CN112762832B - Mechanical zeroing device and method for driving mechanism with auxiliary measuring device - Google Patents
Mechanical zeroing device and method for driving mechanism with auxiliary measuring device Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses a mechanical zeroing device and a mechanical zeroing method for a driving mechanism with an auxiliary measuring device, wherein the mechanical zeroing device comprises an equipment mounting platform, a rotation control mechanism, a measuring mechanism and a driving mechanism, wherein the measuring mechanism is arranged above the equipment mounting platform and is used for measuring the actual deviation of the mechanical zero position of the driving mechanism; according to the invention, the mechanical zero position of the driving mechanism can be debugged in the production process of the driving mechanism, so that the mechanical zero position meets the index requirement; the optical axis is tightly held at the joint of the optical axis seat, and tightness is realized in a screw locking mode, so that the measurement height of the measuring mechanism can be freely adjusted.
Description
Technical Field
The invention relates to the field of mechanical zeroing, in particular to a mechanical zeroing device and a mechanical zeroing method for a driving mechanism with an auxiliary measuring device.
Background
The driving mechanism is provided with two zero identifiers, namely a mechanical zero identifier and an electrical zero identifier. In the production process of the driving mechanism, the deviation between the mechanical zero position and the electrical zero position of the driving mechanism is required to be debugged, so that the deviation between the mechanical zero position and the electrical zero position meets the index requirement.
The electrical zero position detection is mainly used for detecting the installation position and performance parameters of a zero position sensor installed in the driving mechanism, and zero position signals measured by an electrical measurement element are utilized. In practice, this null is an artificially defined position relative to the null of the machine. The mechanical zero position is a machine reference zero point marked by an instrument such as a scale on equipment, other equipment is installed, the operation takes the point as a reference position, and the mechanical zero point mainly used is generally the initial position for marking the shutdown state of the machine.
The zeroing method of the driving mechanism comprises the following steps: the measuring element corresponding to the mechanical zero position is measured by the number '0' to fix the measuring element, so that the mechanical zero position and the electrical zero position are at the same point position, namely, the mechanical zero position and the electrical zero position are coincident. However, in practice, the zero position of the mechanical encoder is difficult to coincide with the zero position of the measured value of the electric encoder, the data measured by the corresponding measuring element of the zero position of the mechanical encoder is in a range, and deviation exists. The deviation is generally shortened by two methods, one is to improve the performance and the mounting position accuracy of the zero position sensor in the driving mechanism; and the other is to measure the actual deviation and perform high-precision mechanical zeroing on the driving mechanism under the condition that the installation position and the performance of the zero position sensor in the driving mechanism are determined.
The current practice of zeroing the drive mechanism is generally manual measurement and adjustment by manpower, and the main defects are that:
firstly, the stability of manual measurement is not high, and the measurement accuracy is affected;
secondly, because the difference between the mechanical zero position and the electrical zero position is smaller, manual adjustment is quite laborious;
Thirdly, high-precision zeroing of the driving mechanism is difficult to achieve through manual measurement and adjustment;
Fourth, the efficiency of the measurement and adjustment is quite low.
Disclosure of Invention
The invention aims to solve the defects of the prior art, and provides a mechanical zero setting device and method for a driving mechanism with an auxiliary measuring device, which can be used for debugging the mechanical zero position of the driving mechanism in the production process of the driving mechanism so as to enable the mechanical zero position to meet the index requirement.
The invention realizes the above purpose through the following technical scheme: the utility model provides a actuating mechanism mechanical zeroing device with auxiliary measuring device, includes equipment mounting platform, rotation control mechanism, measuring mechanism, actuating mechanism, measuring mechanism install in equipment mounting platform's top, measuring mechanism is used for measuring actuating mechanism mechanical zero position's actual deviation, rotation control mechanism install in above the equipment mounting platform, actuating mechanism's input with rotation control mechanism's output is connected, rotation control mechanism is used for controlling actuating mechanism is rotatory and feedback rotation angle.
The equipment installation platform comprises a supporting bracket, a working platform, an installation vertical frame and a positioning block.
The support bracket is stably erected on a large ground plane, the working platform is placed on the support bracket, a square groove is formed in the working platform, the positioning block is placed in the square groove of the working platform, two mounting uprights are arranged, and the two mounting uprights are symmetrically fixed on two sides of a transverse central axis on the working platform respectively.
The rotation control mechanism comprises a first servo motor, a first speed reducer, a main shaft, a brake support, a first angle encoder, an expansion sleeve, an encoder adapter block, a universal joint, a torsion spring, a bottom plate and a first speed reducer support.
The output end of the first servo motor is connected with the input end of the first speed reducer, the first speed reducer is fixedly arranged on the side face of the first speed reducer support, the bottom face of the first speed reducer support is arranged on the upper face of the base plate, the output end of the first speed reducer is connected with one end of the main shaft, the other end of the main shaft is connected with the universal joint adapter block through expansion, the brake is arranged on the main shaft, the brake is fixed on one side face of the brake support, the bottom face of the brake support is fixed on the upper face of the base plate, the first angle encoder is arranged on one end of the encoder adapter block, the first angle encoder is fixed on the other side face of the brake support, one end of the universal joint is connected with the other end of the encoder adapter block, one end of the torsion spring is connected with the universal joint input end, the other end of the torsion spring is connected with the universal joint output end, and the base plate is arranged on the working platform; in the zeroing process, the first servo motor provides driving force for rotary motion, torque is amplified and rotation speed is reduced through the first speed reducer, the main shaft is driven to rotate and drive the universal joint to rotate, and the first angle encoder provides an angle for the universal joint to actually rotate.
The measuring mechanism comprises a linear motion guiding device, an auxiliary measuring device and a displacement measuring device.
The linear motion guiding device comprises a supporting cross beam, a linear guide rail, a linear module main body, a linear module supporting frame, a linear module sliding block, a linear module servo motor, a deflector rod and a linear guide rail sliding block. The linear module main body is fixed on the upper surfaces of two linear module support frames, the side surfaces of the linear module support frames are fixed on one side surface of the support beam, the deflector rod is arranged on the linear module sliding block, the linear guide rail is fixed on the upper surface of the support beam, the linear guide rail sliding block is arranged on the linear guide rail, and the linear module servo motor is arranged at one end of the linear module main body; in the measuring process, the supporting cross beam is fixed on the two mounting uprights; the linear module servo motor provides power for transverse movement of the measuring mechanism, the linear module sliding block drives the deflector rod to move, and the linear guide rail provides guiding for transverse movement of the measuring mechanism.
The auxiliary measuring device comprises a grating ruler guide rail, a grating ruler sliding block and a grating ruler supporting frame. The grating ruler guide rail is arranged on the grating ruler support frame, the grating ruler sliding block is arranged on the grating ruler guide rail, one end of the grating ruler sliding block is fixedly connected with one side of the main sliding block, and the grating ruler support frame is fixed on the support cross beam; in the measuring engineering, the working position of the measuring mechanism can be positioned in real time along with the movement of the grating ruler slide block.
The displacement measuring device comprises a main sliding block, a counterweight frame, a counterweight, a second servo motor, a coupler, a rotating shaft, a linear bearing seat, a second speed reducer, a mounting bracket, a second angle encoder flange, an optical axis, a light shaft seat, a photoelectric displacement sensor and a photoelectric displacement sensor mounting plate. The second servo motor is fixed on one side surface of the mounting bracket, the output end of the second servo motor is connected with one end of the coupler, the other end of the coupler is connected with one end of the rotating shaft, the other end of the rotating shaft penetrates through the linear bearing seat to be fixedly connected with the input end of the second speed reducer, the second speed reducer is fixed on the other side surface of the mounting bracket, the bottom surface of the mounting bracket is fixed on the main sliding block, the bottom surface of the linear bearing seat is fixed on the upper surface of the mounting bracket, the second angle encoder is fixed on the second angle encoder flange, the second angle encoder flange is fixed on the output end of the second speed reducer, one end of an optical axis is fixedly connected with the output end of the second speed reducer, the optical axis penetrates through the second angle encoder to be mounted on two optical axis seats, the through holes of the two optical axis seats are vertically and downwards fixed on the vertical center line position of one side surface of the photoelectric displacement sensor mounting plate, and the two photoelectric displacement sensors are respectively symmetrically fixed on the other side surface of the photoelectric displacement sensor mounting plate; in the detection process, the deflector rod drives the main sliding block to do linear motion, and the photoelectric displacement sensor follows the main sliding block to do linear motion; the second servo motor provides driving force for rotary motion, torque is amplified and rotation speed is reduced through the rotating shaft and the second speed reducer, the optical axis is driven to rotate, the photoelectric displacement sensor performs rotary motion along with the rotating shaft, and the second angle encoder provides an angle for actually rotating the optical axis.
The driving mechanism comprises a driving mechanism rotor and a driving mechanism stator. Two rotor positioning pins are arranged on the driving mechanism rotor, and the driving mechanism stator is arranged on the working platform; in the zeroing process, when the universal joint drives the driving mechanism rotor to rotate, the rotor locating pin moves along with the driving mechanism rotor.
Further, a torsion spring is arranged on the universal joint, one end of the torsion spring is connected with the input end of the universal joint, the other end of the torsion spring is connected with the output end of the universal joint, and transmission backlash of the input end and the output end of the universal joint is eliminated.
Further, the cross section of the optical axis is a combination of a semicircle and a rectangle for limiting the rotational freedom of the photoelectric displacement sensor mounting plate.
Further, a square notch is formed in one side of the main sliding block, and one end of the deflector rod is spherical and is arranged in the square notch of the main sliding block. In the measuring process, the deflector rod drives the main sliding block to do linear motion, the spherical end is in point-to-surface contact with the square groove opening, and errors generated by longitudinal jumping from the deflector rod to the main sliding block are eliminated.
Furthermore, one end of the driving mechanism rotor is symmetrically provided with two cylindrical rotor positioning pins at the rotation center of the driving mechanism.
The method for measuring the mechanical zero error of the driving mechanism and carrying out the measurement of the mechanical zero fading specifically comprises the following steps:
Step one: unscrewing screws used for fixing the optical axis on the two optical axis seats, so that the photoelectric displacement sensor mounting plate can longitudinally move; the height of the optical axis is regulated until the photoelectric displacement sensor can measure the upper plane of the working platform; screw bolts used for fixing the optical axis on the two optical axis seats are screwed down, so that the photoelectric displacement sensor mounting plate cannot longitudinally move;
step two: the linear module servo motor of the linear module is driven, so that the linear module sliding block drives the main sliding block on the linear guide rail to move; the two photoelectric displacement sensors do linear motion along with a main sliding block on the linear guide rail; simultaneously, the two photoelectric displacement sensors respectively measure and record the longitudinal distances between the photoelectric displacement sensors and the working platform at different positions; according to the position data generated by the movement of the grating ruler slide block and the measurement data of the photoelectric displacement sensor, the position data and the measurement data are used as reference data for error compensation;
step three: the driving mechanism is placed on the working platform by depending on a positioning block on the working platform so as to be convenient to install; fixedly connecting a driving mechanism rotor with the output end of a universal joint of a rotation control mechanism; fixing a driving mechanism stator on a working platform by using screws;
Step four: unscrewing screws used for fixing the optical axis on the two optical axis seats, so that the photoelectric displacement sensor mounting plate can longitudinally move; the height of the optical axis is regulated until the photoelectric displacement sensor can measure two rotor positioning pins on the rotor of the driving mechanism; tightening a screw on the optical axis seat for fixing the optical axis, so that the photoelectric displacement sensor mounting plate cannot longitudinally move;
Step five: driving a linear module servo motor to enable a linear module sliding block to drive a main sliding block on a linear guide rail to move; the photoelectric displacement sensor moves linearly along with a main sliding block on the linear guide rail; meanwhile, the position of the grating ruler sliding block when one photoelectric displacement sensor detects two rotor positioning pins on a rotor of the driving mechanism is recorded according to the grating ruler guide rail; calculating to obtain the actual center position of the driving mechanism, and enabling the optical axis to move to the position right above the center position of the driving mechanism;
Step six: the output end of the first servo motor amplifies the output torque and reduces the output rotating speed through a first speed reducer to drive the main shaft to rotate, so that a first angle encoder and a universal joint on the main shaft are driven to rotate; the universal joint drives the driving mechanism rotor to rotate, and meanwhile, the first angle encoder feeds back the actual rotation angle of the universal joint in real time; stopping the first servo motor of the rotation control mechanism until the two photoelectric displacement sensors can detect the two rotor positioning pins respectively;
step seven: the two photoelectric displacement sensors respectively measure and record the distance between the two rotor positioning pins and the photoelectric displacement sensors, and calculate the angle theta required to rotate when the driving mechanism is in zero adjustment; driving a first servo motor of the rotation control mechanism, and immediately stopping the first servo motor of the rotation control mechanism when the rotation angle fed back by the first angle encoder is theta;
step eight: checking whether the mechanical zero position of the driving mechanism meets the requirement or not, driving a second servo motor of the measuring mechanism to enable the two photoelectric displacement sensors to rotate 180 degrees along with the optical axis, and repeating the step seven until the mechanical zero position of the driving mechanism meets the requirement;
Step nine: removing the driving mechanism with the mechanical zeroing completed, and repeating the steps three to eight for the driving mechanism with the mechanical zeroing waiting until all the driving mechanisms complete the mechanical zeroing;
Step ten: all objects are reset or zeroed.
Before the measurement process, the center distance of the two rotor positioning pins is d, and the target mechanical zero position of the driving mechanism is that the two rotor positioning pins are positioned on the same horizontal line; let the left side active cell locating pin be a and the right side active cell locating pin be b; in the measuring process, because the position data provided by the grating ruler slide block and the measuring data of the photoelectric displacement sensor are related to time, the absolute positions of the grating ruler slide block on the grating ruler guide rail are respectively X a、Xb when the photoelectric displacement sensor measures two rotor positioning pins, and the position of the grating ruler slide block is X o＝(Xa-Xb)/2 when the photoelectric displacement sensor detects that a light spot moves to the central position of the driving mechanism; the two photoelectric displacement sensors measure and record the longitudinal distance between the photoelectric displacement sensors and the working platform at different positions and serve as an error compensation database; in addition, the two photoelectric displacement sensors respectively measure and record the distance between two rotor positioning pins on the rotor of the driving mechanism and the photoelectric displacement sensors; setting the longitudinal distances between the rotor positioning pin a, the rotor positioning pin b and the photoelectric displacement sensor as d a、db respectively; because the position data provided by the sliding of the grating ruler slide block on the grating ruler guide rail and the measurement data of the photoelectric displacement sensor are related to time, the absolute position of the grating slide block on the grating ruler guide rail when the photoelectric displacement sensor measures two rotor positioning pins can be indirectly determined; the positions of the rotor positioning pin a and the rotor positioning pin b are respectively Ya and Yb; according to the error compensation database searched by Ya and Yb, determining that the longitudinal distance between the photoelectric displacement sensor and the working platform is d 'a、d'b' when the photoelectric displacement sensor is at the two positions; the two rotor positioning pins can be obtained to rotate to the horizontal position, the angle theta=arcsin ((d a-db-(d′a-d′b))/d of the driving mechanism rotor needs to rotate, and when the angle is positive, the driving mechanism rotor is rotated clockwise; when the angle is negative, the driving mechanism mover is rotated counterclockwise.
The invention has the beneficial effects that:
1) The optical axis is tightly held at the joint of the optical axis seat, and tightness is realized in a screw locking mode, so that the measurement height of the measuring mechanism can be freely adjusted;
2) The linear module is adopted to control the main sliding block to do transverse movement and the second servo motor to control the photoelectric displacement sensor to do reverse movement, so that the automation level of the measurement process is improved;
3) The invention adopts the first servo motor of the rotary control mechanism to control the rotary motion of the driving mechanism, thereby improving the automation level of the zeroing process;
4) Compared with the mode that the linear module sliding block is directly and rigidly connected with the main sliding block, the invention adopts the contact mode that the spherical end of the deflector rod on the linear module sliding block is in point-surface contact with the square slot opening of the main sliding block, thereby eliminating errors generated by longitudinal displacement of the main sliding block due to jumping when the linear module sliding block moves, and improving the measurement precision of a measurement mechanism;
5) According to the invention, the counterweight frame is added on the main sliding block, and the counterweight is added on the counterweight frame to increase the pretightening force, so that the stability of the main sliding block in the moving process is improved, and the measuring precision of the measuring mechanism is ensured;
6) According to the invention, the second angle encoder is added on the rotating shaft to feed back the actual rotation angle of the optical axis, so that the high-precision control of the measuring mechanism on the rotation angle of the optical axis is realized;
7) According to the invention, the first angle encoder is added on the main shaft to feed back the actual rotation angle of the main shaft, so that closed-loop control is realized; a torsion spring is added on the universal joint to eliminate the rotation clearance of the universal joint; in addition, when the first servo motor of the rotation control mechanism stops driving, the rotation of the main shaft is stopped in time by a brake. The high-precision control of the rotation angle by the rotation control mechanism is realized;
8) The invention adopts the grating ruler to carry out absolute positioning on the main sliding block in the transverse movement process, and in the measurement process, the absolute position of the photoelectric displacement sensor on the grating ruler when two positioning pins are measured can be indirectly determined because the position data provided by the grating ruler and the measurement data of the photoelectric displacement sensor are related to time, so that the actual central position of the driving mechanism is determined, and the accuracy of the working position of the photoelectric displacement sensor is ensured;
9) The invention adopts the grating ruler to absolutely position the main sliding block in the transverse movement process, and records the longitudinal distances between the photoelectric displacement sensor and the working platform at different positions in the measurement process, and the longitudinal distances are used as an error compensation database; when the distance between two rotor positioning pins and the photoelectric displacement sensor on the rotor of the driving mechanism is measured, the absolute position of the grating ruler sliding block on the grating ruler guide rail when the photoelectric displacement sensor measures the two rotor positioning pins is indirectly determined through the position data provided by the grating ruler and the measurement data of the photoelectric displacement sensor, and error values are obtained and calculated by searching an error-compensated database, so that longitudinal errors generated by incomplete parallelism between the plane of the linear guide rail and the working plane are eliminated, and the accuracy of actual measurement of the measuring mechanism is improved.
10 The invention adopts the method of inversion measurement of two photoelectric displacement sensors, thereby improving the efficiency of detection of mechanical zeroing accuracy of the driving mechanism.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a mechanical zeroing device of a driving mechanism with an auxiliary measuring device.
Fig. 2 is a schematic structural view of the device mounting platform of the present invention.
Fig. 3 is a schematic structural view of the rotation control mechanism of the present invention.
Fig. 4 is a schematic structural view of the measuring mechanism of the present invention.
Fig. 5 is a schematic structural view of the linear motion guide device of the present invention.
Fig. 6 is a schematic structural view of the auxiliary measuring device of the present invention.
Fig. 7 is a front view of the displacement measuring device of the present invention.
Fig. 8 is a right side view of the displacement measuring device of the present invention.
Fig. 9 is a schematic structural view of the driving mechanism of the present invention.
In the figure: 1-equipment mounting platform, 11-support bracket, 12-work platform, 13-mounting stand, 14-positioning block, 2-rotation control mechanism, 21-first servo motor, 22-first decelerator, 23-spindle, 24-brake, 25-brake bracket, 26-first angle encoder, 27-expansion shell, 28-encoder adapter, 29-universal joint, 210-torsion spring, 211-bottom plate, 212-first decelerator bracket, 3-measuring mechanism, 31-linear motion guide, 311-support beam, 312-linear guide, 313-linear module body, 314-linear module support frame, 315-linear module slider, 316-linear module servo motor, 317-deflector rod, 318-linear guide slider, 32-auxiliary measuring device, 321-grating ruler, 322-grating ruler slider, 323-grating ruler support frame, 33-displacement measuring device, 331-main slider, 332-second servo motor, 333-mounting bracket, 334-frame, counterweight, 336-coupling, 337-rotation shaft, 338-linear module body, second linear actuator, 3313-optical axis encoder, 3314-optical axis position encoder, 3314-optical axis encoder, 3-optical axis position encoder, 3314-optical axis encoder, and 3-optical axis encoder/or 3-optical axis encoder/and 3-rotation sensor, 3314-35-angle sensor, 3-35-optical axis encoder/1-35, 3-angle sensor, 3-and 3-displacement sensor, 35-optical axis encoder, and 3-rotation mechanism, 42-drive mechanism stator.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
As shown in fig. 1 to 9, the device for high-precision measurement and zeroing of a driving mechanism comprises a device mounting platform 1, a rotation control mechanism 2, a measuring mechanism 3 and a driving mechanism 4, wherein the measuring mechanism 3 is mounted above the device mounting platform 1, the measuring mechanism 3 is used for measuring the actual deviation of the mechanical zero position of the driving mechanism 4, the rotation control mechanism 2 is mounted above the device mounting platform 1, the input end of the driving mechanism 4 is connected with the output end of the rotation control mechanism 2, and the rotation control mechanism 2 is used for controlling the rotation of the driving mechanism 4 and feeding back the rotation angle.
The equipment installation platform 1 comprises a support bracket 11, a working platform 12, an installation stand 13 and a positioning block 14.
The supporting bracket 11 stably stands on a large ground plane, the working platform 12 is placed on the supporting bracket 11, square grooves are formed in the working platform 12, the positioning blocks 14 are placed in the square grooves of the working platform 12, two mounting uprights 13 are arranged in total, and the two mounting uprights are symmetrically fixed on two sides of a transverse central axis on the working platform 12 respectively.
The rotation control mechanism 2 includes a first servo motor 21, a first decelerator 22, a main shaft 23, a brake 24, a brake bracket 25, a first angle encoder 26, an expansion sleeve 27, an encoder adapter block 28, a universal joint 29, a torsion spring 210, a base plate 211, and a first decelerator bracket 212.
The output end of the first servo motor 21 is connected with the input end of the first speed reducer 22, the first speed reducer 22 is fixedly installed on the side surface of the first speed reducer bracket 212, the bottom surface of the first speed reducer bracket 212 is installed on the upper surface of the bottom plate 211, the output end of the first speed reducer 22 is connected with one end of the main shaft 23, the other end of the main shaft 23 is connected with the universal joint 29 adapter block through expansion by adopting the expansion sleeve 27, the brake 24 is installed on the main shaft 23, the brake 24 is fixed on one side surface of the brake bracket 25, the bottom surface of the brake bracket 25 is fixed on the upper surface of the bottom plate 211, the first angle encoder 26 is installed on one end of the encoder adapter block 28, the first angle encoder 26 is fixed on the other side surface of the brake bracket 25, one end of the universal joint 29 is connected with the other end of the encoder adapter block 28, the torsion spring 210 is installed on the universal joint 29, one end of the torsion spring 210 is connected with the universal joint 29, and the other end of the universal joint 29 is connected with the working platform 12; during zeroing, the first servo motor 21 provides driving force for rotary motion, the torque is amplified and the rotation speed is reduced through the first speed reducer 22, the main shaft 23 is driven to rotate, the universal joint 29 is driven to rotate, and the first angle encoder 26 provides an angle at which the universal joint 29 actually rotates.
The measuring mechanism 3 includes a linear motion guide 31, an auxiliary measuring device 32, and a displacement measuring device 33.
The linear motion guide device 31 includes a support beam 311, a linear guide rail 312, a linear module body 313, a linear module support 314, a linear module slider 315, a linear module servo motor 316, a lever 317, and a linear guide rail slider 318. The linear module main body 313 is fixed on the upper surfaces of two linear module supporting frames 314, the side surfaces of the linear module supporting frames 314 are fixed on one side surface of the supporting beam 311, the deflector rod 317 is installed on the linear module sliding block 315, the linear guide rail 312 is fixed on the upper surface of the supporting beam 311, the linear guide rail sliding block 318 is installed on the linear guide rail 312, and the linear module servo motor 316 is installed at one end of the linear module main body 313; during the measurement, the support beam 311 is fixed to the two mounting uprights 13; the linear module servo motor 316 provides power for the transverse movement of the measuring mechanism 3, the linear module sliding block 315 drives the deflector rod 317 to move, and the linear guide rail 312 provides guiding for the transverse movement of the measuring mechanism 3.
The auxiliary measuring device 32 comprises a grating ruler guide rail 321, a grating ruler sliding block 322 and a grating ruler supporting frame 323. The grating ruler guide rail 321 is mounted on the grating ruler support frame 323, the grating ruler sliding block 322 is mounted on the grating ruler guide rail 321, one end of the grating ruler sliding block 322 is fixedly connected with one side of the main sliding block 331, and the grating ruler support frame 323 is fixed on the support beam 311; in the measuring process, the working position of the measuring mechanism 3 can be positioned in real time along with the movement of the grating ruler slider 322.
The displacement measuring device 33 includes a main slider 331, a weight frame 334, a weight 335, a second servo motor 332, a coupling 336, a rotation shaft 337, a linear bearing block 338, a second decelerator 339, a mounting bracket 333, a second angle encoder 3311, a second angle encoder flange 3310, an optical axis 3313, an optical axis block 3312, a photoelectric displacement sensor 3314, and a photoelectric displacement sensor mounting plate 3315. The second servo motor 332 is fixed on one side of the mounting bracket 333, the output end of the second servo motor 332 is connected with one end of the coupler 336, the other end of the coupler 336 is connected with one end of the rotating shaft 337, the other end of the rotating shaft 337 passes through the linear bearing seat 338 to be fixedly connected with the input end of the second speed reducer 339, the second speed reducer 339 is fixed on the other side of the mounting bracket 333, the bottom surface of the mounting bracket 333 is fixed on the main sliding block 331, the bottom surface of the linear bearing seat 338 is fixed on the mounting bracket 333, the second angle encoder 3311 is fixed on the second angle encoder flange 3310, the second angle encoder flange 3310 is fixed at the output end of the second speed reducer 339, one end of the optical axis 3313 is fixedly connected with the output end of the second speed reducer 339, the optical axis 3313 is installed on two optical axis seats 3312 through the second angle encoder 3311, the through holes of the two optical axis seats 3312 are vertically and downwardly fixed at the vertical center line position of one side surface of the photoelectric displacement sensor mounting plate 3315, and the two photoelectric displacement sensors 3314 are respectively symmetrically fixed at the other side surface of the photoelectric displacement sensor mounting plate 3315 with respect to the vertical center line; in the detection process, the lever 317 drives the main slide 331 to move linearly, and the photoelectric displacement sensor 3314 follows the main slide 331 to move linearly; the second servo motor 332 provides a driving force for rotation, amplifies torque and reduces rotation speed through the rotation shaft 337 and the second decelerator 339, drives the optical axis 3313 to rotate, the photoelectric displacement sensor 3314 performs rotation movement along with the rotation shaft 337, and the second angle encoder 3311 provides an angle at which the optical axis 3313 actually rotates.
The drive mechanism 4 includes a drive mechanism mover 41 and a drive mechanism stator 42. Two rotor positioning pins 410 are arranged on the driving mechanism rotor 41, and the driving mechanism stator 42 is arranged on the working platform 12; in the zeroing process, when the universal joint 29 drives the driving mechanism mover 41 to rotate, the mover positioning pin 410 moves along with the driving mechanism mover 41.
Further, a torsion spring 210 is mounted on the universal joint 29, one end of the torsion spring 210 is connected with the input end of the universal joint 29, the other end is connected with the output end of the universal joint 29, and transmission backlash between the input end and the output end of the universal joint 29 is eliminated.
Further, the cross-sectional shape of the optical axis 3313 is a combination of a semicircle and a rectangle for restricting the rotational degree of freedom of the photoelectric displacement sensor mounting plate 3315.
Further, a square notch is formed on one side of the main sliding block 331, and one end of the lever 317 is spherical and is disposed in the square notch of the main sliding block 331. In the measurement process, the shift lever 317 drives the main slider 331 to perform linear motion, and the spherical end makes point-to-surface contact with the square slot, so as to eliminate errors caused by longitudinal runout of the shift lever 317 to the main slider 331.
Further, two cylindrical mover positioning pins 410 are symmetrically disposed at one end of the driving mechanism mover 41 with respect to the rotation center of the driving mechanism 4.
The method for measuring the mechanical zero error of the driving mechanism 4 and carrying out the measurement of the mechanical zero fading specifically comprises the following steps:
Step one: unscrewing the screws on the two optical axis seats 3312 for fixing the optical axis 3313, so that the photoelectric displacement sensor mounting plate 3315 can perform longitudinal movement; adjusting the height of the optical axis 3313 until the photoelectric displacement sensor 3314 can measure the upper plane of the work platform 12; the screws used for fixing the optical axis 3313 on the two optical axis seats 3312 are screwed down, so that the photoelectric displacement sensor mounting plate 3315 cannot longitudinally move;
Step two: the linear module servo motor 316 of the linear module is driven, so that the linear module sliding block 315 drives the main sliding block 331 on the linear guide rail 312 to move; the two photoelectric displacement sensors 3314 move linearly along with the main slide 331 on the linear guide rail 312; simultaneously, the two photoelectric displacement sensors 3314 respectively measure and record the longitudinal distances between the photoelectric displacement sensors 3314 and the working platform 12 at different positions; position data generated according to the movement of the grating ruler slider 322 and measurement data of the photoelectric displacement sensor 3314 are used as reference data for error compensation;
Step three: the driving mechanism 4 is placed on the working platform 12 by means of the positioning block 14 on the working platform 12 so as to be convenient to install; fixedly connecting a driving mechanism rotor 41 with the output end of the universal joint 29 of the rotation control mechanism 2; the driving mechanism stator 42 is fixed on the working platform 12 by screws;
Step four: unscrewing the screws on the two optical axis seats 3312 for fixing the optical axis 3313, so that the photoelectric displacement sensor mounting plate 3315 can perform longitudinal movement; the height of the optical axis 3313 is adjusted until the photoelectric displacement sensor 3314 can measure the two mover positioning pins 410 on the driving mechanism mover 41; the screw for fixing the optical axis 3313 on the optical axis seat 3312 is then screwed up so that the photoelectric displacement sensor mounting plate 3315 is not longitudinally movable;
step five: the linear module servo motor 316 is driven to drive the linear module sliding block 315 to drive the main sliding block 331 on the linear guide rail 312 to move; the photoelectric displacement sensor 3314 moves linearly along with the main slider 331 on the linear guide rail 312; meanwhile, the position of the grating ruler slider 322 when one of the photoelectric displacement sensors 3314 detects two mover positioning pins 410 on the driving mechanism mover 41 is recorded according to the grating ruler guide rail 321; calculating an actual center position of the driving mechanism 4, and moving the optical axis 3313 to a position directly above the center position of the driving mechanism 4;
Step six: the first servo motor 21 of the rotation control mechanism 2 is driven, the output end of the first servo motor 21 amplifies the output torque through the first speed reducer 22 and reduces the output rotating speed to drive the main shaft 23 to rotate, so that the first angle encoder 26 and the universal joint 29 on the main shaft 23 are driven to rotate; the universal joint 29 drives the driving mechanism rotor 41 to rotate, and meanwhile, the first angle encoder 26 feeds back the actual rotation angle of the universal joint 29 in real time; until the two photoelectric displacement sensors 3314 can detect the two mover positioning pins 410, respectively, stopping the first servo motor 21 of the rotation control mechanism 2;
Step seven: the two photoelectric displacement sensors 3314 respectively measure and record the distances from the two rotor positioning pins 410 to the photoelectric displacement sensors 3314, and calculate the angle theta required to rotate when the driving mechanism 4 is zeroed; driving the first servo motor 21 of the rotation control mechanism 2, and immediately stopping the first servo motor 21 of the rotation control mechanism 2 when the rotation angle fed back by the first angle encoder 26 is θ;
Step eight: checking whether the mechanical zero position of the driving mechanism 4 meets the requirement, driving the second servo motor 332 of the measuring mechanism 3 to enable the two photoelectric displacement sensors 3314 to rotate 180 degrees along with the optical axis 3313, and repeating the step seven until the mechanical zero position of the driving mechanism 4 meets the requirement;
Step nine: removing the driving mechanism 4 with the mechanical zeroing completed, and repeating the steps three to eight for the driving mechanism 4 with the mechanical zeroing waiting until all the driving mechanisms 4 complete the mechanical zeroing;
Step ten: all objects are reset or zeroed.
Before the measurement process, the center distance of the two mover positioning pins 410 is d, and the target mechanical zero position of the driving mechanism 4 is that the two mover positioning pins 410 are positioned on the same horizontal line. For convenience of explanation and calculation, the mover alignment pin 410 located on the left side is set to be a, and the mover alignment pin 410 located on the right side is set to be b. In the measurement process, because the position data provided by the grating scale slider 322 and the measurement data of the photoelectric displacement sensor 3314 are both related to time, it can be indirectly determined that the absolute positions of the grating scale slider 322 on the grating scale guide rail 321 are X a、Xb when the photoelectric displacement sensor 3314 measures two rotor positioning pins 410, and the position of the grating scale slider 322 is X o＝(Xa-Xb)/2 when the photoelectric displacement sensor 3314 detects that the light spot moves to the central position of the driving mechanism 4. The two photoelectric displacement sensors 3314 measure and record the longitudinal distances between the photoelectric displacement sensors 3314 and the working platform 12 at different positions, and the longitudinal distances are used as an error compensation database; in addition, the two photoelectric displacement sensors 3314 measure and record the distances between the two mover positioning pins 410 on the driving mechanism mover 41 and the photoelectric displacement sensors 3314, respectively. The longitudinal distances between the rotor positioning pin a, the rotor positioning pin b and the photoelectric displacement sensor 3314 are d a、db respectively. Because the position data provided by the sliding of the grating scale slider 322 on the grating scale guide rail 321 and the measurement data of the photoelectric displacement sensor 3314 are both related to time, the absolute position of the grating slider on the grating scale guide rail 321 when the photoelectric displacement sensor 3314 measures the two mover positioning pins 410 can be indirectly determined. The positions of the detected rotor positioning pin a and the detected rotor positioning pin b are respectively Ya and Yb. According to the error compensation database searched by Ya and Yb, when the photoelectric displacement sensor 3314 is determined to be at the two positions, the longitudinal distance between the photoelectric displacement sensor 3314 and the working platform 12 is d' a'、d'b. It can be obtained that the two mover positioning pins 410 are turned to the horizontal position, the driving mechanism mover 41 needs to be turned by an angle θ=arcsin ((d a-db-(d′a-d′b))/d, and when the angle is positive, the driving mechanism mover 41 is turned clockwise; when the angle is negative, the driving mechanism mover 41 is rotated counterclockwise.
The above embodiments are only preferred embodiments of the present invention, and are not limiting to the technical solutions of the present invention, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present invention.
Claims (4)
1. A driving mechanism mechanical zeroing device with an auxiliary measuring device, which is characterized in that: the device comprises a device mounting platform, a rotation control mechanism, a measuring mechanism and a driving mechanism, wherein the measuring mechanism is arranged above the device mounting platform and is used for measuring the actual deviation of the mechanical zero position of the driving mechanism;
The equipment installation platform comprises a support bracket, a working platform, an installation vertical frame and a positioning block; the support bracket is stably erected on a large ground plane, the working platform is placed on the support bracket, square grooves are formed in the working platform, the positioning blocks are placed in the square grooves of the working platform, two mounting uprights are provided, and the two mounting uprights are symmetrically fixed on two sides of a transverse central axis on the working platform respectively;
The rotation control mechanism comprises a first servo motor, a first speed reducer, a main shaft, a brake bracket, a first angle encoder, an expansion sleeve, an encoder adapter block, a universal joint, a torsion spring, a bottom plate and a first speed reducer bracket; the output end of the first servo motor is connected with the input end of the first speed reducer, the first speed reducer is fixedly arranged on the side face of the first speed reducer support, the bottom face of the first speed reducer support is arranged on the upper face of the base plate, the output end of the first speed reducer is connected with one end of the main shaft, the other end of the main shaft is connected with the universal joint adapter block through expansion, the brake is arranged on the main shaft, the brake is fixed on one side face of the brake support, the bottom face of the brake support is fixed on the upper face of the base plate, the first angle encoder is arranged on one end of the encoder adapter block, the first angle encoder is fixed on the other side face of the brake support, one end of the universal joint is connected with the other end of the encoder adapter block, one end of the torsion spring is connected with the universal joint input end, the other end of the torsion spring is connected with the universal joint output end, and the base plate is arranged on the working platform; in the zeroing process, the first servo motor provides driving force for rotary motion, torque is amplified and rotation speed is reduced through the first speed reducer, the main shaft is driven to rotate and the universal joint is driven to rotate, and the first angle encoder provides an angle for the actual rotation of the universal joint;
The measuring mechanism comprises a linear motion guiding device, an auxiliary measuring device and a displacement measuring device; the linear motion guiding device comprises a supporting beam, a linear guide rail, a linear module main body, a linear module supporting frame, a linear module sliding block, a linear module servo motor, a deflector rod and a linear guide rail sliding block; the linear module main body is fixed on the upper surfaces of two linear module support frames, the side surfaces of the linear module support frames are fixed on one side surface of the support beam, the deflector rod is arranged on the linear module sliding block, the linear guide rail is fixed on the upper surface of the support beam, the linear guide rail sliding block is arranged on the linear guide rail, and the linear module servo motor is arranged at one end of the linear module main body; in the measuring process, the supporting cross beam is fixed on the two mounting uprights; the linear module servo motor provides power for transverse movement of the measuring mechanism, the linear module sliding block drives the deflector rod to move, and the linear guide rail provides guide for transverse movement of the measuring mechanism;
The auxiliary measuring device comprises a grating ruler guide rail, a grating ruler sliding block and a grating ruler supporting frame; the grating ruler guide rail is arranged on the grating ruler support frame, the grating ruler sliding block is arranged on the grating ruler guide rail, one end of the grating ruler sliding block is fixedly connected with one side of the main sliding block, and the grating ruler support frame is fixed on the support cross beam; in the measuring engineering, the working position of the measuring mechanism can be positioned in real time along with the movement of the grating ruler slide block;
The displacement measuring device comprises a main sliding block, a counterweight frame, a counterweight, a second servo motor, a coupler, a rotating shaft, a linear bearing seat, a second speed reducer, a mounting bracket, a second angle encoder flange, an optical axis, a light shaft seat, a photoelectric displacement sensor and a photoelectric displacement sensor mounting plate; the second servo motor is fixed on one side surface of the mounting bracket, the output end of the second servo motor is connected with one end of the coupler, the other end of the coupler is connected with one end of the rotating shaft, the other end of the rotating shaft penetrates through the linear bearing seat to be fixedly connected with the input end of the second speed reducer, the second speed reducer is fixed on the other side surface of the mounting bracket, the bottom surface of the mounting bracket is fixed on the main sliding block, the bottom surface of the linear bearing seat is fixed on the upper surface of the mounting bracket, the second angle encoder is fixed on the second angle encoder flange, the second angle encoder flange is fixed on the output end of the second speed reducer, one end of an optical axis is fixedly connected with the output end of the second speed reducer, the optical axis penetrates through the second angle encoder to be mounted on two optical axis seats, the through holes of the two optical axis seats are vertically and downwards fixed on the vertical center line position of one side surface of the photoelectric displacement sensor mounting plate, and the two photoelectric displacement sensors are respectively symmetrically fixed on the other side surface of the photoelectric displacement sensor mounting plate; in the detection process, the deflector rod drives the main sliding block to do linear motion, and the photoelectric displacement sensor follows the main sliding block to do linear motion; the second servo motor provides driving force for rotary motion, torque is amplified and rotation speed is reduced through the rotating shaft and the second speed reducer, the optical axis is driven to rotate, the photoelectric displacement sensor performs rotary motion along with the rotating shaft, and the second angle encoder provides an angle for actually rotating the optical axis;
the driving mechanism comprises a driving mechanism rotor and a driving mechanism stator; two rotor positioning pins are arranged on the driving mechanism rotor, and the driving mechanism stator is arranged on the working platform; in the zeroing process, when the universal joint drives the driving mechanism rotor to rotate, the rotor positioning pin moves along with the driving mechanism rotor;
The cross section of the optical axis is a combination of a semicircle and a rectangle and is used for limiting the rotation freedom degree of the photoelectric displacement sensor mounting plate;
one side of the main sliding block is provided with a square notch, and one end of the deflector rod is spherical and is arranged in the square notch of the main sliding block.
2. A drive mechanism mechanical zeroing device with an auxiliary measuring device according to claim 1, characterized in that: one end of the driving mechanism rotor is symmetrically provided with two cylindrical rotor positioning pins at the rotation center of the driving mechanism.
3. A method for mechanical zeroing of a drive mechanism with an auxiliary measuring device, based on the drive mechanism with an auxiliary measuring device according to claim 1, characterized in that: the method specifically comprises the following steps:
Step one: unscrewing screws used for fixing the optical axis on the two optical axis seats, so that the photoelectric displacement sensor mounting plate can longitudinally move; the height of the optical axis is regulated until the photoelectric displacement sensor can measure the upper plane of the working platform; screw bolts used for fixing the optical axis on the two optical axis seats are screwed down, so that the photoelectric displacement sensor mounting plate cannot longitudinally move;
step two: the linear module servo motor of the linear module is driven, so that the linear module sliding block drives the main sliding block on the linear guide rail to move; the two photoelectric displacement sensors do linear motion along with a main sliding block on the linear guide rail; simultaneously, the two photoelectric displacement sensors respectively measure and record the longitudinal distances between the photoelectric displacement sensors and the working platform at different positions; according to the position data generated by the movement of the grating ruler slide block and the measurement data of the photoelectric displacement sensor, the position data and the measurement data are used as reference data for error compensation;
step three: the driving mechanism is placed on the working platform by depending on a positioning block on the working platform so as to be convenient to install; fixedly connecting a driving mechanism rotor with the output end of a universal joint of a rotation control mechanism; fixing a driving mechanism stator on a working platform by using screws;
Step four: unscrewing screws used for fixing the optical axis on the two optical axis seats, so that the photoelectric displacement sensor mounting plate can longitudinally move; the height of the optical axis is regulated until the photoelectric displacement sensor can measure two rotor positioning pins on the rotor of the driving mechanism; tightening a screw on the optical axis seat for fixing the optical axis, so that the photoelectric displacement sensor mounting plate cannot longitudinally move;
Step five: driving a linear module servo motor to enable a linear module sliding block to drive a main sliding block on a linear guide rail to move; the photoelectric displacement sensor moves linearly along with a main sliding block on the linear guide rail; meanwhile, the position of the grating ruler sliding block when one photoelectric displacement sensor detects two rotor positioning pins on a rotor of the driving mechanism is recorded according to the grating ruler guide rail; calculating to obtain the actual center position of the driving mechanism, and enabling the optical axis to move to the position right above the center position of the driving mechanism;
Step six: the output end of the first servo motor amplifies the output torque and reduces the output rotating speed through a first speed reducer to drive the main shaft to rotate, so that a first angle encoder and a universal joint on the main shaft are driven to rotate; the universal joint drives the driving mechanism rotor to rotate, and meanwhile, the first angle encoder feeds back the actual rotation angle of the universal joint in real time; stopping the first servo motor of the rotation control mechanism until the two photoelectric displacement sensors can detect the two rotor positioning pins respectively;
step seven: the two photoelectric displacement sensors respectively measure and record the distance between the two rotor positioning pins and the photoelectric displacement sensors, and calculate the angle theta required to rotate when the driving mechanism is in zero adjustment; driving a first servo motor of the rotation control mechanism, and immediately stopping the first servo motor of the rotation control mechanism when the rotation angle fed back by the first angle encoder is theta;
step eight: checking whether the mechanical zero position of the driving mechanism meets the requirement or not, driving a second servo motor of the measuring mechanism to enable the two photoelectric displacement sensors to rotate 180 degrees along with the optical axis, and repeating the step seven until the mechanical zero position of the driving mechanism meets the requirement;
Step nine: removing the driving mechanism with the mechanical zeroing completed, and repeating the steps three to eight for the driving mechanism with the mechanical zeroing waiting until all the driving mechanisms complete the mechanical zeroing;
Step ten: all objects are reset or zeroed.
4. A method of mechanical zeroing of a drive mechanism with an auxiliary measuring device according to claim 3, characterized in that: the calculation method of the angle theta required by zeroing the driving mechanism in the seventh step comprises the following steps: before the measurement process, the center distance of the two rotor positioning pins is d, and the target mechanical zero position of the driving mechanism is that the two rotor positioning pins are positioned on the same horizontal line; let the left side active cell locating pin be a and the right side active cell locating pin be b; in the measuring process, because the position data provided by the grating ruler slide block and the measuring data of the photoelectric displacement sensor are related to time, the absolute positions of the grating ruler slide block on the grating ruler guide rail are respectively X a、Xb when the photoelectric displacement sensor measures two rotor positioning pins, and the position of the grating ruler slide block is X o＝(Xa-Xb)/2 when the photoelectric displacement sensor detects that a light spot moves to the central position of the driving mechanism; the two photoelectric displacement sensors measure and record the longitudinal distance between the photoelectric displacement sensors and the working platform at different positions and serve as an error compensation database; in addition, the two photoelectric displacement sensors respectively measure and record the distance between two rotor positioning pins on the rotor of the driving mechanism and the photoelectric displacement sensors; setting the longitudinal distances between the rotor positioning pin a, the rotor positioning pin b and the photoelectric displacement sensor as d a、db respectively; because the position data provided by the sliding of the grating ruler slide block on the grating ruler guide rail and the measurement data of the photoelectric displacement sensor are related to time, the absolute position of the grating slide block on the grating ruler guide rail when the photoelectric displacement sensor measures two rotor positioning pins can be indirectly determined; the positions of the rotor positioning pin a and the rotor positioning pin b are respectively Ya and Yb; according to the error compensation database searched by Ya and Yb, determining that the longitudinal distance between the photoelectric displacement sensor and the working platform is d' a、d'b when the photoelectric displacement sensor is at the two positions; the two rotor positioning pins can be obtained to rotate to the horizontal position, the angle theta=arcsin ((d a-db-(d′a-d′b))/d of the driving mechanism rotor needs to rotate, and when the angle is positive, the driving mechanism rotor is rotated clockwise; when the angle is negative, the driving mechanism mover is rotated counterclockwise.
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