that there are strict requirements for the operating state of the two servo drivers inside and outside the box. The auxiliary servo driver outside the box must be in torque mode and limit the cross-axis current during normal operation, and needs to support encoder 7 type. The motor parameters and output limit current (DS402 protocol 0x3127:00, 0x6071:00, etc.) need to be set according to the actual motor and the limit of the friction torque protector 3. The output torque limit of the servo driver 15 in the box needs to be adjusted to just be able to slowly push the encoder 7 into the mounting surface (or slot) at the tail end of the servo motor 16 to be zeroed and not easy to loosen.

[0035] The key PDO control contents of the auxiliary servo drive EtherCAT bus are as follows:

[0036] Serial number DS402 Protocol use 1 0x6040:00 Servo controller, control enable, shutdown, etc. 2 0x6060:00 Operation mode, control switching torque mode 3 0x6071:00 Target torque setting 4 0x6077:00 Torque feedback value 5 0x3101:00 Current Feedback 6 0x3127:00 Torque quadrature axis limiting current, set as required

[0037] By adjusting the torque quadrature-axis reference current limit value at 0x3127:00 in the PDO process data, the output torque limit value can be changed, which is convenient for adapting to servo motors with different parameters. At the same time, selecting the appropriate range can improve the overall homing accuracy.

[0038] example:

[0039] Assuming that the torque limit of the friction torque protector 3 is 10Nm, the torque sensor range is 20Nm, and the motor torque constant Kt is 4, ideally, when the driver outputs a driving current of 2A, the output of the servo motor 16 to be zeroed should be 8Nm. Therefore, the EtherCAT master station should set the bus PDO data 0x6060 operation mode to torque mode, 0x6071 target torque to 8Nm, 0x3127 cross-axis limit current to 2A, and 0x6040 control word to enable. The microcontroller reads the torque sensor measurement value through ADC and reads the 0x6077 torque feedback value through the bus. Then the microcontroller controls the circuit board 26 to control the encoder 7 to adjust the stepper motor 9 to slowly adjust the encoder 7 core forward and reverse (the rotation range covers at least ±360° electrical angle), and finds the point where the measured torque is approximately consistent with the feedback torque as the zero point.

[0040] When in use, first reset the device through the electrical control box 1, then manually install the servo motor 16 to be zeroed on the tooling motor mounting flange 5, and clamp the encoder 7 on the linear slide moving platform 13 through the clamping screws 11 (at the initial moment, the linear slide moving platform 13 is in a position close to the stepper motor 9, so that the encoder 7 mounting hole and the stepper motor 9 mounting surface are aligned), the encoder 7 mounting hole and the stepper motor 9 tail mounting surface are aligned and clamped, and then start the system through the electrical control box 1.

[0041] After starting the system, the electrical control box 1 will control the servo driver 15 (need to support the communication type of the encoder 7, and the servo that matches the motor will be better) to work in the torque mode and generate a driving current for achieving the target torque output of the servo motor 16 to be zeroed (the output current setting calculated according to the torque constant of the servo motor 16 to be zeroed should be less than the maximum torque value of the friction torque protector 3), and then the single-chip control circuit board 26 in the electrical control box 1 controls the stepper motor 9 in the figure according to the torque value measured in real time by the torque sensor 2. The stepper motor 9 drives the reducer 8 to control the clamped encoder 7 core to rotate slowly forward and reverse through the rubber conical top cap 14, and finds the position of the minimum current and maximum output torque collected by the single-chip control circuit board 26 and basically consistent with the stepper driver 24 through the bus feedback. After reaching this position, the linear slide moving platform 13 (the driver in the electrical control box 1 controls the servo motor 10 to drive the threaded screw 6 to rotate) pushes the encoder 7 into the encoder 7 mounting surface at the tail of the servo motor 16 to be zeroed, and then manually marks the zero position and tightens the encoder 7 to complete the encoder 7 zeroing operation.

[0042] The STM32F407ZET6 processor circuit of the microcontroller control board is as follows: Figure 6As shown in the figure, the RMII data line is used to connect the Ethernet PHY chip LAN8720A, the SPI bus is used to connect the AD7606C differential analog acquisition chip, and the IIC bus is used to connect the external memory AT24C16. The SOEM master station runs in the STM32F407ZET6 processor to realize EtherCAT bus communication.

[0043] like Figure 7 As shown, to ensure the reliability of EtherCAT industrial Ethernet, it is best to set an external independent metal package crystal oscillator with a frequency of 25MHz for LAN8720A.

[0044] Figure 8 The range of the AD7606C differential analog acquisition chip shown can be set through the microcontroller program (this zero adjustment tool is set to ±10V, which is compatible with the torque sensor output). The communication mode of the chip is optional. This zero adjustment tool chooses SPI bus communication, using DB07 and DBO11 as data lines.

[0045] Working principle: By utilizing the characteristic that the servo motor 16 to be zeroed has the highest efficiency after the electrical angle phase of the servo motor encoder 7 is aligned (zeroed), and the ratio calculation result of the actual torque output measured externally and the output current through the servo driver 15 and the torque constant Kt of the servo motor 16 to be zeroed is close to or the same, the relative angle between the encoder 7 rotation angle and the rotor pole of the servo motor 16 to be zeroed is mechanically adjusted, and the encoder rotation angle position with the minimum current and maximum torque output is indirectly found, and this position is used as the electrical angle phase zero point of the encoder 7 of the servo motor 16 to be zeroed, and the assembler is assisted in tightening the encoder.

[0046] The above specific embodiments are only several optional embodiments of the present invention. Based on the technical solutions of the present invention and the relevant inspirations of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

Claims

1. A fully automatic motor zeroing tool, characterized in that: include: An electrical control box (1), a zeroing tooling assembly and an auxiliary servo driver (15), wherein a motor mounting flange (5) is fixedly mounted on the zeroing tooling assembly, and a servo motor (16) to be zeroed is detachably mounted on the motor mounting flange (5); A linear slide movable platform (13) and a driving component for driving the linear slide movable platform (13) to move are slidably mounted on the zeroing tooling assembly; an encoder (7) is detachably mounted on the linear slide movable platform (13) and a stepping motor (9) for driving the encoder (7) is fixedly mounted on the linear slide movable platform (13).

2. The fully automatic motor zeroing tool according to claim 1, characterized in that: The zeroing tooling assembly comprises an anti-roll linear slide base (12), a torque sensor (2) is fixedly mounted on the anti-roll linear slide base (12), and a friction torque protector (3) and a coupling (4) are fixedly mounted on the torque sensor (2).

3. The fully automatic motor zeroing tool according to claim 2, characterized in that: The coupling (4) is coaxially and fixedly connected to the output shaft of the servo motor (16) to be zero-adjusted, and the other end of the coupling (4) is fixedly connected to the friction torque protector (3).

4. The fully automatic motor zeroing tool according to claim 2, characterized in that: The driving assembly comprises a threaded screw (6) rotatably mounted in an anti-roll linear slide base (12); the threaded screw (6) is threadedly connected to the linear slide movable platform (13); a servo motor (10) is fixedly mounted on the anti-roll linear slide base (12); an output shaft of the servo motor (10) is coaxially fixedly connected to the threaded screw (6).

5. The fully automatic motor zeroing tool according to claim 4 is characterized in that: The linear slide movable platform (13) is slidably connected to the anti-roll linear slide base (12).

6. The fully automatic motor zeroing tool according to claim 5, characterized in that: A reducer (8) is fixedly mounted on the output shaft of the stepper motor (9), a rubber conical top cap (14) is fixedly mounted on the output shaft of the reducer (8), and the output shaft of the reducer (8) is fixedly connected to the encoder (7) via the rubber conical top cap (14).

7. The fully automatic motor zeroing tool according to claim 6, characterized in that: A clamping screw (11) is threadedly connected to the linear slide movable platform (13), and the drive encoder (7) is fixedly connected to the linear slide movable platform (13) via the clamping screw (11).

8. The fully automatic motor zeroing tool according to claim 1, characterized in that: A mounting plate (25) is fixedly installed in the electrical control box (1), and an input cable fixing head (17), a DIN rail (18), a branching terminal group (19), a circuit breaker (20), a switching power supply (21), a terminal fixing part (22), a servo drive (23), a stepping drive (24), a single-chip control circuit board (26) and an output cable fixing head (27) are fixedly installed on the mounting plate in sequence.

Images