CN102937419A - Cam profile detection system based on direct driving motor - Google Patents
Cam profile detection system based on direct driving motor Download PDFInfo
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- CN102937419A CN102937419A CN2012104169077A CN201210416907A CN102937419A CN 102937419 A CN102937419 A CN 102937419A CN 2012104169077 A CN2012104169077 A CN 2012104169077A CN 201210416907 A CN201210416907 A CN 201210416907A CN 102937419 A CN102937419 A CN 102937419A
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- drive motor
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Abstract
The invention provides a cam profile detection system based on a direct driving motor, and the cam profile detection system is simple in structure and high in detection precision and efficiency. The system comprises the direct driving motor, a mandrel, a feed screw nut pair, a laser measurement head, a grating ruler displacement sensor, a circular grating and an industrial personal computer, wherein the mandrel is coaxially and fixedly arranged on the rotor of the direct driving motor and is used for driving a cam to coaxially rotate synchronously; the feed screw nut pair is horizontally arranged at one side of the cam; the laser measurement head is arranged on the movable nut of the feed screw nut pair; the grating ruler displacement sensor is used for measuring the horizontal displacement amount of the movable nut; the circular grating is arranged in the fixed seat of the direct driving motor and is used for detecting the rotation angle of the rotor; and the industrial personal computer controls actions of the direct driving motor and the feed screw nut pair, and obtains outer profile data of the cam according to data obtained by the laser measurement head, the grating ruler displacement sensor and the circular grating.
Description
The application divides an application, the application number of original application: 201110114560.6, and the applying date: 2011.05.04, denomination of invention: based on the cam outline detection system of direct-drive motor.
Technical field
The present invention relates to a kind of cam outline detection system based on direct-drive motor and detection method thereof.
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Background technology
Cam mechanism is widely used in various automated machines, exact instrument, automation control system etc.Accomplish high precision, detect cam expeditiously, and correctly process, evaluate its every error, in time feed back rapidly the quality information of cam, the method that traditional optical-mechanical amount instrument and artificial data are processed can not adapt to the needs of the extensive transfer matic production of adopting of cam.Along with the high speed development of auto industry, engineering machinery etc. and improving constantly of manufacturing technology, to how improving the precision and efficiency of detecting of cam machining precision, be the technical barrier that this area will solve.
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Summary of the invention
Technical matters to be solved by this invention provides a kind of simple in structure, cam outline detection system based on direct-drive motor that precision and efficiency of detecting is higher.
For solving the problems of the technologies described above, the invention provides a kind of cam outline detection system based on direct-drive motor, comprising: direct-drive motor, coaxial be fixed at direct-drive motor epitrochanterian for be located at cam one side with axle, the level of the synchronous coaxial rotating of moving cam screw pair, be located at laser measuring head on the traveling nut of this screw pair, be used for measuring the horizontal displacement of described traveling nut the grating scale displacement transducer, be located at round grating and the industrial computer for detection of the anglec of rotation of described rotor of the holder of direct-drive motor; Described industrial computer is controlled described direct-drive motor and screw pair action, and draws the outline data of cam according to the data that described laser measuring head, grating scale displacement transducer and circle grating record.
Particularly, the screw mandrel of described screw pair links to each other with a stepper motor transmission; Industrial computer comprises: the motion control card that is used for controlling in real time the action of described direct-drive motor and stepper motor, the laser displacement sensor capture card of the spacing of the outline that is used for real-time detection laser measuring head and cam that links to each other with described laser measuring head, with described grating scale displacement transducer and the encoder to count card that links to each other of circle grating, and the CPU element that links to each other with described motion control card, laser displacement sensor capture card and encoder to count card by system bus; Described motion control card is controlled described direct-drive motor action by a servo-driver; Motion control card is simultaneously by a stepper motor driver control step motor action.
The laser of the center line of the screw mandrel of screw pair and laser measuring head output and the intersect vertical axis of described axle.
The anglec of rotation at described cam is θ
iThe time, the outline of the cam that records and the spacing of laser measuring head i.e. the first pitch measurements are
Simultaneously, the described traveling nut that gets of grating scale displacement sensor in the horizontal direction with the hard zero-bit of grating scale displacement transducer
Spacing namely the second pitch measurements be
, i=1,2,3 ... n; I detects described first, second pitch measurements in the process that rotates a circle of cam simultaneously
,
Number of times, 0 °≤θ
i＜360 °.
The another kind of detection method of described cam outline detection system based on direct-drive motor comprises:
A), with i.e. the first spacing of the spacing of the cylindrical of laser measuring head and axle
Be controlled in the range of laser measuring head, then detect and record described the first spacing
, detect simultaneously and record described traveling nut in the horizontal direction with described hard zero-bit
I.e. the second spacing of spacing
B), Cam gapless is matched with on the described axle, if the outline data of unknown cam, then when beginning to control cam and rotating a circle, the traveling nut of control screw pair according to described the first pitch measurements that laser measuring head records is
Size do near or away from the straight-line displacement of cam, to control described the first pitch measurements
All the time be in the range of laser measuring head, and obtain described first, second pitch measurements corresponding with the anglec of rotation θ i of cam
,
C), by axle diameter of phi d and described
,
,
,
, calculate the utmost point footpath measured value of cam
:
The present invention has positive effect: (1) cam outline detection system based on direct-drive motor of the present invention adopts non-contact measurement method, the laser measuring head motion is directly driven by screw pair, screw pair can be eliminated the gap by giving tightly, the leading screw load is little, so dynamic rate is high, the motion steady, dynamic performance is good.Measuring head machinery-free wearing and tearing in the measuring process, with other contact type measurement, speed is fast, precision is high, precision stability is good.The laser measuring head of selected range scope little (range starting point～range terminal point), under the constant condition of its linearity, measuring error is little.Laser measuring head horizontal motion distance is finished by the grating scale displacement transducer, directly changes in the large situation at the utmost point of cam, still can obtain high measuring accuracy, higher price-performance ratio; (2) in order to guarantee that laser measuring head measures all the time in range ability, guarantee that namely measuring head and cam contour distance is between range starting point and range terminal point, the present invention adopts the NC Interpolation method, cam is rotatablely moved link with laser measuring head horizontal direction rectilinear motion.The cam anglec of rotation is detected by the round grating of being located in the direct-drive motor, and axle is determined by circle pattern zero digit pulse signal at circumferencial direction zero point.(3) axle directly is connected with rotor, has eliminated driving error, mechanical hysteresis, backlass in traditional drive mechanisms such as speed reduction unit, gear, belt, and servo rigidity is high, fast-response can be good.(4) justify grating output just, cosine signal and zero signal, zero signal provides repeatably reference position for rotor at circumferencial direction.The circle grating just, the cosine string signal is through segmentation and convert square-wave signal to, is used for the control of servo-driver position closed loop; This square wave signal accesses the encoder to count card simultaneously, and industrial computer can obtain the cam actual rotational angle.
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Description of drawings
Fig. 1 is the structural representation of the cam outline detection system based on direct-drive motor of the present invention;
Fig. 2 be among Fig. 1 based on the cam outline detection system of direct-drive motor cam is not installed the time structural drawing.
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Embodiment
(embodiment 1)
See Fig. 1-2, the cam outline detection system based on direct-drive motor of the present embodiment comprises: be used for moving cam 10 around direct-drive motor 1, the level of vertical axle 5 horizontal coaxial rotatings be located at direct-drive motor 1 one sides screw pair 3, be located at the traveling nut 3-1 of this screw pair 3 upper and in the laser measuring head 2 of cam 10 1 sides, be used for measuring the horizontal displacement of described traveling nut 3-1 grating scale displacement transducer 4, be located at round grating and the industrial computer for detection of the anglec of rotation of cam 10 of the holder 1-1 of direct-drive motor 1; Described industrial computer is controlled described direct-drive motor 1 and screw pair 3 actions, and draws the outline data of cam 10 according to the data that described laser measuring head 2, grating scale displacement transducer 4 and circle grating record.Described motion control card is controlled the action of described direct-drive motor 1 by a motor servo driver; Motion control card is simultaneously by 7 actions of stepper motor driver control step motor.
As the embodiment of optimum, the center line of the screw mandrel 3-2 of screw pair 3 and the laser of laser measuring head 2 outputs and the intersect vertical axis of described axle 5.
Described industrial computer comprises: the motion control card that is used for controlling in real time described direct-drive motor 1 and screw pair 3 actions, the laser displacement sensor capture card of the spacing of the outline that is used for real-time detection laser measuring head 2 and cam 10 that links to each other with described laser measuring head 2, with described grating scale displacement transducer 4 and the encoder to count card that links to each other of circle grating, by system bus and described motion control card, the CPU element that the laser displacement sensor capture card links to each other with the encoder to count card, and through the LCD of the outline data of be used for showing of linking to each other with described system bus of video card and contrast cam 10.
The anglec of rotation at described cam 10 is θ
iThe time, the outline of the cam 10 that records and the spacing of laser measuring head 2 i.e. the first pitch measurements are
Simultaneously, grating scale displacement transducer 4 measure described traveling nut 3-1 in the horizontal direction with the hard zero-bit of grating scale displacement transducer 4
Spacing namely the second pitch measurements be
, i=1,2,3 ... n; I detects described first, second pitch measurements in the process that rotates a circle of cam 10 simultaneously
,
Number of times, n can determine according to the cam gap size that takes measurement of an angle, such as: 180,360,720 etc., n is larger, the outline data of the cam 10 that records are more accurate; 0 °≤θ
i＜360 °, θ
I+1-θ
i=θ
i-θ
I-1
For improving the accuracy of detection to cam requirement on machining accuracy higher part position (such as the outline data of the lug boss of cam), guarantee simultaneously detection efficiency as far as possible, can be arranged on when detecting this position, reduce θ
I+1And θ
iDifference.
If the outline data of known cam 10
, then the detection method of described detection system comprises:
A, with i.e. the first spacing of the spacing of laser measuring head 2 and the cylindrical of axle 5
Be controlled at that (best embodiment is: the first spacing in the range of laser measuring head 2
Be controlled near the range mid point of laser measuring head 2, because near the measuring accuracy the range mid point is the highest), then detect and record described the first spacing
, detect simultaneously and record described traveling nut 3-1 in the horizontal direction with described hard zero-bit
I.e. the second spacing of spacing
B, cam 10 gaplesss are matched with on the described axle 5, when beginning to control cam 10 and rotating a circle, the outline of control laser measuring head 2 relative cams 10 according to
+
Orbiting motion; Simultaneously, control described the first pitch measurements
All the time be in that (best embodiment is: the first spacing in the range of laser measuring head 2
Be controlled near the range mid point of laser measuring head 2, because near the measuring accuracy the range mid point is the highest; ), and obtain anglec of rotation θ with cam 10
iCorresponding described first, second pitch measurements
,
C, by axle diameter of phi d and described
,
,
,
, calculate the utmost point footpath measured value of cam 10
:
D, with described utmost point footpath measured value
With described outline data
Compare, draw the outline mismachining tolerance of cam 10.
If the outline data of unknown cam 10
, then the detection method of described detection system comprises:
A, with i.e. the first spacing of the spacing of laser measuring head 2 and the cylindrical of axle 5
Be controlled in the range of laser measuring head 2, then detect and record described the first spacing
, detect simultaneously and record described traveling nut 3-1 in the horizontal direction with described hard zero-bit
I.e. the second spacing of spacing
B, cam 10 gaplesss are matched with on the described axle 5, when beginning to control cam 10 and rotating a circle, the traveling nut 3-1 of control screw pair 3 according to described the first pitch measurements that laser measuring head 2 records is
Size do near or away from the straight-line displacement of cam 10, to control described the first pitch measurements
All the time be in the range of laser measuring head 2, and obtain anglec of rotation θ with cam 10
iCorresponding described first, second pitch measurements
,
C, by axle diameter of phi d and described
,
,
,
, calculate the outline data of cam 10, also be utmost point footpath measured value
:
Above-mentioned laser measuring head 2 can select the PRIMUS 1000-2 type of Germany based on the high precision laser displacement sensor of PC, and its main performance index is: range 2mm, range starting point 16mm, range terminal point 20mm, range mid point 18mm; The linearity 1 μ m, resolution 0.2 μ m; Spot diameter 35 μ m.
The grating scale displacement transducer is comprised of scale grating and read head two parts.Read head is located on the traveling nut 3-1 of screw pair 3, and the scale grating is fixed on the frame of screw mandrel 3-2 one side of screw pair 3.The position of screw mandrel 3-2 is fixed.
The grating scale displacement transducer 4 of the present embodiment can be selected German Heidenhain LIP571 type grating scale, and the square-wave signal of read head output expression measured value is also delivered to described encoder to count card, accuracy class ± 1 μ m; Resolution 0.2 μ m.The model of laser measuring head and grating scale, precision, range can be made suitable adjustment according to Cam Detection accuracy requirement, cam utmost point footpath size.
The grating scale displacement transducer 4 of the present embodiment can also be selected the GBC series grating scale of Weihai San Feng electronics technology company limited, and it is comprised of read head, scale grating and interface circuit.When read head moved, the photelectric receiver of interface circuit produced respectively the mutually pulse wave signal of 90 ° of two-way phase phasic differences of A phase and B, and this signal is delivered to described encoder to count card more after treatment.
Described encoder to count card is used for the pulse number of record grating rule displacement sensor 4, the generation of circle grating, and then calculates nut displacement, the cam anglec of rotation of screw pair.The nut of motion control card control cam and screw pair is pressed the given trace motion.
A hard zero-bit is installed on the right side of the grating scale in the grating scale displacement transducer 4, as the starting point of grating scale displacement transducer 4 measuring distances tolerance.
Direct-drive motor (being also referred to as: directly drive electric rotating machine) can be selected the TMSXX series torque motor rotation platform of TaiWan, China Dayin Microsystem Co Ltd, absolute fix precision 10 ", repetitive positioning accuracy 3 ".
(embodiment 2)
On the basis of embodiment 1, the present embodiment has following distortion:
For eliminating processing or the alignment error of axle 5, on the impact of cam contour accuracy of detection, the detection method of described cam outline detection system comprises:
A, detect the outer rim data of axle 5: when axle 5 begins to rotate a circle, with i.e. the first spacing of the spacing of laser measuring head 2 and the cylindrical of axle 5
All the time be controlled in the range of laser measuring head 2, detect simultaneously and record and the described anglec of rotation are θ
iThe first corresponding spacing
, and described mover 3-1 in the horizontal direction with described hard zero-bit
I.e. the second spacing of spacing
B, cam 10 gaplesss are matched with on the described axle 5, if the outline data of known cam 10
, then when beginning to control cam 10 and rotating a circle, the outline of control laser measuring head 2 relative cams 10 according to
+
Orbiting motion; Simultaneously, control described the first pitch measurements
All the time be in the range of laser measuring head 2, and obtain anglec of rotation θ with cam 10
iCorresponding described first, second pitch measurements
,
C, by axle diameter of phi d and described
,
,
,
, calculate the utmost point footpath measured value of cam 10
D, with described utmost point footpath measured value
With described outline data
Compare, draw the outline mismachining tolerance of cam 10.
If the outline data of unknown cam 10
, then the detection method of described cam outline detection system comprises:
A, detect the outer rim data of axle 5: when axle 5 begins to rotate a circle, with i.e. the first spacing of the spacing of laser measuring head 2 and the cylindrical of axle 5
All the time be controlled in the range of laser measuring head 2, detect simultaneously and record and the described anglec of rotation are θ
iThe first corresponding spacing
, and described mover 3-1 in the horizontal direction with described hard zero-bit
I.e. the second spacing of spacing
B, cam 10 gaplesss are matched with on the described axle 5, if the outline data of unknown cam 10, then when beginning to control cam 10 and rotating a circle, the mover 3-1 of control linear electric motors 3 according to described the first pitch measurements that laser measuring head 2 records is
Size do near or away from the straight-line displacement of cam 10, to control described the first pitch measurements
All the time be in the range of laser measuring head 2, and obtain anglec of rotation θ with cam 10
iCorresponding described first, second pitch measurements
,
C, by axle diameter of phi d and described
,
,
,
, calculate the utmost point footpath measured value of cam 10
Obviously, the above embodiment of the present invention only is for example of the present invention clearly is described, and is not to be restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here need not also can't give all embodiments exhaustive.And these belong to apparent variation or the change that spirit of the present invention extended out and still are among protection scope of the present invention.
Claims (4)
1. the cam outline detection system based on direct-drive motor is characterized in that comprising: direct-drive motor (1), be used for the synchronously axle (5) of coaxial rotating of band moving cam (10) on the coaxial rotor (1-2) that is fixed at direct-drive motor (1), level is located at the screw pair (3) of cam (10) one sides, be located at the laser measuring head (2) on the traveling nut (3-1) of this screw pair (3), grating scale displacement transducer (4) for the horizontal displacement of measuring described traveling nut (3-1), be located at the round grating for detection of the anglec of rotation of described rotor (1-2) in the holder (1-1) of direct-drive motor (1), and industrial computer;
Described industrial computer is controlled described direct-drive motor (1) and screw pair (3) action, and draws the outline data of cam (10) according to the data that described laser measuring head (2), grating scale displacement transducer (4) and circle grating record.
2. the cam outline detection system based on direct-drive motor according to claim 1, it is characterized in that: the screw mandrel (3-2) of described screw pair (3) links to each other with a stepper motor (7) transmission;
Described industrial computer comprises: the motion control card that is used for controlling in real time the action of described direct-drive motor (1) and stepper motor (7), the laser displacement sensor capture card of the spacing of the outline that is used for real-time detection laser measuring head (2) and cam (10) that links to each other with described laser measuring head (2), with described grating scale displacement transducer (4) and the encoder to count card that links to each other of circle grating, and the CPU element that links to each other with described motion control card, laser displacement sensor capture card and encoder to count card by system bus;
Described motion control card links to each other with described direct-drive motor (1) by a servo-driver, and the detection signal output terminal (1-3) of described round grating links to each other with the feedback signal input end of this servo-driver; Motion control card is simultaneously by a stepper motor driver control step motor (7) action.
3. the cam outline detection system based on direct-drive motor according to claim 2 is characterized in that: the center line of the screw mandrel (3-2) of screw pair (3) and the laser of laser measuring head (2) output and the intersect vertical axis of described axle (5).
4. the detection method of the cam outline detection system based on direct-drive motor according to claim 3, it is characterized in that: the anglec of rotation at described cam (10) is θ
iThe time, the spacing of the outline of the cam that records (10) and laser measuring head (2) i.e. the first pitch measurements is
Simultaneously, grating scale displacement transducer (4) measure described traveling nut (3-1) in the horizontal direction with the hard zero-bit of grating scale displacement transducer (4) (
) spacing namely the second pitch measurements be
, i=1,2,3 ... n; I detects described first, second pitch measurements in the process that rotates a circle of cam (10) simultaneously
,
Number of times, 0 °≤θ
i＜360 °;
The detection method of described digital control system comprises:
A), with the spacing of the cylindrical of laser measuring head (2) and axle (5) i.e. the first spacing
Be controlled in the range of laser measuring head (2), then detect and record described the first spacing
, detect simultaneously and record described traveling nut (3-1) in the horizontal direction with described hard zero-bit (
) i.e. the second spacing of spacing
B) if the outline data of unknown cam (10), then when beginning to control cam (10) and rotating a circle, the traveling nut (3-1) of control screw pair (3) according to described the first pitch measurements that laser measuring head (2) records is
Size do near or away from the straight-line displacement of cam (10), to control described the first pitch measurements
All the time be in the range of laser measuring head (2), and obtain anglec of rotation θ with cam (10)
iCorresponding described first, second pitch measurements
,
C), by axle diameter of phi d and described
,
,
,
, calculate the utmost point footpath measured value of cam (10)
:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210416907.7A CN102937419B (en) | 2011-05-04 | 2011-05-04 | Cam profile detection system based on direct driving motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210416907.7A CN102937419B (en) | 2011-05-04 | 2011-05-04 | Cam profile detection system based on direct driving motor |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101145606A Division CN102252631B (en) | 2011-05-04 | 2011-05-04 | Cam contour detecting system based on direct drive motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102937419A true CN102937419A (en) | 2013-02-20 |
| CN102937419B CN102937419B (en) | 2015-05-27 |
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| CN201210416907.7A Expired - Fee Related CN102937419B (en) | 2011-05-04 | 2011-05-04 | Cam profile detection system based on direct driving motor |
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| CN108627118A (en) * | 2017-03-15 | 2018-10-09 | 欧姆龙株式会社 | Measuring system, control device and measurement method |
| CN110759004A (en) * | 2019-12-25 | 2020-02-07 | 常州磐宇仪器有限公司 | Motor boundary determination method and self-adaptive positioning application thereof on sampling needle push rod |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106197308A (en) * | 2015-05-28 | 2016-12-07 | 株式会社拓普康 | Measurement apparatus |
| CN106197308B (en) * | 2015-05-28 | 2020-02-28 | 株式会社拓普康 | Measuring device |
| CN108627118A (en) * | 2017-03-15 | 2018-10-09 | 欧姆龙株式会社 | Measuring system, control device and measurement method |
| CN108444661A (en) * | 2018-03-16 | 2018-08-24 | 西安理工大学 | A kind of canted coil spring fatigue test board |
| CN108444661B (en) * | 2018-03-16 | 2020-02-18 | 西安理工大学 | Oblique circle spring fatigue test platform |
| CN110759004A (en) * | 2019-12-25 | 2020-02-07 | 常州磐宇仪器有限公司 | Motor boundary determination method and self-adaptive positioning application thereof on sampling needle push rod |
| CN110759004B (en) * | 2019-12-25 | 2020-03-31 | 常州磐宇仪器有限公司 | Motor boundary determination method and self-adaptive positioning application thereof on sampling needle push rod |
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