CN112540627A - Triaxial revolving stage containing angle compensation device - Google Patents
Triaxial revolving stage containing angle compensation device Download PDFInfo
- Publication number
- CN112540627A CN112540627A CN201910890340.9A CN201910890340A CN112540627A CN 112540627 A CN112540627 A CN 112540627A CN 201910890340 A CN201910890340 A CN 201910890340A CN 112540627 A CN112540627 A CN 112540627A
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- China
- Prior art keywords
- angle
- axis
- measurement
- revolving stage
- triaxial
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/125—Control of position or direction using feedback using discrete position sensor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention relates to a triaxial turntable comprising an angle compensation device, which comprises an inclination angle sensor, a triaxial turntable table body and a measurement and control box, wherein the inclination angle sensor is fixedly arranged at the bottom of a working table surface of the triaxial turntable table body, the measurement and control box reads angle data in the inclination angle sensor in an RS422/RS485 serial port mode through a connecting cable, and the measurement and control box can calculate a compensation angle according to the angle data due to higher angle measurement precision of the inclination angle sensor, so that position correction is carried out during the operation of the triaxial turntable, and the in-place precision is improved. The invention can compensate the angle of the movement clearance caused by the worm gear transmission in the three-axis turntable, and improve the position precision of the three-axis turntable.
Description
Technical Field
The invention relates to a three-axis turntable comprising an angle compensation device, which can perform angle compensation on a movement gap caused by worm and gear transmission in the three-axis turntable and improve the position precision of the three-axis turntable.
Background
The middle shaft and the inner shaft in the three-shaft rotary table related by the invention adopt a structural form which does not have a shaft system and realizes the motion of the two shaft systems by the sliding of a worm gear. Because no shafting exists, an angle measuring element cannot be arranged at the shaft end to realize the full closed-loop position control of the middle shaft and the inner shaft, and the closed-loop position control made by utilizing the feedback of a position sensor arranged on the motor cannot eliminate the movement clearance caused by the worm and gear transmission, so that the position precision of the middle shaft and the inner shaft of the three-shaft turntable is poor, and the use requirement of a user cannot be met. In order to solve this problem, an angle compensation device suitable for the three-axis turntable is required to improve the position accuracy.
Disclosure of Invention
The invention aims to solve the technical problem that the position accuracy of a middle shaft and an inner shaft of the traditional three-shaft rotary table is poor and cannot meet the use requirement of a user.
The technical scheme adopted for achieving the purpose comprises a tilt angle sensor, a three-axis turntable body and a measurement and control box. The inclination angle sensor is fixedly installed at the bottom of a working table top of the three-axis rotary table body and can sense the angles of the center axis and the inner axis of the three-axis rotary table body in two directions, the measurement and control box reads the angle data of the center axis and the inner axis in the inclination angle sensor in an RS422/RS485 serial port mode through a connecting cable, the measurement and control box can calculate a compensation angle according to the angle data due to the fact that the angle data of the center axis and the inner axis measured by the inclination angle sensor is high in precision, position correction is conducted on the center axis and the inner axis when the three-axis rotary table runs, and the in-place precision.
The three-axis turntable comprising the angle compensation device has the following beneficial effects:
the device is characterized in that an inclination angle sensor is additionally arranged at the bottom of a working table top of a three-axis rotary table body, and the in-place angle of a middle shaft and an inner shaft of the three-axis rotary table during operation is compensated by means of the high angle measurement precision of the inclination angle sensor, so that the in-place precision is improved. The device commonality is strong, and the design is comparatively simple and convenient, can effectively solve the problem of the clearance of moving that the worm gear transmission brought in the triaxial revolving stage.
Drawings
FIG. 1 is a schematic block diagram of the structure of the device;
FIG. 2 is a schematic block diagram of a measurement and control box in the device;
fig. 3 is a flow chart of the device for realizing the angle compensation function.
Shown in the figure: 1-tilt angle sensor, 2-three-axis turntable body and 3-measurement and control box.
Detailed Description
The invention provides a three-axis turntable comprising an angle compensation device, which can compensate the in-place angle of a middle shaft and an inner shaft of the three-axis turntable during operation, thereby achieving the purpose of improving the in-place precision of the three-axis turntable and meeting the use requirements of users. The device commonality is strong, and the design is comparatively simple and convenient, can put into use on the revolving stage of similar structure, can effectively solve the problem of the motion clearance that worm gear transmission brought in the triaxial revolving stage. The invention is described in detail below with reference to the drawings and the detailed description.
The three-axis turntable comprising the angle compensation device shown in fig. 1 comprises an inclination angle sensor (1), a three-axis turntable table body (2) and a measurement and control box (3), wherein the inclination angle sensor is fixedly installed at the bottom of a working table surface of the three-axis turntable table body, the measurement and control box reads angle data of a middle axis and an inner axis in the inclination angle sensor in an RS422/RS485 serial port mode through a connecting cable, and the measurement and control box can calculate a compensation angle according to the angle data due to the fact that the precision of the angle of the middle axis and the angle of the inner axis measured by the inclination angle sensor is high, and can correct the position of the middle axis and the inner axis when the three.
As shown in fig. 2, the measurement and control circuit board and the tilt sensor in the measurement and control box receive and transmit angle data in the form of RS422/RS485 serial ports, and the angle data are processed by the RS422/RS485 interface module and transmitted to the DSP; the DSP calculates a compensation angle by combining angle data sent by the inclination angle sensor and the motor position sensor, and sends a motor driving signal to the driver module; the driver module drives the middle shaft and the inner shaft motor to operate at corresponding compensation angles, and the in-place angle is corrected.
As shown in fig. 3, after the upper computer sends a turntable position control instruction, the instruction is analyzed by the DSP, and a motor control signal to the driver is calculated according to an angle value sent by the motor position sensor obtained by the FPGA angle measurement and calculation circuit, and whether the motor control signal is in place for the first time is judged at the same time; if the three-axis turntable is in place for the first time, the DSP obtains a compensation angle after comparing the angle of the inclination angle sensor with the target angle, calculates the corrected motor control signal and realizes angle compensation of the three-axis turntable.
The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that all such changes and modifications as fall within the true spirit and scope of the invention be considered as within the following claims.
Claims (4)
1. The utility model provides a triaxial revolving stage that contains angle compensation arrangement, includes inclination sensor (1), triaxial revolving stage body (2) and measurement and control case (3), its characterized in that, inclination sensor fixed mounting is in the table surface bottom of triaxial revolving stage body, and it can the angle of sensing triaxial revolving stage body axis and interior axle two directions, measurement and control case reads the angle data of axis and interior axle in inclination sensor with RS422 RS485 serial ports form through the connecting cable, because axis and interior axle angle precision that inclination sensor surveyed is higher, measurement and control case can calculate according to this angle data and reachs the compensation angle, carries out position correction to axis and interior axle when triaxial revolving stage operation, improves the precision that axis and interior axle target in place.
2. The three-axis rotary table with the angle compensation device as claimed in claim 1, wherein the tilt sensor is a high-precision two-axis tilt sensor, which can provide RS422/RS485 serial output and is adaptable to industrial control environment.
3. The three-axis rotary table with the angle compensation device as claimed in claim 1, wherein the three-axis rotary table body is composed of a working table top, an inner shaft, a middle shaft, an outer shaft and a base, the inner shaft and the middle shaft are driven in a worm gear manner, and a movement gap exists during operation. The rotary table base is provided with an aviation socket which can send angle data and receive motor control signals.
4. The three-axis rotating table with the angle compensation device as claimed in claim 1, wherein the measurement and control box comprises a power supply module, a DSP/FPGA circuit board, an RS422/485 interface module, a driver module and an aviation socket, and can receive angle data and send motor control signals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910890340.9A CN112540627A (en) | 2019-09-20 | 2019-09-20 | Triaxial revolving stage containing angle compensation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910890340.9A CN112540627A (en) | 2019-09-20 | 2019-09-20 | Triaxial revolving stage containing angle compensation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112540627A true CN112540627A (en) | 2021-03-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910890340.9A Pending CN112540627A (en) | 2019-09-20 | 2019-09-20 | Triaxial revolving stage containing angle compensation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112540627A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802054A (en) * | 2022-04-25 | 2022-07-29 | 九江精密测试技术研究所 | Control system applied to vehicle-mounted high-precision linear velocity excitation device |
-
2019
- 2019-09-20 CN CN201910890340.9A patent/CN112540627A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114802054A (en) * | 2022-04-25 | 2022-07-29 | 九江精密测试技术研究所 | Control system applied to vehicle-mounted high-precision linear velocity excitation device |
| CN114802054B (en) * | 2022-04-25 | 2023-06-13 | 九江精密测试技术研究所 | Control system applied to vehicle-mounted high-precision linear velocity excitation device |
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