Rotary mechanical equipment

Abstract

A rotary mechanical device detects a vibration according to a double rotation frequency to suppress the vibration of the rotary mechanical device.

Description

Technical Field

[0001] The present invention relates to a rotating mechanical device, and in particular to detecting vibration phenomena based on twice the rotation frequency and suppressing the vibration of the rotating mechanical device. Background Art

[0002] Rotating machinery often generates vibrations during operation. This may occur in one of the multiple devices in the equipment, or in two or more devices at the same time; or in different devices, vibrations may occur at overlapping times, or in a single device. The vibration of rotating machinery has a significant impact on the performance and accuracy of the equipment during operation.

[0003] In view of the problems found in the product development process, a rotating mechanical equipment is proposed to suppress the vibration of the rotating mechanical equipment, overcome the above-mentioned vibration phenomenon, and improve the performance and accuracy of the equipment. Summary of the invention

[0004] The object of the present invention is to provide a rotating mechanical device, which detects a vibration based on twice the rotation frequency to suppress the vibration and improve the performance and accuracy of the device.

[0005] The purpose of the present invention is to provide a rotating mechanical device, which detects vibration based on twice the rotation frequency during initial startup operation and stores the detection information; in subsequent operations, vibration suppression is started based on the detection information to improve the performance and accuracy of the device.

[0006] To achieve the aforementioned object of the invention, the rotating mechanical device of the present invention detects a vibration based on twice the rotation frequency.

[0007] Among them, the rotating mechanical equipment detects the vibration of the reducer based on twice the rotation frequency.

[0008] The rotating mechanical device includes a micro-control circuit and a rotating module. The micro-control circuit receives a position command and generates a control signal according to the position command to control the rotating frequency. The rotating module is coupled to the micro-control circuit and receives the control signal to operate at the rotating frequency according to the control signal.

[0009] The microcontroller circuit includes a first error circuit, a position circuit, a second error circuit, a speed circuit, a third error circuit and a current controller. The first error circuit receives a position command to output a first error signal according to the position command. The position circuit is coupled to the first error circuit and receives the first error signal to output a position output signal according to the first error signal. The second error circuit is coupled to the position circuit and receives the position output signal to generate a second error signal according to the position output signal. The speed circuit is coupled to the second error circuit and receives the second error signal to generate a speed output signal according to the second error signal. The third error circuit is coupled to the speed circuit and receives the speed output signal to generate a third error signal according to the speed output signal. The current controller is coupled to the third error circuit and receives the third error signal to generate a control signal according to the third error signal.

[0010] The rotation module includes a motor, a first encoder, a reducer and a second encoder. The motor is coupled to the microcontroller circuit and receives a control signal to operate at the rotation frequency according to the control signal. The first encoder is connected to the motor and detects the rotation frequency of the motor to generate a first detection signal. The reducer is connected to the motor via the first encoder to operate at a rotation frequency according to the rotation frequency of the motor. The second encoder is connected to the reducer and detects the rotation frequency of the reducer to generate a second detection signal to the microcontroller circuit.

[0011] Furthermore, the rotating mechanical device includes a detection circuit and a vibration suppression circuit. The detection circuit receives a position command to generate a detection signal according to the position command. The vibration suppression circuit is coupled to the detection circuit and receives the detection signal to suppress vibration.

[0012] The detection circuit includes a command operation circuit and a judgment circuit. The command operation circuit receives the position command to calculate the command speed of the position command. The judgment circuit is coupled to the command operation circuit and receives the command speed to compare the command speed with the command threshold to generate a judgment signal. In addition, the detection circuit starts detection according to the judgment signal and detects the amplitude of 2 times the rotation frequency to generate a detection signal.

[0013] The vibration suppression circuit includes a compensation coefficient, and is coupled to a first encoder and a second encoder to receive a first detection signal and a second detection signal, so as to calculate a compensation signal and a compensation torque control loop according to the compensation coefficient, the first detection signal and the second detection signal.

[0014] The rotating mechanical device includes a mechanical arm and a gravity sensor. The gravity sensor is arranged on the mechanical arm and generates a gravity signal according to the rotation frequency. The gravity sensor is coupled to the micro-control circuit and transmits the gravity signal to the micro-control circuit to adjust the rotation frequency.

[0015] Furthermore, the rotating mechanical device detects a vibration according to the position command and twice the rotation frequency, stores the detection information of the relevant position command after the detection, and starts vibration suppression according to the position command and the detection information.

[0016] The first error circuit is coupled to the first encoder and receives the position command and the first detection signal, and outputs a first error signal according to the position command and the first detection signal. The second error circuit is coupled to the first error circuit and the first encoder, and generates a second error signal according to the first error signal and the first detection signal. The third error circuit is coupled to the second error circuit and the motor, and generates a third error signal according to the second error signal and the motor current for generating a control signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 , which is a schematic diagram of a rotating mechanical device of the present invention;

[0018] Figure 2 , which is a circuit diagram of a first embodiment of a partial circuit of a rotating mechanical device of the present invention;

[0019] Figure 3 , which is a circuit diagram of a second embodiment of a partial circuit of a rotating mechanical device of the present invention;

[0020] Figure 4 , which is a circuit diagram of a third embodiment of a partial circuit of a rotating mechanical device of the present invention;

[0021] Figure 5 , which is a circuit diagram of a fourth embodiment of a partial circuit of a rotating mechanical device of the present invention;

[0022] Figure 6 , which is a flow chart of a first embodiment of the detection circuit detecting a position command of the present invention;

[0023] Figure 7 , which is a flow chart of a second embodiment of the detection circuit detecting position commands of the present invention;

[0024] Figure 8 , which is a flow chart of a first embodiment of the present invention for detecting vibration of a rotating mechanical device;

[0025] Fig. 9 , which is a flow chart of a second embodiment of the present invention for detecting vibration of a rotating mechanical device;

[0026] Fig.10 , which is a flow chart of a third embodiment of the present invention for detecting vibration of a rotating mechanical device;

[0027] Fig.11 , which is a flow chart of a fourth embodiment of the present invention for detecting vibration of a rotating mechanical device;

[0028] Fig.12 , which is a flow chart of a fifth embodiment of the present invention for detecting vibration of a rotating mechanical device;

[0029] Fig.13 , which is a flow chart of an embodiment of the present invention for calculating the compensation coefficient of the rotating mechanical equipment; and

[0030] Fig.14 , which is a waveform diagram of an embodiment of the present invention for detecting vibration based on twice the rotation frequency.

[0031]

Explanation of symbols

[0032] 1 Rotating mechanical equipment

[0033] 2 Joint device

[0034] 3-axis arm

[0035] 4 Control host

[0036] 11. First error circuit

[0037] 12 Second Error Circuit

[0038] 13. Third Error Circuit

[0039] 14 Position circuit

[0040] 15 Speed ​​Circuit

[0041] 16 Current Controller

[0042] 17 Analog-to-digital conversion circuit

[0043] 18 Speed ​​calculation circuit

[0044] 20 Detection circuit

[0045] 21. Vibration suppression circuit

[0046] 22 Command operation circuit

[0047] 23 Judgment Circuit

[0048] 30 Motor

[0049] 31 First Encoder

[0050] 32 Reducer

[0051] 33 Second encoder

[0052] 34 Current Sensor

[0053] 35 Gravity Sensor

[0054] A1 Microcontroller Circuit

[0055] B1 Rotation Module

[0056] S11 First error signal

[0057] S12 Second error signal

[0058] S13 The third error signal

[0059] S14 Position output signal

[0060] S15 speed output signal

[0061] S16 control signal

[0062] S17 Digital Signal

[0063] S18 speed operation signal

[0064] S20 Detection Signal

[0065] S21 compensation signal

[0066] S22 Command speed

[0067] S23 judgment signal

[0068] S30 Motor current

[0069] S31 First detection signal

[0070] S33 Second detection signal

[0071] S34 Current sensing signal

[0072] S35 Gravity Signal

[0073] TH1 command threshold

[0074] TH2 Amplitude Threshold

[0075] TH3 Abnormal Threshold DETAILED DESCRIPTION

[0076] See also Figure 1 , which is a schematic diagram of a rotary mechanical device of the present invention. As shown in the figure, the rotary mechanical device 1 includes a robotic arm and a control host 4, and the robotic arm includes a plurality of joint devices 2 and a plurality of shaft arms 3. The plurality of joint devices 2 and the plurality of shaft arms 3 are connected in series to form a robotic arm, and the control host 4 is coupled to the robotic arm and outputs relevant signals or data to control the operation of the robotic arm.

[0077] See also Figure 2, which is a circuit diagram of the first embodiment of a partial circuit of a rotating mechanical device of the present invention. As shown in the figure, the rotating mechanical device 1 includes a micro-control circuit A1 and a rotating module B1. The micro-control circuit A1 can be set in the joint device 2 or in the control host 4, which are all optional designs. Therefore, the rotating mechanical device 1 can include multiple or a single micro-control circuit A1, wherein how to design a single micro-control circuit A1 to drive multiple joint devices 2 is not described here. The micro-control circuit A1 is coupled to the rotating module B1 to drive the rotating module B1 to rotate, thereby driving the robot arm to move. The joint device 2 includes a rotating module B1, and the rotating module B1 includes a rotating machine. The rotating machine can be, for example, a motor 30, a first encoder 31, a second encoder 33 or a reducer 32. The encoder can be optical, electromagnetic, etc.

[0078] See also Figure 2 , the micro-control circuit A1 receives the position command SIN, and outputs a control signal S16 according to the position command SIN to control (or adjust) the rotation frequency of the rotation module B1. The micro-control circuit A1 includes a first error circuit 11, a position circuit 14, a second error circuit 12, a speed circuit 15, a third error circuit 13 and a current controller 16. The first error circuit 11 receives the position command SIN to output a first error signal S11 according to the position command SIN. The position circuit 14 is coupled to the first error circuit 11 and receives the first error signal S11 to output a position output signal S14 according to the first error signal S11. The second error circuit 12 is coupled to the position circuit 14 and receives the position output signal S14 to generate a second error signal S12 according to the position output signal S14. The speed circuit 15 is coupled to the second error circuit 12 and receives the second error signal S12 to generate a speed output signal S15 according to the second error signal S12. The third error circuit 13 is coupled to the speed circuit 15 and receives the speed output signal S15 to generate a third error signal S13 according to the speed output signal S15. The current controller 16 is coupled to the third error circuit 13 and receives the third error signal S13 to generate a control signal S16 to the rotation module B1 according to the third error signal S13. Furthermore, the position circuit 14 can adjust the rotation position of the motor 30, and the speed circuit 15 can adjust the rotation speed of the motor 30, so the current controller 16 adjusts the operation state of the motor 30 according to various adjustment information.

[0079] The microcontroller circuit A1 further includes an analog-to-digital conversion circuit 17 (or AD circuit) and a speed operation circuit 18. The analog-to-digital conversion circuit 17 is coupled to the third error circuit 13, and outputs a digital signal S17 to the third error circuit 13. Thus, the third error circuit 13 generates a third error signal S13 to the current controller 16 according to the digital signal S17 and the speed output signal S15. However, when the circuit design uses analog signals as a transmission method, the analog-to-digital conversion circuit 17 can be omitted. The speed operation circuit 18 is coupled to the second error circuit 12, and outputs a speed operation signal S18 to the second error circuit 12. Thus, the second error circuit 12 generates a second error signal S12 according to the speed operation signal S18 and the position output signal S14.

[0080] The rotating mechanical device 1 includes a current sensor 34 and a gravity sensor 35. The current sensor 34 can be disposed inside or outside the rotating module B1, or at a location suitable for sensing current. Figure 2 In the embodiment, the current sensor 34 is coupled to the microcontroller circuit A1 and the rotating module B1, and senses the current of the rotating module B1 to generate a current sensing signal S34, and outputs it to the microcontroller circuit A1. In this way, the microcontroller circuit A1 adjusts the control signal S16 according to the current of the rotating module B1, thereby adjusting the rotation state of the rotating module B1. The gravity sensor 35 is coupled to the microcontroller circuit A1 and transmits a gravity signal S35 to the microcontroller circuit A1 to adjust the rotation frequency. The gravity sensor 35 can be disposed in the rotating mechanical device 1, such as a mechanical arm of the rotating mechanical device 1, to sense the motion state of the mechanical arm (such as the rotation frequency or the gravity acceleration of a specific axis), and generate a gravity signal S35. The gravity signal S35 generated by the gravity sensor 35 can be an analog signal, and transmitted to the analog-to-digital conversion circuit (such as the AD circuit of Figure 17 or other AD circuits) in the microcontroller circuit A1; or the gravity sensor 35 can include, for example, an analog-to-digital conversion circuit 17, which converts the gravity signal S35 into a digital gravity signal S35.

[0081] The rotation module B1 is coupled to the micro-control circuit A1 and receives the control signal S16 to operate at a rotation frequency according to the control signal S16. The rotation module B1 includes a motor 30, a first encoder 31, a second encoder 33 and a reducer 32. The motor 30 is coupled to the micro-control circuit A1 and receives the control signal S16 to operate at a rotation frequency according to the control signal S16, that is, to control the rotation of the motor 30 at a specific frequency. In other words, the motor 30 rotates at a specific speed. The first encoder 31 is connected to the motor 30 and detects the rotation frequency of the motor 30 to generate a first detection signal S31 to the micro-control circuit A1. The reducer 32 is connected to the motor 30 via the first encoder 31 to operate at a rotation frequency according to the rotation frequency of the motor 30, wherein there is a difference in reduction ratio between the rotation speed output by the reducer 32 and the rotation speed output by the motor 30. The second encoder 33 is connected to the reducer 32 and detects the rotation frequency of the reducer 32, and generates a second detection signal S33 to the micro-control circuit A1, wherein the rotation frequency of the reducer 32 is less than the rotation frequency of the motor 30 and there is a difference. Furthermore, the first encoder 31 is coupled to the speed calculation circuit 18 and the detection circuit 20, and the second encoder 33 is coupled to the first error circuit 11, the speed calculation circuit 18 and the detection circuit 20, so as to transmit the first detection signal S31 and the second detection signal S33 respectively for processing or / and calculation.

[0082] See also Figure 2 The rotating mechanical device 1 includes a detection circuit 20 and a vibration suppression circuit 21. The detection circuit 20 receives a position command SIN to generate a detection signal S20 according to the position command SIN. The vibration suppression circuit 21 is coupled to the detection circuit 20 and receives the detection signal S20 to suppress vibration. The vibration may be vibration occurring in the rotating module B1 or the mechanical arm (such as the shaft arm 3) during operation. In other words, the present invention is not limited to the application in the joint device 2.

[0083] Furthermore, the detection circuit 20 includes a command operation circuit 22 and a judgment circuit 23. The command operation circuit 22 receives the position command SIN to calculate the command speed S22 of the position command SIN, that is, different position commands SIN correspond to different command speeds S22. The judgment circuit 23 is coupled to the command operation circuit 22 and receives the command speed S22 to compare the command speed S22 with the command threshold TH1 to generate a judgment signal S23. In addition, the detection circuit 20 starts detection according to the judgment signal S23, and detects the amplitude of 2 times the rotation frequency to generate a detection signal S20. The detection circuit 20 can be coupled to the speed operation circuit 18, the second encoder 33, the analog-to-digital conversion circuit 17, the gravity sensor 35 or / and the first encoder 31, and detects the vibration of the rotation module B1 according to the speed operation signal S18, the digital signal S17, the second detection signal S33 or / and the first detection signal S31, and generates a detection signal S20 to determine whether to start the vibration suppression circuit 21 to perform the vibration suppression procedure. The vibration suppression circuit 21 includes a compensation coefficient, and is coupled to the first encoder 31 and the second encoder 33, and receives the first detection signal S31 and the second detection signal S33, so as to calculate the compensation signal S21 and the compensation torque control loop according to the compensation coefficient, the first detection signal S31 and the second detection signal S33. The compensation coefficient is used to adjust the operating state of the rotation module B1, such as adjusting the operating state of the motor 30 or the reducer 32, and the operating state is, for example, the speed or frequency of rotation (or rotation).

[0084] The vibration suppression circuit 21 is coupled to the torque control loop and outputs a compensation signal S21 to the torque control loop. The torque control loop includes a third error circuit 13, a current controller 16, a motor 30, a current sensor 34 and an analog digital circuit 17, wherein the analog digital circuit 17 can be selectively omitted in the circuit design. Therefore, the vibration suppression circuit 21 is coupled to the third error circuit 13 and outputs a compensation signal S21 to the third error circuit 13 to change the operating state of the motor 30. In other words, the third error circuit 13 generates a third error signal S13 to the current controller 16 according to the compensation signal S21, the speed output signal S15 and the digital signal S17 to adjust the motor current of the motor 30.

[0085] See also Figure 3 , which is a circuit diagram of a second embodiment of a partial circuit of a rotating mechanical device of the present invention. As shown in the figure, Figure 3 and Figure 2 The difference between the embodiments is that Figure 2 To adjust the torque control loop, change the state of the rotation module B1. Figure 3The vibration suppression circuit 21 is integrated into the speed circuit 15 to adjust the speed output signal S15. Therefore, the detection circuit 20 outputs the detection signal S20 to the speed circuit 15, and the speed circuit 15 adjusts the speed output signal S15 according to the detection signal S20 and the second error signal S12. The rest of the technical content is similar to Figure 2 The embodiments will not be repeated.

[0086] See also Figure 4 , which is a circuit diagram of the third embodiment of the partial circuit of the rotating mechanical device of the present invention. As shown in the figure, Figure 4 and Figure 2-3 The difference between the embodiments is that Figure 4 The embodiment integrates the vibration suppression circuit 21 into the position circuit 14 to adjust the position output signal S14. Therefore, the detection circuit 20 outputs the detection signal S20 to the position circuit 14, and the position circuit 14 adjusts the position output signal S14 according to the detection signal S20 and the first error signal S11. In addition, if the circuit design is to integrate the position circuit 14 or the speed circuit 15 into the vibration suppression circuit 21, it is also a feasible method. The rest of the technical content is similar to Figure 2 The embodiments will not be repeated.

[0087] See also Figure 5 , which is a circuit diagram of a fourth embodiment of a partial circuit of a rotating mechanical device of the present invention. As shown in the figure, the method of calculating the first error signal S11 can be changed to that the first error circuit 11 is coupled to the first encoder 31, and the first error signal S11 is obtained according to the first detection signal S31, which is different from Figures 2 to 4 The operation method of the embodiment. Therefore, the first error circuit 11 is not coupled to the second encoder 33 but is coupled to the first encoder 31, and receives the position command SIN and the first detection signal S31, and outputs the first error signal S11 according to the position command SIN and the first detection signal S31. The second error circuit 12 is coupled to the first error circuit 11 and the first encoder 31, and generates the second error signal S12 according to the first error signal S11 and the first detection signal S31. The third error circuit 13 is coupled to the second error circuit 12 and the motor 30, and generates the third error signal S13 according to the second error signal S12 and the motor current S30, so as to generate a control signal S16. In addition, Figures 2 to 5 The technical contents within the embodiments can be used interactively.

[0088] See also Figure 6, which is a flow chart of the first embodiment of the detection circuit of the present invention detecting the position command. When the rotating mechanical device 1 initially operates and receives the position command SIN, the detection circuit 20 starts the detection procedure according to the position command SIN. Step S1, the detection circuit 20 reads the position command SIN, wherein the detection circuit 20 may include a reading circuit to read the position command SIN received by the rotating mechanical device 1 (such as the control host 4), or the position command SIN is directly input into the detection circuit 20, which is not limited to the embodiment. Step S2, the command operation circuit 22 operates the position command SIN to obtain the command speed S22. Step S3, the judgment circuit 23 compares the command threshold TH1 according to the command speed S22 to determine whether the command speed S22 is greater than the command threshold TH1. If it is greater than the command threshold TH1, it means that the control of the rotation module B1 by the position command SIN has a probability of causing the rotation module B1 to vibrate. Therefore, enter step S4 to detect the result of the micro-control circuit A1 controlling the motor 30 according to the position command SIN. Thereafter, Figure 6 The embodiment is to detect based on the rotation speed of the motor 30 (i.e., the motor speed), that is, the speed operation circuit 18 generates a speed operation signal S18 to the detection circuit 20 based on the first detection signal S31 to detect whether the motor speed controlled by the position command SIN causes vibration. In step S3, if the command speed S22 is less than or equal to the command threshold TH1, the control of the rotation module B1 by the position command SIN has no probability of causing the rotation module B1 to vibrate, so it returns to step S1 to detect the next position command. However, according to product requirements (such as a wider range of vibration suppression), the judgment method can also be changed to the command speed S22 is less than the command threshold TH1, and the command speed S22 is greater than or equal to the command threshold TH1, and decide whether to enter step S4.

[0089] See also Figure 7 , which is a flow chart of the second embodiment of the detection circuit detecting position commands of the present invention. As shown in the figure, the detection options of the detection program can have a total of 5 types of information detection options in addition to the motor speed, and the rest are detection of position error, motor current, gravity sensing and / or inner and outer ring encoders. The inner ring encoder is the encoder for measuring the motor 30, which is the first encoder 31, and the outer ring encoder is the encoder for measuring the reducer 32, which is the second encoder 33. The detection options of the detection program can select a single information for detection, or select all 5 types of information for detection, and select the information with the largest amplitude of vibration as the basis for adjusting the compensation coefficient.

[0090] See also Figure 8, which is a flow chart of the first embodiment of the rotating mechanical device of the present invention for detecting vibration. As shown in the figure, the rotating mechanical device 1 uses the motor speed to search whether vibration occurs. First, step S40 checks whether the stored detection information has recorded the same position command SIN, and there is a probability of vibration, wherein the detection information can be a detection flag. In this way, check whether the detection flag is 1. If it is 1, it means that the corresponding position command SIN has a probability of vibration. Previously, the initial startup of the rotating mechanical device 1 was used as an example for explanation, so the detection flag should be 0 (that is, not 1). Step S41, when the rotating mechanical device 1 is in continuous operation, the information related to the motor speed has multiple records, so first set the interval for reading and counting information (or data). The interval is the range of the data to be detected (for example, 512 records of data), so it can be called a detection interval. Step S42, read the position of the motor end, that is, read the first detection signal S31. Step S43, calculate the motor speed according to the first detection signal S31. Step S44, read the motor speed after the calculation and record it, so that it can be drawn as shown below. Fig.14 Step S45, checking whether the 512 data in the detection interval range have been read, that is, whether the counter has counted to 512.

[0091] Step S46, calculate the average of the 512 related motor speeds. Step S47, convert the 512 motor speeds recorded in the detection interval into rotation frequency using Fast Fourier Transform (FFT), so that the following can be plotted: Fig.14 The horizontal axis represents the frequency. Step S48, thus obtaining the vibration amplitude of the rotation module B1 at 2 times the rotation frequency. Step S49, determining whether the amplitude corresponding to the 2 times rotation frequency is greater than the amplitude threshold TH2 (e.g. Fig.14 If the amplitude is less than or equal to the amplitude threshold TH2, the detection circuit 20 generates a detection signal S20 not to start the vibration suppression program, resets the detection information to 0, and ends the detection program. If the amplitude is greater than the amplitude threshold TH2, proceed to step S50 to check whether the amplitude is greater than the abnormal threshold TH3 (such as Fig.14 ), if the amplitude is also greater than the abnormal threshold TH3, it means that there is an abnormality in the rotating module B1, which may be due to old components, loose components, or assembly errors, etc. In other words, the quality of the components and components of the rotating machinery affects the rotation frequency during operation. Therefore, the detection circuit 20 will additionally generate an abnormal signal for the control host 4 to control the rotating mechanical device 1 to stop operating, or to issue an alarm message, etc. In step S50, if the amplitude is not greater than the abnormal threshold TH3, the detection circuit 20 generates a detection signal S20 to start the vibration suppression program to the vibration suppression circuit 21, and enters the suppression process sequence (such as Fig.13 ).

[0092] See also Fig. 9, which is a flow chart of the second embodiment of the present invention for detecting vibration of a rotating mechanical device. As shown in the figure, Fig. 9 Example and Figure 8 The difference between the embodiments is that Figure 8 Searching for vibrations based on data related to motor speed, Fig. 9 The embodiment searches for vibration based on position error data. Fig. 9 Vibration is searched based on the difference between the position of the motor 30 and the position command SIN. As mentioned above, the position command SIN corresponds to the command speed S22, and the command speed S22 corresponds to the position to which the motor 30 should rotate at a specific speed, so the position error is also one of the implementation methods for detecting vibration. In other words, when vibration occurs, the position of the motor 30 is not the position controlled by the position command SIN. Similarly, the position of the reducer 32 is not the position corresponding to the position command SIN (after the reduction ratio). Fig. 9 The embodiment performs FFT transformation on each position error data into a rotation frequency, and checks whether the amplitude exceeds the amplitude threshold TH2 based on 2 times the rotation frequency. Fig. 9 Step 61, step 65, step 66, step 68 are corresponding to steps 69 to 71 Figure 8 The technical contents of step 41, step 45, step 46, step 48 and steps 49 to 51 are similar and will not be repeated here.

[0093] See also Fig.10 , which is a flow chart of the third embodiment of the present invention for detecting vibration of a rotating mechanical device. As shown in the figure, compared with the above-mentioned embodiment, Fig.10 The vibration of the rotating mechanical device 1 is detected by using the relevant information of the motor current. Therefore, the current sensor 34 generates a current sensing signal S34 after sensing the motor 30, and the detection interval for reading and counting, that is, the number of sensing times (data volume), can be 256 or 1024 in addition to 512 records, which is not limited to the embodiment. Fig.10 After recording the motor current and the motor speed, the embodiment performs FFT transformation on the data of the motor current to convert it into the rotation frequency. Fig.10 Step 81, step 85, step 86, step 88 are corresponding to steps 89 to 91 Fig. 9 Step 61, step 65, step 66, step 68 and steps 69 to 7 have similar technical contents and will not be repeated here.

[0094] See also Fig.11 , which is a flow chart of the fourth embodiment of the present invention for detecting vibration of a rotating mechanical device. As shown in the figure, compared with the previous embodiment, Fig.11The gravity sensor 35 detects the vibration of the rotating mechanical device 1 by using the gravity sensing related information. Therefore, the gravity sensor 35 senses the movement of the mechanical arm to obtain the gravity sensing value and generates a gravity signal S35 to the detection circuit 20. Fig.11 After recording the gravity value and the motor speed, the embodiment performs FFT transformation on all data related to the gravity value into the rotation frequency. Fig.11 Step 101, step 105, step 106, step 108 are corresponding to steps 109 to 111 Fig.10 Step 81, step 85, step 86, step 88 and steps 89 to 91 have similar technical contents and will not be repeated here.

[0095] See also Fig.12 , which is a flow chart of the fifth embodiment of the present invention for detecting vibration of rotating mechanical equipment. Fig.12 The embodiment uses the relevant information of the inner and outer ring encoders as a way to detect vibration, that is, the rotating mechanical device 1 (detection circuit 20) detects according to the first detection signal S31 and the second detection signal S33 generated by the first encoder 31 and the second encoder 33. In step S123, after calculating the difference between the encoder data and the motor speed, the difference data and the motor speed are recorded in step S124. In step S127, the information of the two related encoders is transformed into a rotation frequency by FFT. As in the previous four embodiments, the corresponding amplitude is searched according to 2 times the rotation frequency (equivalent to 2 times the motor speed). Fig.12 Step 121, step 125, step 126, step 128 are corresponding to steps 129 to 131 Fig.11 The technical contents of steps 101, 105, 106, 108 and 109-111 are similar and will not be repeated. In other words, in the five detection option embodiments, steps 42-44 and 47, steps 62-64 and 67, steps 82-84 and 87, steps 102-104 and 107, and steps 122-124 and 127 have different execution contents according to different detection data, but the basic technical idea is the same, that is, to search for vibration phenomena.

[0096] Please refer to 12, which is a flow chart of an embodiment of the present invention for calculating the compensation coefficient of the rotating mechanical equipment. As shown in the figure, Fig.13 In the embodiment, step 121 sets the detection flag to 1, that is, after the detection program completes the detection of the position command SIN, the detection information records that the current position command SIN has a chance to cause the rotation module B1 to vibrate. Fig.12The relevant information of the inner and outer ring encoders is obtained, that is, the two encoder data of the motor end and the output end (i.e., the reducer end) are read, and after calculating the difference between the two encoder data in step S123, the compensation value (i.e., the compensation signal S21) can be calculated in step S124 with the compensation coefficient. Therefore, the torque control loop can be compensated in step S125.

[0097] In accordance with the above, since the vibration suppression program has recorded that the current position command SIN has a chance to cause the rotation module B1 to vibrate, the subsequent operation of the rotating mechanical device 1, if receiving the same position command SIN, can detect the stored detection information (such as Figure 8 Step S40: Fig. 9 Step S60: Fig.10 Step S80: Fig.11 Step S100 and Fig.12 After step S120), the remaining steps of the detection procedure are omitted and the vibration suppression procedure is directly started, such as Fig.13 Steps S51, S71, S91, S111 and S131 are to generate a detection signal for starting the vibration suppression program after a complete detection (all detection steps), such as Fig.13 Shown above left.

[0098] In summary, the purpose of the present invention is to provide a rotating mechanical device, which detects a vibration based on twice the rotation frequency to achieve vibration suppression and improve the performance and accuracy of the device.

[0099] Furthermore, after the detection module (e.g., including the detection circuit and the vibration suppression circuit) of the rotating mechanical equipment initially runs the detection program, the detection information is stored, so that in the subsequent operation, most of the detection program can be omitted according to the detection information, and vibration suppression (i.e., the vibration suppression circuit) can be started without executing all the processes of the detection program, thereby reducing the working schedule (i.e., reducing the detection time). The present invention can be applied to one of the multiple devices in the equipment, or more than two devices, to suppress the vibration of each device or solve the vibration problem together.

Claims

1. A rotating mechanical device, comprising: A rotation frequency, the rotating mechanical device detects vibration based on twice the rotation frequency.

2. The rotating mechanical device according to claim 1, wherein: The rotating mechanical device detects the vibration of the reducer based on twice the rotation frequency.

3. The rotating mechanical device according to claim 1, comprising: A micro-control circuit receives a position command and generates a control signal according to the position command to control the rotation frequency; and The rotation module is coupled to the micro-control circuit, receives the control signal, and operates at the rotation frequency according to the control signal.

4. The rotating mechanical device according to claim 3, wherein: The microcontroller circuit includes: A first error circuit receives the position command and outputs a first error signal according to the position command; and A position circuit, coupled to the first error circuit, receives the first error signal, and outputs a position output signal according to the first error signal; A second error circuit is coupled to the position circuit, receives the position output signal, and generates a second error signal according to the position output signal; A speed circuit, coupled to the second error circuit, receives the second error signal, and generates a speed output signal according to the second error signal; A third error circuit is coupled to the speed circuit, receives the speed output signal, and generates a third error signal according to the speed output signal; and The current controller is coupled to the third error circuit, receives the third error signal, and generates the control signal according to the third error signal.

5. The rotating mechanical device according to claim 3, wherein: The rotation module includes: A motor, coupled to the micro-control circuit, receives the control signal, and operates at the rotation frequency according to the control signal; A first encoder, connected to the motor, detects the rotation frequency of the motor and generates a first detection signal; A speed reducer connected to the motor via the first encoder and operating at a rotation frequency according to the rotation frequency of the motor; and The second encoder is connected to the reducer and detects the rotation frequency of the reducer to generate a second detection signal to the micro-control circuit.

6. The rotating mechanical device according to claim 1, comprising: A detection circuit receives a position command and generates a detection signal according to the position command; and The vibration suppression circuit is coupled to the detection circuit and receives the detection signal to suppress the vibration.

7. The rotating mechanical device according to claim 6, wherein: The detection circuit includes: A command operation circuit receives the position command and calculates a command speed of the position command; A judgment circuit is coupled to the command operation circuit, receives the command speed, compares the command speed with a command threshold, and generates a judgment signal; The detection circuit starts detection according to the determination signal, and detects the amplitude of twice the rotation frequency to generate the detection signal.

8. The rotating mechanical device according to claim 7, wherein: The vibration suppression circuit includes a compensation coefficient, and is coupled to a first encoder and a second encoder, receives a first detection signal and a second detection signal, and calculates a compensation signal according to the compensation coefficient, the first detection signal and the second detection signal to compensate a torque control loop.

9. The rotating mechanical device according to claim 1, comprising: Robotic arms; and The gravity sensor is arranged on the mechanical arm and generates a gravity signal according to the rotation frequency. The gravity sensor is coupled to the micro-control circuit and transmits the gravity signal to the micro-control circuit to adjust the rotation frequency.

10. A rotating mechanical device, comprising: The rotation frequency is that the rotating mechanical device detects vibration according to the position command and twice the rotation frequency, stores the detection information related to the position command after detection, and starts vibration suppression according to the position command and the detection information.

11. The rotating mechanical device according to claim 10, comprising: A first error circuit is coupled to the first encoder, receives the position command and the first detection signal, and outputs a first error signal according to the position command and the first detection signal; A second error circuit is coupled to the first error circuit and the first encoder, and generates a second error signal according to the first error signal and the first detection signal; and The third error circuit is coupled to the second error circuit and the motor, and generates a third error signal according to the second error signal and the motor current for generating a control signal.

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