CN110345974B - Indexing photoelectric angle encoder and calibration method thereof - Google Patents
Indexing photoelectric angle encoder and calibration method thereof Download PDFInfo
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- CN110345974B CN110345974B CN201910481294.7A CN201910481294A CN110345974B CN 110345974 B CN110345974 B CN 110345974B CN 201910481294 A CN201910481294 A CN 201910481294A CN 110345974 B CN110345974 B CN 110345974B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000005096 rolling process Methods 0.000 claims abstract description 56
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 34
- 239000003292 glue Substances 0.000 claims description 30
- 239000002184 metal Substances 0.000 claims description 24
- 229910052751 metal Inorganic materials 0.000 claims description 24
- 230000000670 limiting effect Effects 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 4
- 230000005693 optoelectronics Effects 0.000 claims 5
- 239000000306 component Substances 0.000 description 7
- 238000005259 measurement Methods 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
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- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000265 homogenisation Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
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Abstract
The invention discloses an indexing photoelectric angle encoder and a calibration method thereof. In the application occasions with high requirements on rotation positioning precision, the photoelectric angle encoder technology is difficult to break through in a short time. The invention comprises an encoder bracket, a double-shaft photoelectric angle encoder, a limit sleeve, a rolling needle disc, a spiral spring, a rolling needle, a rolling ball disc, an electromagnet, a cylindrical pin, an axle center cylinder, an axle center positioning taper pin and an axle center positioning iron core. According to the invention, n pairs of rolling pins and m balls are matched to form rotary positioning on the circumference of an indexing structure, coaxial centering positioning is formed by combining the matching of an axle center positioning taper pin and an axle center positioning iron core and the on-off of an electromagnet, and repeatable coaxial centering rotary positioning of an indexing photoelectric angle encoder is realized by combining two matching modes; after calibration, the calibration angle value is used as the standard output angle information of each indexing position, so that the high-precision angle value can be output at each indexing position.
Description
Technical Field
The invention belongs to the technical field of precision measurement, and particularly relates to an indexing photoelectric angle encoder and a calibration method thereof.
Background
The photoelectric angle encoder is a sensor for detecting a high-precision rotation angle, and is widely used for occasions such as servo motor feedback, a high-precision turntable, main shaft positioning and the like. The working principle is that a reflective or transmissive light source is utilized to pass through a code disc of an encoder to form moire fringes on a receiving sensor so as to generate sine wave information, and the sine wave information is output to a system processor for feeding back the position information of an angle encoder. The photoelectric angle encoder core component comprises an encoder code disc and a receiving sensor, and error sources mainly comprise errors of a code disc scribing process, mounting errors of the code disc, subdivision errors caused by moire fringe information quality and the like, and the errors generated in the processes, assembly and information influence the photoelectric angle encoder precision to a certain extent. The currently common solutions include: errors of the code disc scribing process can be reduced by increasing the diameter of the code disc, mounting errors of the code disc can be compensated by a multi-reading head mounting or post-error compensation algorithm to eliminate the mounting errors, and subdivision errors caused by moire fringe information quality can be reduced by hardware circuit improvement and the subdivision compensation algorithm. However, for many applications requiring high rotational positioning accuracy, the encoder accuracy cannot be improved by increasing the diameter of the code wheel due to space constraints, and the use of multiple read heads and improved hardware circuitry can greatly increase the encoder cost, complicating the process for the subdivision error and installation error compensation algorithm. Therefore, the existing photoelectric angle encoder technology is difficult to break through in a short time, so that the angle measurement precision of limited position points of the photoelectric angle encoder can be improved in the practical application by improving the angle measurement precision of the photoelectric angle encoder in the application occasions without rigid requirements on the rotation range, such as an articulated coordinate measuring machine.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, and provides an indexing photoelectric angle encoder and a calibration method thereof.
The technical scheme adopted for solving the technical problems is as follows:
the invention relates to an indexing type photoelectric angle encoder which comprises an encoder bracket, a double-shaft photoelectric angle encoder, a limiting sleeve, a rolling needle disc, a spiral spring, a rolling needle, a rolling ball disc, an electromagnet, a cylindrical pin, an axle center cylinder, an axle center positioning taper pin and an axle center positioning iron core, wherein the limiting sleeve is arranged on the encoder bracket; the axle center cylinder and the axle center positioning taper pin are both made of magnetized materials; the shell of the double-shaft photoelectric angle encoder is fixed with the encoder bracket; the biaxial photoelectric angle encoder comprises two extending shafts; one end of the limiting sleeve is sleeved outside the shell of the double-shaft photoelectric angle encoder and is adhered to the shell of the double-shaft photoelectric angle encoder through glue; the sleeve base comprises a bottom plate and a side plate which are integrally formed; two threaded holes which are uniformly distributed along the circumferential direction and are formed in the side wall of the other end of the limit sleeve are respectively connected with two through holes formed in the side plate through screws; the bottom plate is provided with a central hole; the rolling needle disc is integrally arranged in the limit sleeve, one end face of the rolling needle disc is bonded with the shell of the double-shaft photoelectric angle encoder through glue, the other end face of the rolling needle disc is provided with a circular groove I and n radial groove groups uniformly distributed along the circumferential direction, and n is more than or equal to 4; the radial groove group comprises two radial grooves which are distributed along the circumferential direction at intervals, and the depth of each radial groove is equal to the radius of the corresponding needle roller; each radial groove is bonded with the side wall of one needle roller through glue; the cylindrical surface of the large shaft diameter section of the ball disc and the inner wall of the limit sleeve form a sliding pair, and the small shaft diameter section extends out of the central hole of the bottom plate; the diameter of the small shaft diameter section of the ball disc is smaller than the aperture of the central hole of the bottom plate of the sleeve base; the end surface of the large shaft diameter section of the ball disc, which is opposite to the needle roller disc, is provided with a circular groove II and m ball sockets uniformly distributed along the circumferential direction, wherein m is more than or equal to 12, and m is integer multiple of n; the second annular groove is aligned with the first annular groove of the rolling needle disc in the radial direction of the ball disc, and the ball socket is aligned with the radial groove of the rolling needle disc in the radial direction of the ball disc; the radius of the ball socket is equal to the radius of the ball, and is larger than the circumferential distance between two radial grooves in the radial groove group; each ball socket is bonded with a ball through glue; one end of the spiral spring is embedded into the first annular groove of the rolling needle disc, and the other end of the spiral spring is embedded into the second annular groove of the ball disc; the end of the spiral spring embedded in the annular groove I of the roller pin disc is adhered with the annular groove I of the roller pin disc through glue; the spiral spring is provided with a precompression; the axial distance between the limit sleeve and the bottom plate of the sleeve base is larger than or equal to the sum of the thickness of the rolling needle disc, the radius of the rolling needle, the radius of the rolling ball and the length of the large shaft diameter section of the rolling ball disc; the axle center positioning iron core is sleeved in the central hole of the needle roller disc and is adhered to the needle roller disc through glue; the center hole of the axis positioning iron core comprises a cylindrical hole section and a conical hole section, and the taper of the conical hole section is equal to the taper of the outer conical surface of the axis positioning conical pin; the maximum aperture of the central hole of the axis positioning iron core is between the maximum diameter and the minimum diameter of the outer conical surface of the axis positioning taper pin; the large shaft diameter end of the shaft center positioning taper pin is bonded with one end of the shaft center cylinder through glue; the other end of the axle center cylinder is bonded with the electromagnet through glue; the outer side wall of the axle center cylinder and the electromagnet are bonded with the central hole of the ball disc through glue; the electromagnet is controlled to be powered on and powered off through an external switch; an extension shaft of the double-shaft photoelectric angle encoder sequentially penetrates through a central hole of the shaft center positioning iron core and a central hole of the shaft center positioning taper pin and is embedded into the central hole of the shaft center cylindrical barrel; the side wall of the axle center cylinder is provided with a pin hole, a cylindrical pin is adhered in the pin hole through glue, and the cylindrical pin and the step surface of the protruding shaft of the double-shaft photoelectric angle encoder embedded in the center hole of the axle center cylinder form a rolling friction pair; the axis of the cylindrical pin is parallel to the plane where the step surface is located. The projecting shaft of the double-shaft photoelectric angle encoder, the electromagnet, the shaft center cylinder, the shaft center positioning taper pin and the central axis of the shaft center positioning iron core are coaxially arranged.
The encoder bracket is provided with k arc-shaped grooves distributed along the circumferential direction, k is more than or equal to 3, and the inner arcs of all the arc-shaped grooves are positioned on the same circumference; the shell of the double-shaft photoelectric angle encoder is provided with k threaded holes distributed along the circumferential direction, and each threaded hole is connected with one arc-shaped groove at the corresponding position of the encoder bracket through a screw.
The side wall of the limit sleeve is axially positioned at the needle roller position and provided with two vent holes uniformly distributed along the circumferential direction.
The large shaft diameter end of the shaft center positioning taper pin is provided with a countersunk slot, and a positioning convex ring integrally formed with the shaft center cylindrical barrel is embedded into the countersunk slot of the shaft center positioning taper pin; the positioning convex ring II integrally formed with the axial center cylindrical barrel is embedded into a circular positioning groove formed in the end face of the electromagnet.
The rolling ball, the rolling ball disc, the electromagnet, the cylindrical pin, the axis cylinder and the axis positioning taper pin form a rotating component.
The replacement process of the ball disc with different ball socket numbers is as follows: and removing the screw for connecting the threaded hole of the limit sleeve and the through hole on the side plate of the sleeve base, taking down the ball disc together with the rotating part, replacing the ball disc with a new ball disc and a new rotating part bonded with the ball disc, enabling the spiral spring to be embedded into the annular groove II of the new ball disc, enabling the axis locating taper pin of the new rotating part to be embedded into the central hole of the axis locating iron core, and then connecting the threaded hole of the limit sleeve and the through hole on the side plate of the sleeve base by the screw.
The calibration method of the indexing photoelectric angle encoder comprises the following specific steps:
firstly, pre-storing m low-precision standard positions for a double-shaft photoelectric angle encoder, wherein n balls and n pairs of rolling pins are respectively aligned in the circumferential direction at each low-precision standard position; each low-precision mark corresponds to an angle value of the extending shaft of the double-shaft photoelectric angle encoder, but the double-shaft photoelectric angle encoder can only measure an angle range due to lower precision of the double-shaft photoelectric angle encoder; then fixing an encoder bracket, and fixing the metal polyhedral prism on the electromagnet through a clamp, so that the central axis of the metal polyhedral prism and the central axis of the extending shaft of the double-shaft photoelectric angle encoder are coaxially arranged; wherein, the side surface of the metal polyhedral prism is provided with m mirror surfaces; the stretching shaft of the double-shaft photoelectric angle encoder, which is not embedded in the central hole of the axial center cylinder, is connected with the motor through a coupler; when the electromagnet is in a power-off state at the beginning, the spiral spring stretches to push the ball disc to slide to be in contact with the bottom plate of the sleeve base, and at the moment, the ball is separated from the needle roller; the motor drives the extension shaft of the double-shaft photoelectric angle encoder to rotate, so that the rotating part is driven to rotate, and the double-shaft photoelectric angle encoder is positioned on the ith low-precision mark position, i=1; when the rotating part rotates, the metal polyhedral prism also rotates along with the rotating part.
Step two, an external switch controls the electromagnet to be electrified, the axis cylinder and the axis positioning taper pin are magnetized by the electromagnet, the axis positioning taper pin and the axis positioning iron core are mutually attracted, the cylindrical pin rolls on the step surface of the extending shaft of the double-shaft photoelectric angle encoder, so that the rotating component is driven to axially slide along the extending shaft of the double-shaft photoelectric angle encoder, the ball disc is closed towards the needle disc along the limit sleeve, n balls are embedded with n pairs of needle rollers to form limit on the circumference, and the spiral spring is compressed; the outer conical surface of the axis positioning conical pin is embedded into the conical hole section of the central hole of the axis positioning iron core and is attached to the conical hole section of the central hole of the axis positioning iron core; the limiting sleeve is used for limiting radial movement of the ball disc during sliding.
Step three, adjusting the height of the autocollimator until the center of a cross score displayed in a laser tube is aligned with the center of a mirror surface of the metal polyhedral prism; and (3) calibrating the embedded positions of n balls and n pairs of rolling pins in the second step into an ith high-precision calibration position, namely a high-precision calibration zero position, through an autocollimator and a metal polyhedral prism, and recording low-precision calibration information of the double-shaft photoelectric angle encoder corresponding to the ith high-precision calibration position.
Step four, the external switch controls the electromagnet to be powered off, the spiral spring stretches to push the ball disc to slide to be contacted with the bottom plate of the sleeve base, and at the moment, the ball is separated from the roller pin; the motor drives the extension shaft of the double-shaft photoelectric angle encoder 2 to rotate to the (i+1) th low-precision standard position.
And fifthly, repeating the second step, calibrating the embedded position of the n balls and the n pairs of rolling pins into an i+1th high-precision calibration position through an auto-collimator and a metal polygon prism, and recording low-precision calibration information of the double-shaft photoelectric angle encoder corresponding to the i+1th high-precision calibration position.
Step six, i is sequentially increased by 1, the step four and the step five are repeated until i=m, and step seven is entered;
and step seven, designing the low-precision positioning information of each high-precision positioning and corresponding double-shaft photoelectric angle encoder into a standard output angle table.
And step eight, the clamp and the metal polyhedral prism are taken down from the electromagnet, and the restraint of the encoder bracket is released.
The invention has the beneficial effects that:
1. according to the indexing photoelectric angle encoder, n pairs of rolling pins are distributed at equal intervals in the circumference, when the ball disc rotates to each calibration position, n balls in the m balls are matched with the n pairs of rolling pins to limit, each pair of matching generates a limiting effect, the encoder rotates to each calibration position and has n matching limiting effects, the superposition of the n matching limiting effects can play a role in error homogenization, and the repeatable rotary positioning precision on the circumference of the encoder when the indexing structure is locked is effectively improved.
2. When the indexing photoelectric angle encoder rotates to each calibration position, only n balls in m balls are matched with n pairs of rolling pins to position, so that when the number m of the balls is an integer multiple of the number n of the rolling pins, the positioning of the limited positions can be realized, and the number of the indexing positions of the indexing photoelectric angle encoder is equal to the number m of the balls. Thus, the indexing photoelectric angle encoder can realize the angle measurement requirements of different indexing values of the encoder by replacing the ball disc provided with different numbers of balls.
3. The indexing photoelectric angle encoder adopts n pairs of rolling pins and m balls to form rotary positioning on the circumference of an indexing structure, coaxial centering positioning is formed by combining the matching of an axle center positioning conical pin and an axle center positioning iron core and the on-off of an electromagnet, and repeatable coaxial centering rotary positioning of the indexing photoelectric angle encoder is realized by combining two matching forms.
4. The indexing photoelectric angle encoder realizes the high-precision angle measurement function of a limited position by combining an indexing structure on the basis of a common low-precision encoder, and has the advantages that: because the angle information output by the encoder is directly the calibration value of the output photoelectric auto-collimator, the angle measurement position can reach higher precision than that of a common photoelectric angle encoder; the advantages are as follows: in the application occasion with limited space, a small-size code disc can be adopted, so that the volume of the high-precision photoelectric angle encoder is effectively reduced; the method has the following advantages: the manufacturing cost of the high-precision photoelectric angle encoder is reduced.
5. After the indexing photoelectric angle encoder is calibrated, the calibrated angle value is used as the standard output angle information of each indexing position, so that the encoder can output high-precision angle values at each indexing position, the encoder can be applied to angle measurement without hard requirements on a rotation range, can also be used as high-precision calibration equipment to replace a photoelectric autocollimator to perform angle calibration on rotation devices such as a rotation joint, an angle encoder and the like, effectively reduces the angle calibration cost, and has higher portability.
Drawings
FIG. 1 is a cross-sectional view of the overall structure of the present invention;
FIG. 2 is a perspective view of the overall structure of the present invention;
FIG. 3 is a schematic view of the structure of the roller dial of the present invention;
FIG. 4 is a schematic view of the structure of the ball disc according to the present invention;
fig. 5 is an assembled perspective view of the rotating member and the axial positioning core of the present invention.
In the figure: 1. the encoder bracket, 2, biax photoelectricity angle encoder, 3, spacing sleeve, 4, kingpin dish, 5, coil spring, 6, kingpin, 7, ball, 8, ball dish, 9, sleeve base, 10, electro-magnet, 11, cylindric lock, 12, axle center cylinder, 13, axle center location taper pin, 14, axle center location iron core.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, 2 and 5, an indexing type photoelectric angle encoder comprises an encoder bracket 1, a double-shaft photoelectric angle encoder 2, a limit sleeve 3, a needle roller disc 4, a spiral spring 5, a needle roller 6, a ball 7, a ball disc 8, an electromagnet 10, a cylindrical pin 11, an axle center cylindrical barrel 12, an axle center positioning conical pin 13 and an axle center positioning iron core 14; the axle center cylinder 12 and the axle center positioning taper pin 13 are both made of magnetized materials; the encoder bracket 1 is provided with four arc-shaped grooves distributed along the circumferential direction, and the inner circular arcs of the four arc-shaped grooves are positioned on the same circumference; four screw holes distributed along the circumferential direction are formed in the shell of the double-shaft photoelectric angle encoder 2, and each screw hole is connected with an arc-shaped groove at the corresponding position of the encoder bracket 1 through a screw; the biaxial photoelectric angle encoder 2 is a common low-precision encoder with two extending shafts; one end of the limit sleeve 3 is sleeved outside the shell of the double-shaft photoelectric angle encoder 2 and is adhered with the shell of the double-shaft photoelectric angle encoder 2 through glue; the sleeve base 9 comprises a bottom plate and a side plate which are integrally formed; two threaded holes which are uniformly distributed along the circumferential direction and are formed in the side wall of the other end of the limit sleeve 3 are respectively connected with two through holes formed in the side plate through screws; the bottom plate is provided with a central hole; the rolling needle disc 4 is integrally arranged in the limit sleeve 3, one end face of the rolling needle disc is bonded with the shell of the double-shaft photoelectric angle encoder 2 through glue, the other end face of the rolling needle disc is provided with a circular groove I and n radial groove groups uniformly distributed along the circumferential direction, and n is more than or equal to 4, as shown in figure 3; the radial groove group comprises two radial grooves which are distributed along the circumferential direction at intervals, and the depth of each radial groove is equal to the radius of the needle roller 6; each radial groove is bonded with the side wall of one needle roller 6 through glue; two vent holes 3-1 which are uniformly distributed along the circumferential direction are formed in the position of the side wall of the limit sleeve 3, which is axially positioned at the needle roller 6, so that the normal sliding of the ball disc 8 is ensured, and air lock is avoided; the cylindrical surface of the large shaft diameter section of the ball disc 8 and the inner wall of the limit sleeve 3 form a sliding pair, and the small shaft diameter section extends out of the central hole of the bottom plate; the diameter of the small shaft diameter section of the ball disc 8 is smaller than the aperture of the central hole of the bottom plate of the sleeve base 9; as shown in FIG. 4, the end surface of the large shaft diameter section of the ball disc 8, which is opposite to the needle disc 4, is provided with a circular groove II and m ball sockets uniformly distributed along the circumferential direction, wherein m is more than or equal to 12, and m is integer multiple of n; the second annular groove is aligned with the first annular groove of the needle roller disc 4 along the radial direction of the ball disc 8, and the ball socket is aligned with the radial groove of the needle roller disc 4 along the radial direction of the ball disc 8; the radius of the ball socket is equal to the radius of the ball 7 and is larger than the circumferential distance between two radial grooves in the radial groove group; each ball socket is bonded with a ball 7 through glue; one end of the spiral spring 5 is embedded into the first annular groove of the roller pin disc 4, and the other end of the spiral spring is embedded into the second annular groove of the ball disc 8; the end of the spiral spring 5 embedded in the annular groove I of the roller pin disc 4 is adhered with the annular groove I of the roller pin disc 4 through glue; the spiral spring 5 is provided with a pre-compression force; the axial distance between the limit sleeve 3 and the bottom plate of the sleeve base 9 is larger than or equal to the sum of the thickness of the roller needle disc 4, the radius of the roller needle 6, the radius of the ball 7 and the length of the large shaft diameter section of the ball disc 8; so, when the ball 7 is embedded between the two needle rollers 6, a gap is reserved between the large-shaft-diameter section of the ball disc 8 and the bottom plate of the sleeve base 9, and the gap ensures that the ball 7 and the needle rollers 6 can be smoothly separated when the electromagnet 10 is powered off; the axle center positioning iron core 14 is sleeved in the center hole of the needle roller disk 4 and is adhered to the needle roller disk 4 through glue; the center hole of the axis positioning iron core 14 comprises a cylindrical hole section and a conical hole section, and the taper of the conical hole section is equal to the taper of the outer conical surface of the axis positioning conical pin 13; the maximum aperture of the central hole of the axle center positioning iron core 14 is between the maximum diameter and the minimum diameter of the outer conical surface of the axle center positioning conical pin 13; the large shaft diameter end of the shaft center positioning taper pin 13 is bonded with one end of the shaft center cylinder 12 through glue; the other end of the axle center cylinder 12 is bonded with the electromagnet 10 through glue; the outer side wall of the axle center cylinder 12 and the electromagnet 10 are bonded with the center hole of the ball disc 8 through glue; the electromagnet 10 is controlled to be powered on and powered off through an external switch; an extension shaft of the double-shaft photoelectric angle encoder 2 sequentially passes through a central hole of the shaft center positioning iron core 14 and a central hole of the shaft center positioning taper pin 13 and is embedded into the central hole of the shaft center cylinder 12; the side wall of the axle center cylinder 12 is provided with a pin hole, the cylindrical pin 11 is adhered in the pin hole through glue, and forms a rolling friction pair with the step surface of the protruding shaft of the double-shaft photoelectric angle encoder 2 embedded in the center hole of the axle center cylinder 12; the axis of the cylindrical pin 11 is parallel to the plane of the step surface, so that the synchronous rotation of the axis cylinder 12 and the protruding shaft of the double-shaft photoelectric angle encoder 2 is ensured, and meanwhile, the axis cylinder 12 can slide relative to the step surface of the protruding shaft of the double-shaft photoelectric angle encoder 2. The projecting shaft of the double-shaft photoelectric angle encoder 2, the electromagnet 10, the shaft center cylinder 12, the shaft center positioning taper pin 13 and the central axis of the shaft center positioning iron core 14 are coaxially arranged. When the n balls 7 and the n pairs of needle rollers 6 are in the fitting position in the circumferential direction, the biaxial photoelectric angle encoder 2 is positioned at a corresponding one of the low-precision index positions.
The large shaft diameter end of the shaft center positioning taper pin 13 is provided with a countersunk slot, and a positioning convex ring integrally formed with the shaft center cylinder 12 is embedded into the countersunk slot of the shaft center positioning taper pin 13, so that the shaft center cylinder 12 and the shaft center positioning taper pin 13 are ensured to be coaxially bonded; the second positioning convex ring integrally formed with the axle center cylinder 12 is embedded into a circular positioning groove formed on the end surface of the electromagnet 10, so that the axle center cylinder 12 and the electromagnet 10 are ensured to be coaxially bonded.
The ball 7, the ball disc 8, the electromagnet 10, the cylindrical pin 11, the shaft center cylinder 12 and the shaft center positioning taper pin 13 form a rotating component.
The ball disc 8 with different ball socket numbers can be replaced according to the requirement of the measured angle; the replacement process is as follows: the screw connecting the threaded hole of the limit sleeve 3 and the through hole on the side plate of the sleeve base 9 is removed, the ball disc 8 is taken down together with the rotating component, a new ball disc 8 and a new rotating component bonded with the ball disc 8 are replaced, the spiral spring 5 is embedded into the annular groove II of the new ball disc 8, the axis positioning taper pin 13 of the new rotating component is embedded into the center hole of the axis positioning iron core 14, and then the threaded hole of the limit sleeve 3 and the through hole on the side plate of the sleeve base 9 are connected through the screw.
The calibration method of the indexing photoelectric angle encoder comprises the following specific steps:
firstly, pre-storing m low-precision standard positions for a double-shaft photoelectric angle encoder 2, wherein n balls 7 are respectively aligned with n pairs of rolling pins 6 in the circumferential direction at each low-precision standard position; each low-precision mark corresponds to an angle value of the extending shaft of the double-shaft photoelectric angle encoder 2, but the double-shaft photoelectric angle encoder 2 can only measure one low-precision angle range due to the lower precision of the double-shaft photoelectric angle encoder 2; then fixing the encoder bracket 1, and fixing the metal polygon prism on the electromagnet 10 through a clamp, so that the central axis of the metal polygon prism and the central axis of the extending shaft of the double-shaft photoelectric angle encoder 2 are coaxially arranged; wherein, the side surface of the metal polyhedral prism is provided with m mirror surfaces; the stretching shaft of the double-shaft photoelectric angle encoder 2 which is not embedded into the central hole of the shaft center cylinder 12 is connected with a motor through a coupler; the electromagnet 10 is in a power-off state at the beginning, the spiral spring 5 stretches to push the ball disc 8 to slide to be in contact with the bottom plate of the sleeve base 9, at the moment, the balls 7 are separated from the rolling pins 6, and the stretching shaft of the double-shaft photoelectric angle encoder 2 can be driven by a motor to rotate forward and backward to any position. The motor drives the extension shaft of the double-shaft photoelectric angle encoder 2 to rotate, so that the rotating part is driven to rotate, the double-shaft photoelectric angle encoder 2 is positioned on the ith low-precision standard position, i=1, and n balls 7 are respectively aligned with n pairs of rolling pins 6 in the circumferential direction at the ith low-precision standard position; when the rotating part rotates, the metal polyhedral prism also rotates along with the rotating part.
Step two, the external switch controls the electromagnet 10 to be electrified, because the axle center cylinder 12 and the axle center positioning taper pin 13 are magnetized materials and magnetized by the electromagnet 10, the axle center positioning taper pin 13 and the axle center positioning iron core 14 are mutually attracted, the cylindrical pin 11 rolls on the step surface of the extending shaft of the double-shaft photoelectric angle encoder 2, thereby driving the rotating component to axially slide along the extending shaft of the double-shaft photoelectric angle encoder 2, the ball disc 8 is closed towards the needle disc 4 along the limit sleeve 3, n balls 7 are embedded with n pairs of needle rollers 6 to form limit on the circumference, and the spiral spring 5 is compressed; the outer conical surface of the axle center positioning conical pin 13 is embedded into the conical hole section of the central hole of the axle center positioning iron core 14 and is completely attached to the conical hole section of the central hole of the axle center positioning iron core 14, so that the coaxial centering positioning is ensured to be reliable; wherein the limit sleeve 3 is used for limiting the radial movement of the ball disc 8 when sliding.
Step three, adjusting the height of the autocollimator until the center of a cross score displayed in a laser tube is aligned with the center of a mirror surface of the metal polyhedral prism; and (3) calibrating the embedded positions of the n balls 7 and the n pairs of needle rollers 6 in the second step into an ith high-precision calibration position, namely a high-precision calibration zero position, through an autocollimator and a metal polyhedral prism, and recording low-precision calibration information of the double-shaft photoelectric angle encoder 2 corresponding to the ith high-precision calibration position.
Step four, the external switch controls the electromagnet 10 to be powered off, the spiral spring 5 stretches to push the ball disc 8 to slide until the ball disc contacts with the bottom plate of the sleeve base 9, and at the moment, the ball 7 is separated from the needle roller 6; the motor drives the extending shaft of the double-shaft photoelectric angle encoder 2 to rotate to the (i+1) th low-precision standard position, and at the moment, n balls 7 are aligned with n pairs of rolling pins 6 in circumferential directions respectively.
And fifthly, repeating the second step, calibrating the embedded position of the n balls 7 and the n pairs of rolling pins 6 into an i+1th high-precision calibration position through an auto-collimator and a metal polygon prism, and recording the low-precision calibration information of the biaxial photoelectric angle encoder 2 corresponding to the i+1th high-precision calibration position.
Step six, i is sequentially increased by 1, the step four and the step five are repeated until i=m, and step seven is entered;
and step seven, designing the low-precision positioning information of each high-precision positioning and corresponding double-shaft photoelectric angle encoder 2 into a standard output angle table.
And step eight, the clamp and the metal polyhedral prism are removed from the electromagnet 10, and the constraint of the encoder bracket 1 is released.
When the indexing type photoelectric angle encoder is actually used after calibration, firstly, the extending shaft angle range of the double-shaft photoelectric angle encoder 2 is judged through a built-in program of the double-shaft photoelectric angle encoder 2, and then the low-precision standard positioning of the rotating part is judged according to the angle corresponding relation between the low-precision standard positioning and the extending shaft of the double-shaft photoelectric angle encoder 2; and then the double-shaft photoelectric angle encoder 2 calls a standard output angle meter, and outputs a high-precision calibration bit corresponding to the low-precision calibration bit on the standard output angle meter, so that the angle information of the rotating part with higher precision is obtained.
Claims (7)
1. An indexing type photoelectric angle encoder, includes encoder support and biax photoelectric angle encoder, its characterized in that: the device also comprises a limit sleeve, a rolling needle disc, a spiral spring, a rolling needle, a rolling ball disc, an electromagnet, a cylindrical pin, an axle center cylinder, an axle center positioning taper pin, a sleeve base and an axle center positioning iron core; the axle center cylinder and the axle center positioning taper pin are both made of magnetized materials; the shell of the double-shaft photoelectric angle encoder is fixed with the encoder bracket; the biaxial photoelectric angle encoder comprises two extending shafts; one end of the limiting sleeve is sleeved outside the shell of the double-shaft photoelectric angle encoder and is adhered to the shell of the double-shaft photoelectric angle encoder through glue; the sleeve base comprises a bottom plate and a side plate which are integrally formed; two threaded holes which are uniformly distributed along the circumferential direction and are formed in the side wall of the other end of the limit sleeve are respectively connected with two through holes formed in the side plate through screws; the bottom plate is provided with a central hole; the rolling needle disc is integrally arranged in the limit sleeve, one end face of the rolling needle disc is bonded with the shell of the double-shaft photoelectric angle encoder through glue, the other end face of the rolling needle disc is provided with a circular groove I and n radial groove groups uniformly distributed along the circumferential direction, and n is more than or equal to 4; the radial groove group comprises two radial grooves which are distributed along the circumferential direction at intervals, and the depth of each radial groove is equal to the radius of the corresponding needle roller; each radial groove is bonded with the side wall of one needle roller through glue; the cylindrical surface of the large shaft diameter section of the ball disc and the inner wall of the limit sleeve form a sliding pair, and the small shaft diameter section extends out of the central hole of the bottom plate; the diameter of the small shaft diameter section of the ball disc is smaller than the aperture of the central hole of the bottom plate of the sleeve base; the end surface of the large shaft diameter section of the ball disc, which is opposite to the needle roller disc, is provided with a circular groove II and m ball sockets uniformly distributed along the circumferential direction, wherein m is more than or equal to 12, and m is integer multiple of n; the second annular groove is aligned with the first annular groove of the rolling needle disc in the radial direction of the ball disc, and the ball socket is aligned with the radial groove of the rolling needle disc in the radial direction of the ball disc; the radius of the ball socket is equal to the radius of the ball, and is larger than the circumferential distance between two radial grooves in the radial groove group; each ball socket is bonded with a ball through glue; one end of the spiral spring is embedded into the first annular groove of the rolling needle disc, and the other end of the spiral spring is embedded into the second annular groove of the ball disc; the end of the spiral spring embedded in the annular groove I of the roller pin disc is adhered with the annular groove I of the roller pin disc through glue; the spiral spring is provided with a precompression; the axial distance between the limit sleeve and the bottom plate of the sleeve base is larger than or equal to the sum of the thickness of the rolling needle disc, the radius of the rolling needle, the radius of the rolling ball and the length of the large shaft diameter section of the rolling ball disc; the axle center positioning iron core is sleeved in the central hole of the needle roller disc and is adhered to the needle roller disc through glue; the center hole of the axis positioning iron core comprises a cylindrical hole section and a conical hole section, and the taper of the conical hole section is equal to the taper of the outer conical surface of the axis positioning conical pin; the maximum aperture of the central hole of the axis positioning iron core is between the maximum diameter and the minimum diameter of the outer conical surface of the axis positioning taper pin; the large shaft diameter end of the shaft center positioning taper pin is bonded with one end of the shaft center cylinder through glue; the other end of the axle center cylinder is bonded with the electromagnet through glue; the outer side wall of the axle center cylinder and the electromagnet are bonded with the central hole of the ball disc through glue; the electromagnet is controlled to be powered on and powered off through an external switch; an extension shaft of the double-shaft photoelectric angle encoder sequentially penetrates through a central hole of the shaft center positioning iron core and a central hole of the shaft center positioning taper pin and is embedded into the central hole of the shaft center cylindrical barrel; the side wall of the axle center cylinder is provided with a pin hole, a cylindrical pin is adhered in the pin hole through glue, and the cylindrical pin and the step surface of the protruding shaft of the double-shaft photoelectric angle encoder embedded in the center hole of the axle center cylinder form a rolling friction pair; the axis of the cylindrical pin is parallel to the plane where the step surface is located; the projecting shaft of the double-shaft photoelectric angle encoder, the electromagnet, the shaft center cylinder, the shaft center positioning taper pin and the central axis of the shaft center positioning iron core are coaxially arranged.
2. An indexing optoelectronic angle encoder according to claim 1, wherein: the encoder bracket is provided with k arc-shaped grooves distributed along the circumferential direction, k is more than or equal to 3, and the inner arcs of all the arc-shaped grooves are positioned on the same circumference; the shell of the double-shaft photoelectric angle encoder is provided with k threaded holes distributed along the circumferential direction, and each threaded hole is connected with one arc-shaped groove at the corresponding position of the encoder bracket through a screw.
3. An indexing optoelectronic angle encoder according to claim 1, wherein: the side wall of the limit sleeve is axially positioned at the needle roller position and provided with two vent holes uniformly distributed along the circumferential direction.
4. An indexing optoelectronic angle encoder according to claim 1, wherein: the large shaft diameter end of the shaft center positioning taper pin is provided with a countersunk slot, and a positioning convex ring integrally formed with the shaft center cylindrical barrel is embedded into the countersunk slot of the shaft center positioning taper pin; the positioning convex ring II integrally formed with the axial center cylindrical barrel is embedded into a circular positioning groove formed in the end face of the electromagnet.
5. An indexing optoelectronic angle encoder according to claim 1, wherein: the rolling ball, the rolling ball disc, the electromagnet, the cylindrical pin, the axis cylinder and the axis positioning taper pin form a rotating component.
6. An indexing optoelectronic angle encoder according to claim 5, wherein: the replacement process of the ball disc with different ball socket numbers is as follows: and removing the screw for connecting the threaded hole of the limit sleeve and the through hole on the side plate of the sleeve base, taking down the ball disc together with the rotating part, replacing the ball disc with a new ball disc and a new rotating part bonded with the ball disc, enabling the spiral spring to be embedded into the annular groove II of the new ball disc, enabling the axis locating taper pin of the new rotating part to be embedded into the central hole of the axis locating iron core, and then connecting the threaded hole of the limit sleeve and the through hole on the side plate of the sleeve base by the screw.
7. The method for calibrating an indexing photoelectric angle encoder according to claim 5, wherein: the method comprises the following steps:
firstly, pre-storing m low-precision standard positions for a double-shaft photoelectric angle encoder, wherein n balls and n pairs of rolling pins are respectively aligned in the circumferential direction at each low-precision standard position; each low-precision mark corresponds to an angle value of the extending shaft of the double-shaft photoelectric angle encoder, but the double-shaft photoelectric angle encoder can only measure an angle range due to lower precision of the double-shaft photoelectric angle encoder; then fixing an encoder bracket, and fixing the metal polyhedral prism on the electromagnet through a clamp, so that the central axis of the metal polyhedral prism and the central axis of the extending shaft of the double-shaft photoelectric angle encoder are coaxially arranged; wherein, the side surface of the metal polyhedral prism is provided with m mirror surfaces; the stretching shaft of the double-shaft photoelectric angle encoder, which is not embedded in the central hole of the axial center cylinder, is connected with the motor through a coupler; when the electromagnet is in a power-off state at the beginning, the spiral spring stretches to push the ball disc to slide to be in contact with the bottom plate of the sleeve base, and at the moment, the ball is separated from the needle roller; the motor drives the extension shaft of the double-shaft photoelectric angle encoder to rotate, so that the rotating part is driven to rotate, and the double-shaft photoelectric angle encoder is positioned on the ith low-precision mark position, i=1; when the rotating part rotates, the metal polyhedral prism also rotates along with the rotating part;
step two, an external switch controls the electromagnet to be electrified, the axis cylinder and the axis positioning taper pin are magnetized by the electromagnet, the axis positioning taper pin and the axis positioning iron core are mutually attracted, the cylindrical pin rolls on the step surface of the extending shaft of the double-shaft photoelectric angle encoder, so that the rotating component is driven to axially slide along the extending shaft of the double-shaft photoelectric angle encoder, the ball disc is closed towards the needle disc along the limit sleeve, n balls are embedded with n pairs of needle rollers to form limit on the circumference, and the spiral spring is compressed; the outer conical surface of the axis positioning conical pin is embedded into the conical hole section of the central hole of the axis positioning iron core and is attached to the conical hole section of the central hole of the axis positioning iron core; the limiting sleeve is used for limiting radial movement of the ball disc during sliding;
step three, adjusting the height of the autocollimator until the center of a cross score displayed in a laser tube is aligned with the center of a mirror surface of the metal polyhedral prism; the position where n balls are embedded with n pairs of rolling pins in the second step is marked as an ith high-precision mark position, namely a high-precision mark zero position, by an auto-collimator and a metal polyhedral prism, and low-precision mark information of the double-shaft photoelectric angle encoder corresponding to the ith high-precision mark position is recorded;
step four, the external switch controls the electromagnet to be powered off, the spiral spring stretches to push the ball disc to slide to be contacted with the bottom plate of the sleeve base, and at the moment, the ball is separated from the roller pin; the motor drives the extension shaft of the double-shaft photoelectric angle encoder (2) to rotate to the (i+1) th low-precision standard position;
step five, repeating the step two, calibrating the jogged position of n balls and n pairs of rolling pins into an i+1th high-precision calibration position through an auto-collimator and a metal polyhedral prism, and recording low-precision calibration information of the double-shaft photoelectric angle encoder corresponding to the i+1th high-precision calibration position;
step six, i is sequentially increased by 1, the step four and the step five are repeated until i=m, and step seven is entered;
step seven, designing low-precision positioning information of each high-precision positioning and corresponding double-shaft photoelectric angle encoder into a standard output angle table;
and step eight, the clamp and the metal polyhedral prism are taken down from the electromagnet, and the restraint of the encoder bracket is released.
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