Synchronous deviation real-time detection method and device of synchronous shaft and medium

Abstract

The invention relates to the field of industrial equipment control, in particular to a synchronous deviation real-time detection method and device for a synchronous shaft and a medium, and the method mainly comprises the steps: collecting the position feedback data of a first shaft and a second shaft of double-drive synchronous equipment in real time; based on the position feedback data, calculating a synchronization deviation of the first axis and the second axis according to a preset rule; comparing the synchronization deviation with a preset maximum deviation threshold value, a preset deviation value and a preset time value; and transmitting the serious deviation signal or the general deviation signal to an alarm module and a protection execution module. According to the method, the deviation condition of the synchronous shaft can be found in time, and once the deviation is detected, the method can immediately take corresponding protection measures according to the severity degree of the deviation, such as stopping equipment operation or adjusting the position of the synchronous shaft, so that damage or safety accidents caused by overlarge deviation of the synchronous equipment are effectively avoided, and the safety of the synchronous equipment is improved. The maintenance cost of equipment is reduced, the service life of the equipment is prolonged, and the reliability of the equipment is improved.

Description

Technical Field

[0001] The present application relates to the field of industrial equipment control, and in particular to a method, device and medium for real-time detection of synchronization deviation of a synchronous shaft. Background Art

[0002] In CNC equipment, robots, printing machinery, textile machinery and other industrial equipment, the application of synchronous axis structure is becoming more and more widespread. The synchronous axis structure realizes high-precision and high-efficiency processing and production through the coordinated and synchronous operation of multiple axes. However, in the actual operation process, due to various factors such as unbalanced force on the mechanical structure, uneven processing load, equipment wear and external interference, position deviations often occur between synchronous axes. This deviation not only affects the processing accuracy and product quality of the equipment, but in severe cases, it can also cause the mechanical equipment to get stuck, damaged, and even cause safety accidents.

[0003] At present, the research on synchronous axes mainly focuses on the optimization of synchronous control algorithms, such as improving the synchronization accuracy and response speed of synchronous axes through PID control, fuzzy control, neural network control and other methods. However, there are relatively few methods for synchronous deviation detection and protection of synchronous axes. Most of the existing deviation detection methods use sensors to directly measure the position or speed of the synchronous axis, and then judge the deviation through simple comparison or calculation. Although this method can realize the basic deviation detection function, it has deficiencies in real-time, accuracy and reliability. Especially in complex and changeable industrial environments, due to the existence of various interference factors, the existing deviation detection methods are often difficult to accurately and timely reflect the actual deviation of the synchronous axis.

[0004] In addition, most of the existing synchronous shaft protection methods are relatively simple. Usually, when the deviation exceeds a certain threshold, protection is performed by alarm or shutdown. However, this method can only play a post-event remedial role and cannot effectively prevent the occurrence and development of deviations. Therefore, there is an urgent need for a new method that can monitor the synchronous shaft position deviation in real time and take corresponding protection measures according to the deviation to ensure the safe and stable operation of industrial equipment.

[0005] Application Contents

[0006] The present application provides a real-time detection method for synchronization deviation of a synchronous shaft, which collects, calculates and analyzes position feedback data of the synchronous shaft in real time, and takes corresponding protection measures according to the deviation situation to ensure the safe and stable operation of industrial equipment.

[0007] In order to achieve the above purpose, this application adopts the following technical solutions:

[0008] In a first aspect, the present application provides a method for real-time detection of synchronization deviation of a synchronous shaft, comprising:

[0009] Real-time acquisition of position feedback data of the first and second axes of dual-drive synchronous equipment;

[0010] Based on the position feedback data, calculating the synchronization deviation between the first axis and the second axis according to a preset rule;

[0011] Comparing the synchronization deviation with a preset maximum deviation threshold, a preset deviation value, and a preset time value;

[0012] If the synchronization deviation is greater than the maximum deviation threshold, it is determined to be a serious deviation, and a serious deviation signal is generated;

[0013] If the synchronization deviation is greater than the preset deviation value, and the duration of the synchronization deviation exceeds the preset time value, it is determined to be a general deviation, and a general deviation signal is generated;

[0014] The serious deviation signal or the general deviation signal is transmitted to an alarm module and a protection execution module, wherein the alarm module is used to send out an alarm signal and the protection execution module is used to execute corresponding protection measures.

[0015] In a preferred example of the present application, it can be further configured to include:

[0016] The alarm module triggers a corresponding alarm signal according to the type of the received deviation signal;

[0017] The protection execution module determines whether to stop the operation of the dual-drive synchronous device according to the type of the received deviation signal.

[0018] In a preferred example of the present application, it can be further configured to include:

[0019] The determination result of each synchronization deviation and the execution data of the protection measures are recorded, and the determination result and the execution data are stored in a local database or a remote server.

[0020] In a preferred example of the present application, it can be further configured to include:

[0021] Providing a user interface for modifying the maximum deviation threshold, the deviation preset value, and the time preset value, and displaying the modification history;

[0022] Acquire input data of the user interface, and modify the preset maximum deviation threshold, the preset deviation value, and the preset time value according to the input data;

[0023] The synchronization deviation is compared with the modified preset maximum deviation threshold, the preset deviation value and the preset time value.

[0024] In a preferred example of the present application, it can be further configured to include:

[0025] Sending the running status of the device and the synchronization deviation to a remote monitoring module, wherein the remote monitoring module is used to remotely display the running status and deviation data of the device in real time and receive an alarm signal;

[0026] Receive a control signal from the remote monitoring module, and modify the preset maximum deviation threshold, the deviation preset value, and the time preset value according to the control signal, or modify the synchronization deviation.

[0027] In a preferred example of the present application, it can be further configured that the step of calculating the synchronization deviation between the first axis and the second axis based on the position feedback data according to a preset rule includes:

[0028] Calculate the difference between the position feedback data of the first axis and the second axis;

[0029] The absolute value of the difference is taken to obtain the synchronization deviation.

[0030] In a second aspect, the present application provides a device for real-time detection of synchronization deviation of a synchronous shaft, the device comprising:

[0031] An acquisition module, used for acquiring position feedback data of the first axis and the second axis of the dual-drive synchronous device in real time;

[0032] A deviation judgment module is used to calculate the synchronization deviation of the first axis and the second axis according to a preset rule based on the position feedback data; compare the synchronization deviation with a preset maximum deviation threshold, a preset deviation value, and a preset time value; if the synchronization deviation is greater than the maximum deviation threshold, it is determined to be a serious deviation and a serious deviation signal is generated; if the synchronization deviation is greater than the preset deviation value and the duration of the synchronization deviation exceeds the preset time value, it is determined to be a general deviation and a general deviation signal is generated;

[0033] The execution module is used to transmit the serious deviation signal or the general deviation signal to the alarm module and the protection execution module, the alarm module is used to send out an alarm signal, and the protection execution module is used to execute corresponding protection measures.

[0034] In a third aspect, the present application provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for real-time detection of synchronization deviation of a synchronous axis as described in any one of the above items are implemented.

[0035] In a fourth aspect, the present application provides a computer-readable storage medium having a program stored thereon, wherein when the program is executed by a processor, a method for real-time detection of synchronization deviation of a synchronous shaft as described in any one of the above items is implemented.

[0036] In a fifth aspect, the present application provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the method for real-time detection of synchronization deviation of a synchronous shaft as described in any one of the above items.

[0037] In summary, compared with the prior art, the technical solution provided in the embodiment of the present application has at least the following beneficial effects:

[0038] Compared with the prior art, the method of the present application can timely detect the deviation of the synchronous shaft. Once the deviation is detected, the method will immediately take corresponding protective measures according to the severity of the deviation, such as stopping the operation of the equipment or adjusting the position of the synchronous shaft, thereby effectively avoiding damage or safety accidents caused by excessive deviation of the synchronous equipment, which not only reduces the maintenance cost of the equipment, but also extends the service life and reliability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A flowchart of a method for real-time detection of synchronization deviation of a synchronous shaft provided in one embodiment of the present application.

[0040] Figure 2 A deviation detection flow chart of a method for real-time detection of synchronization deviation of a synchronous shaft provided in one embodiment of the present application.

[0041] Figure 3 A module diagram of a device for real-time detection of synchronization deviation of a synchronous shaft provided in one embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] In one embodiment of the present application, a method for real-time detection of synchronization deviation of a synchronization shaft is provided. Figure 1 As shown, the method includes:

[0044] S100: Collect position feedback data of the first axis and the second axis of the dual-drive synchronous device in real time.

[0045] Specifically, in the actual use of dual-drive synchronous equipment, due to various situations, unbalanced mechanical structure force, uneven processing load and other reasons, the synchronous position deviation of the two axes is too large. If it cannot be adjusted synchronously in time, it may cause damage to the mechanical equipment. Therefore, it is necessary to perform real-time synchronization deviation detection and real-time monitoring and protection of the synchronization mechanism. The first axis and the second axis are the two axes involved in synchronization in the dual-drive synchronous equipment.

[0046] S200: Based on the position feedback data, calculating the synchronization deviation between the first axis and the second axis according to a preset rule.

[0047] Specifically, the calculation method of the synchronization deviation at least includes:

[0048] Δp=abs(p1-p2);

[0049] Wherein, p1 is the position feedback data of the first axis, p2 is the position feedback data of the second axis, abs is the absolute value, and Δp is the synchronization deviation.

[0050] S300: Compare the synchronization deviation with a preset maximum deviation threshold, a preset deviation value, and a preset time value. If the synchronization deviation is greater than the maximum deviation threshold, it is determined to be a serious deviation and a serious deviation signal is generated. If the synchronization deviation is greater than the preset deviation value and the duration of the synchronization deviation exceeds the preset time value, it is determined to be a normal deviation and a normal deviation signal is generated;

[0051] S400: Transmitting the serious deviation signal or the general deviation signal to an alarm module and a protection execution module, wherein the alarm module is used to send out an alarm signal and the protection execution module is used to execute corresponding protection measures.

[0052] Specifically, the deviation detection process from step S300 to step S500 includes: Figure 2 The process shown. At the beginning of the detection, a real-time deviation detection is performed based on the received synchronization deviation value. The synchronization deviation is first compared with the preset maximum deviation threshold. If the synchronization deviation is greater than the maximum deviation threshold, it is determined to be a serious deviation, and a serious deviation signal is generated and sent to the alarm module and the protection execution module. If the synchronization deviation is less than the maximum deviation threshold, the next step of detection is performed. Next, the synchronization deviation is compared with the deviation preset value and the time preset value. If the synchronization deviation is greater than the deviation preset value, and the duration of the synchronization deviation exceeds the time preset value, it is determined to be a general deviation, and a general deviation signal is generated and sent to the alarm module and the protection execution module.

[0053] The alarm module is used to send out an alarm signal, and the protection execution module is used to execute corresponding protection measures, which at least include stopping operation.

[0054] In this embodiment, through the synchronization over-tolerance detection and protection function, when the position deviation of the synchronous shaft is too large during the movement of the synchronous shaft, it can be detected in time and the equipment can be stopped in real time for protection to prevent the equipment from continuing to move and damaging the mechanical equipment. Specifically, the deviation of the synchronous shaft can be discovered in time. Once the deviation is detected, the method will immediately take corresponding protective measures according to the severity of the deviation, such as stopping the operation of the equipment or adjusting the position of the synchronous shaft, thereby effectively avoiding damage or safety accidents caused by excessive deviation of the synchronous equipment, which not only reduces the maintenance cost of the equipment, but also extends the service life and reliability of the equipment.

[0055] In some embodiments, it also includes:

[0056] The alarm module triggers a corresponding alarm signal according to the type of the received deviation signal;

[0057] The protection execution module determines whether to stop the operation of the dual-drive synchronous device according to the type of the received deviation signal.

[0058] In specific implementation, the alarm module first judges the deviation signal, and then triggers the corresponding alarm signal. For example, a general deviation signal triggers a general warning, and a serious deviation signal triggers a serious warning. The warning can be triggered in the form of voice or interface pop-up window. The protection execution module determines whether to stop the operation of the dual-drive synchronous device according to the type of deviation signal received. For example, the device is stopped immediately when a serious deviation signal is received, and the device is stopped gradually when a general deviation signal is received.

[0059] In this embodiment, the flexibility of triggering warnings and executing protective measures is improved.

[0060] In some embodiments, it also includes:

[0061] The determination result of each synchronization deviation and the execution data of the protection measures are recorded, and the determination result and the execution data are stored in a local database or a remote server.

[0062] In some embodiments, it also includes:

[0063] Providing a user interface for modifying the maximum deviation threshold, the deviation preset value, and the time preset value, and displaying the modification history;

[0064] Acquire input data of the user interface, and modify the preset maximum deviation threshold, the preset deviation value, and the preset time value according to the input data;

[0065] The synchronization deviation is compared with the modified preset maximum deviation threshold, the preset deviation value and the preset time value.

[0066] In this embodiment, an interface for users to modify preset values ​​is provided, thereby improving the flexibility of users in operating the device.

[0067] In some embodiments, it also includes:

[0068] Sending the running status of the device and the synchronization deviation to a remote monitoring module, wherein the remote monitoring module is used to remotely display the running status and deviation data of the device in real time and receive an alarm signal;

[0069] Receive a control signal from the remote monitoring module, and modify the preset maximum deviation threshold, the deviation preset value, and the time preset value according to the control signal, or modify the synchronization deviation.

[0070] In this embodiment, through the remote monitoring function, users can check the operating status and deviation of the equipment anytime and anywhere, which not only improves the convenience of equipment management, but also reduces the cost and risk of on-site maintenance.

[0071] The present application also provides a real-time detection device for synchronization deviation of a synchronization shaft, see Figure 3 As shown, the device comprises:

[0072] The acquisition module 100 is used to acquire position feedback data of the first axis and the second axis of the dual-drive synchronous device in real time;

[0073] The deviation judgment module 200 is used to calculate the synchronization deviation of the first axis and the second axis according to the preset rules based on the position feedback data; compare the synchronization deviation with the preset maximum deviation threshold, the deviation preset value and the time preset value; if the synchronization deviation is greater than the maximum deviation threshold, it is determined to be a serious deviation and a serious deviation signal is generated; if the synchronization deviation is greater than the deviation preset value and the duration of the synchronization deviation exceeds the time preset value, it is determined to be a general deviation and a general deviation signal is generated;

[0074] The execution module 300 is used to transmit the serious deviation signal or the general deviation signal to the alarm module and the protection execution module, the alarm module is used to send out an alarm signal, and the protection execution module is used to execute corresponding protection measures.

[0075] The functional implementation of each module in the above-mentioned real-time detection device for synchronization deviation of synchronous shaft corresponds to the steps in the above-mentioned embodiment for real-time detection of synchronization deviation of synchronous shaft, and its functions and implementation processes are not repeated here one by one.

[0076] The present application also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for real-time detection of synchronization deviation of a synchronous shaft as described in any of the above embodiments are implemented.

[0077] The present application also provides a computer-readable storage medium, on which a program is stored, wherein the computer-readable storage medium refers to a carrier for storing data, which may include but is not limited to a floppy disk, an optical disk, a hard disk, a flash memory, a USB flash drive and / or a memory stick, etc., and the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The working process, working details and technical effects of the computer-readable storage medium provided in this embodiment can be found in the above embodiment of a method for real-time detection of synchronization deviation of a synchronous shaft, which will not be repeated here.

[0078] The application also provides a computer program product, including computer instructions, which, when executed by a processor, implement the steps of the method for real-time detection of synchronization deviation of a synchronous shaft as described in any of the above embodiments.

[0079] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0080] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. The above-mentioned embodiments only express several implementation methods of the present application, and their descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the present application, several variations and improvements can be made, which all belong to the scope of protection of the present application. Therefore, the scope of protection of the patent application of this application shall be based on the attached claims.

Claims

1. A method for real-time detection of synchronization deviation of a synchronous shaft, characterized in that: include: Real-time acquisition of position feedback data of the first and second axes of dual-drive synchronous equipment; Based on the position feedback data, calculating the synchronization deviation between the first axis and the second axis according to a preset rule; Comparing the synchronization deviation with a preset maximum deviation threshold, a preset deviation value, and a preset time value; If the synchronization deviation is greater than the maximum deviation threshold, it is determined to be a serious deviation, and a serious deviation signal is generated; If the synchronization deviation is greater than the preset deviation value, and the duration of the synchronization deviation exceeds the preset time value, it is determined to be a general deviation, and a general deviation signal is generated; The serious deviation signal or the general deviation signal is transmitted to an alarm module and a protection execution module, wherein the alarm module is used to send out an alarm signal and the protection execution module is used to execute corresponding protection measures.

2. The method for real-time detection of synchronization deviation of a synchronous shaft according to claim 1, characterized in that: Also includes: The alarm module triggers a corresponding alarm signal according to the type of the received deviation signal; The protection execution module determines whether to stop the operation of the dual-drive synchronous device according to the type of the received deviation signal.

3. The method for real-time detection of synchronization deviation of a synchronous shaft according to claim 2, characterized in that: Also includes: The determination result of each synchronization deviation and the execution data of the protection measures are recorded, and the determination result and the execution data are stored in a local database or a remote server.

4. The method for real-time detection of synchronization deviation of a synchronous shaft according to claim 1, characterized in that: Also includes: Providing a user interface for modifying the maximum deviation threshold, the deviation preset value, and the time preset value, and displaying the modification history; Acquire input data of the user interface, and modify the preset maximum deviation threshold, the preset deviation value, and the preset time value according to the input data; The synchronization deviation is compared with the modified preset maximum deviation threshold, the deviation preset value and the time preset value.

5. The method for real-time detection of synchronization deviation of a synchronous shaft according to claim 2, characterized in that: Also includes: Sending the running status of the device and the synchronization deviation to a remote monitoring module, wherein the remote monitoring module is used to remotely display the running status and deviation data of the device in real time and receive an alarm signal; Receive a control signal from the remote monitoring module, and modify the preset maximum deviation threshold, the deviation preset value, and the time preset value according to the control signal, or modify the synchronization deviation.

6. The method for real-time detection of synchronization deviation of a synchronous shaft according to claim 1, characterized in that: The step of calculating the synchronization deviation between the first axis and the second axis based on the position feedback data and according to a preset rule includes: Calculate the difference between the position feedback data of the first axis and the second axis; The absolute value of the difference is taken to obtain the synchronization deviation.

7. A real-time detection device for synchronization deviation of a synchronization shaft, characterized in that: include: An acquisition module, used for acquiring position feedback data of the first axis and the second axis of the dual-drive synchronous device in real time; A deviation judgment module is used to calculate the synchronization deviation of the first axis and the second axis according to a preset rule based on the position feedback data; compare the synchronization deviation with a preset maximum deviation threshold, a preset deviation value, and a preset time value; if the synchronization deviation is greater than the maximum deviation threshold, it is determined to be a serious deviation and a serious deviation signal is generated; if the synchronization deviation is greater than the preset deviation value and the duration of the synchronization deviation exceeds the preset time value, it is determined to be a general deviation and a general deviation signal is generated; The execution module is used to transmit the serious deviation signal or the general deviation signal to the alarm module and the protection execution module, the alarm module is used to send out an alarm signal, and the protection execution module is used to execute corresponding protection measures.

8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for real-time detection of synchronization deviation of a synchronous shaft according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, wherein when the program is executed by a processor, the method for real-time detection of synchronization deviation of a synchronous shaft according to any one of claims 1 to 6 is implemented.

10. A computer program product comprising computer instructions, characterized in that: When executed by a processor, the computer instructions implement the steps of the method for real-time detection of synchronization deviation of a synchronous shaft according to claims 1 to 6.

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