CN219608079U - Micro-motion platform for encoder test - Google Patents

Abstract

The utility model discloses a micro-motion platform for encoder test, which comprises: a bottom plate assembly, a distance adjusting mechanism, an angle adjusting mechanism, a motor assembly and an encoder to be detected; the bottom plate assembly comprises a bottom plate, a guide rail is fixedly arranged on the bottom plate, and a sliding block is arranged on the guide rail; the distance adjusting mechanism and the angle adjusting mechanism are arranged on the sliding block; the distance adjusting mechanism comprises a telescopic frame, and the telescopic frame is movably connected with the angle adjusting mechanism through a first guide connecting block; the encoder to be measured is arranged between the angle adjusting mechanism and the motor component. The encoder micro angle and distance can be adjusted, and the scheme is low in cost and simple and convenient to use.

Description

Micro-motion platform for encoder test

Technical Field

The utility model relates to the technical field of encoder detection, in particular to a micro-motion platform for encoder test.

Background

The encoder is used as a key sensing component of the cooperative robot, and the installation accuracy of the encoder directly influences the stability of the mechanical arm, so that the influence of the installation error of the quantitative sensor on the signal quality and the signal acquisition is very important. The encoder comprises a photoelectric encoder and a magnetic encoder, and the installation errors comprise the distance error, the inclination error and the like of the reading head relative to the code disc. Generally, the encoder manufacturer will provide a rough reference value, but the reference value is on the one hand broad and on the other hand may be very sensitive to encoder installation errors in practical applications, so that it is necessary to accurately quantify the effect of the installation errors.

However, in view of the small fluctuation range of the encoder installation error, if a moving platform with low resolution is adopted, the measurement accuracy of the platform itself cannot meet the requirement, and therefore, it is necessary to provide a micro-motion platform for encoder test to solve the above-mentioned problems.

Disclosure of Invention

In order to solve the above problems, the present utility model provides a micro-motion platform for encoder testing, comprising: a bottom plate assembly, a distance adjusting mechanism, an angle adjusting mechanism, a motor assembly and an encoder to be detected; the bottom plate assembly comprises a bottom plate, a guide rail is fixedly arranged on the bottom plate, and a sliding block is arranged on the guide rail; the distance adjusting mechanism, the angle adjusting mechanism and the motor assembly are arranged on the sliding block; the distance adjusting mechanism comprises a telescopic frame, and the telescopic frame is movably connected with the angle adjusting mechanism through a first guide connecting block; the encoder to be measured is arranged between the angle adjusting mechanism and the motor component.

Further, the guide rail comprises a first guide rail and a second guide rail, wherein the first guide rail and the second guide rail are linear guide rails which are arranged in parallel, and the guide rail is fixedly arranged on the bottom plate.

Further, the expansion bracket includes: the telescopic frame body is formed by connecting a plurality of telescopic units, each telescopic unit comprises two crossed first connecting rods, and the two end parts and the middle part of each first connecting rod are respectively provided with connecting holes; the two first connecting rods of each telescopic unit pass through the connecting holes in the middle part to be rotationally connected through the movable pins to form second connecting points; the first connecting rods of two adjacent telescopic units are rotationally connected through connecting holes at the end parts of the movable pins.

Further, the telescopic unit further includes: the two ends of the 4 second connecting rods are respectively provided with movable connecting holes; one end of the two second connecting rods is rotatably connected with the first connecting rod through a connecting hole at the end part of the movable pin, and a fourth connecting point is arranged at one side of the telescopic frame body, which is close to the angle adjusting mechanism; the other end of the second connecting rod is rotationally connected with the other second connecting rod through a connecting hole at the end part of the movable pin to form a first connecting point; one end of the two second connecting rods is rotatably connected with the first connecting rod at one side of the telescopic frame body far away from the angle adjusting mechanism through a connecting hole at the end part of the movable pin; the other end of the second connecting rod is rotationally connected with the other second connecting rod through a connecting hole at the end part of the movable pin, so that a third connecting point is formed.

Further, the first connecting point is fixedly connected with the bottom plate through a first fixing frame, a first guide rail sliding block is arranged below the second connecting point, and the first connecting point is fixedly connected with the first guide rail sliding block through a guide block; a second guide rail sliding block is arranged below the third connecting point, and one end of the second guide rail sliding block is fixedly connected with the second guide rail sliding block.

Further, the distance adjusting mechanism further comprises a distance adjusting handle, and the distance adjusting handle is fixedly connected with the bottom plate through a second fixing frame.

Further, a first guide connecting block is arranged below the fourth connecting point; the first guide connecting block is internally provided with a chute, and the extending part of the movable pin of the fourth connecting point is embedded into the chute of the first guide connecting block to realize fixed connection.

Further, the angle adjusting mechanism comprises an angle adjusting platform, and the angle adjusting platform is fixedly connected with a third guide rail sliding block through a first guide connecting block.

Further, an angle adjusting handle is arranged on the angle adjusting platform; the angle adjusting handle is connected with an angle adjusting sliding block in a threaded manner.

Further, the angle adjusting mechanism further comprises an angle adjusting connecting rod and an encoder mounting plate; one end of the angle adjusting connecting rod is connected with the angle adjusting sliding block through a movable hinge, and the other end of the angle adjusting connecting rod is connected with the encoder mounting plate through a movable hinge.

Compared with the prior art, the utility model has the beneficial effects that:

the micro-motion platform for encoder test provided by the utility model can be used for measuring the influence of parameters such as the distance between the encoder reading head plate and the encoder code disc, the inclination angle and the like on the signal quality. The minimum moving amount in the distance direction can reach 0.01mm, the minimum rotating amount in the inclination angle direction can reach 0.05 degrees, the adjustment of the micro angle and the distance of the encoder can be realized, and the scheme is low in cost and simple and convenient to use.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a micro-motion stage for encoder testing according to the present utility model;

FIG. 2 is a schematic diagram of a micro-motion stage for encoder testing according to the present utility model;

FIG. 3 is a schematic diagram of a distance knob in a micro-motion platform for encoder testing according to the present utility model;

FIG. 4 is a schematic view of the structure of a first guide connection block in the micro-motion platform for encoder testing according to the present utility model;

FIG. 5 is a schematic view of the structure of the angle adjustment mechanism of the micro-motion platform for encoder testing of the present utility model;

FIG. 6 is a schematic view of another view angle structure of the micro-motion stage for encoder testing according to the present utility model;

FIG. 7 is a schematic diagram of the micro-motion stage for encoder testing according to the present utility model.

Detailed Description

The contents of the present utility model can be more easily understood by referring to the following detailed description of preferred embodiments of the present utility model and examples included. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. In case of conflict, the present specification, definitions, will control.

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

In the description of the present utility model, the meaning of "and/or" means that each exists alone or both exist at the same time.

In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

The present utility model protects a micro-motion platform for encoder testing, as shown in fig. 1 and 2, comprising: a base plate assembly 100, a distance adjusting mechanism 200, an angle adjusting mechanism 300, a motor assembly 400 and an encoder 500 to be measured; the bottom plate assembly 100 comprises a bottom plate 101, wherein a guide rail 102 is fixedly arranged on the bottom plate 101, and a sliding block is arranged on the guide rail 102; the distance adjusting mechanism 200, the angle adjusting mechanism 300 and the motor assembly 400 are all arranged on the sliding block; the distance adjusting mechanism 200 comprises a telescopic frame, and the telescopic frame is movably connected with the angle adjusting mechanism 300 through a first guiding connecting block 209; the encoder 500 to be measured is disposed between the angle adjusting mechanism 300 and the motor assembly 400.

In one embodiment, the guide rail 102 includes a first guide rail and a second guide rail, where the first guide rail and the second guide rail are linear guide rails that are parallel to each other and are fixedly installed on the base plate 101.

In one embodiment, as shown in fig. 1 and 2, the expansion bracket includes: the telescopic frame body is formed by connecting a plurality of telescopic units, each telescopic unit comprises two crossed first connecting rods 208, and two end parts and the middle part of each first connecting rod 208 are respectively provided with connecting holes; the two first connecting rods 208 of each telescopic unit are rotatably connected through a connecting hole in the middle part by a movable pin 210 to form a second connecting point P2; the first connection rods 208 of two adjacent telescopic units are rotatably connected through connection holes at the ends by movable pins 210.

In one embodiment, the telescopic unit further comprises: 4 second connecting rods 207, wherein two ends of the second connecting rods 207 are respectively provided with movable connecting holes; one end of the two second connecting rods 207 is rotatably connected with the first connecting rod 208 at one side of the telescopic frame body close to the angle adjusting mechanism 300 through a connecting hole at the end part of the movable pin 210, and a fourth connecting point P4 is arranged at one side of the telescopic frame body close to the angle adjusting mechanism 300; the other end of the second connecting rod 207 is rotatably connected with another second connecting rod 207 through a connecting hole at the end part by a movable pin 210 to form a first connecting point P1; one end of the two second connecting rods 207 is rotatably connected with the first connecting rod 208 at the side of the telescopic frame body far away from the angle adjusting mechanism 300 through a connecting hole at the end part of the movable pin 210; the other end of the second connecting rod 207 is rotatably connected with another second connecting rod 207 through a connecting hole of the end portion by a movable pin 210, forming a third connecting point P3.

In one embodiment, the first connecting point P1 is fixedly connected with the bottom plate 101 through a first fixing frame 201, a first guide rail sliding block 205-1 is arranged below the second connecting point P2, and is fixedly connected with the first guide rail sliding block 205-1 through a guide block 206; a second guide rail slider 205-2 is disposed below the third connection point P3, and is fixedly connected to the second guide rail slider 205-2 through one end of the second guide adapter 203.

In one embodiment, the distance adjustment mechanism further includes a distance adjustment handle 204, and the distance adjustment handle 204 is fixedly connected to the base plate 101 through the second fixing frame 202. Preferably, the distance adjusting handle 204 comprises a distance knob and a long rod which are fixedly connected; the long rod is provided with threads; the other end of the second guide adapter 203 is screwed with the long rod portion of the distance adjusting handle 204. The distance adjusting handle 204 can only rotate around the axis thereof and cannot move along the axial direction; the second guiding and transferring block 203 drives the second guiding and transferring block 205-2 to slide along with the rotation of the distance knob, so as to realize the telescopic control of the telescopic frame.

More preferably, the distance knob is a cylinder, the surface of the cylinder facing the long rod is provided with angle scales 20401, and the number of the angle scales 20401 is 15-25. As shown in fig. 3, the number of the angle scales 20401 is 20, and the actual rotation angle of one angle scale per rotation is 360/20 degrees, namely 18 degrees.

In one embodiment, a first guiding connection block 209 is disposed below the fourth connection point P4; a sliding groove is formed in the first guiding connection block 209, and an extension portion of the movable pin 210 of the fourth connection point P4 is embedded into the sliding groove of the first guiding connection block 209 to achieve fixed connection. When the expansion bracket expands or contracts, the first guiding connection block 209 is driven to move along the direction of the linear guide rail, so that the distance adjustment is realized.

In one embodiment, the angle adjustment mechanism 300 includes an angle adjustment platform 301, where the angle adjustment platform 301 is fixedly connected to the third rail block 205-3 through the first guide connection block 209.

In one embodiment, as shown in FIG. 4, the first guide connection block 209 is secured to the third rail block 205-3 via a mounting hole 20202.

In one embodiment, as shown in fig. 5, a fixing hole 30101 is provided under the angle-adjusting platform 301, and is mounted to the first guide connection block 209 by a first fixing screw 30102.

In one embodiment, the angle adjustment platform 301 is provided with an angle adjustment handle 302; the angle adjusting handle 302 is connected with an angle adjusting sliding block 303 in a threaded manner.

Preferably, the angle adjusting handle 302 includes an angle knob, the angle knob is a cylinder, the surface of the cylinder facing the angle adjusting slider 303 is provided with angle scales 20401, and the number of the angle scales 20401 is 15-25. More preferably, the number of the angle scales 20401 is 20, and the actual rotation angle of one angle scale per rotation is 360/20 degrees, namely 18 degrees.

In one embodiment, the angle adjustment mechanism 300 further includes an angle adjustment link 304 and an encoder mounting plate 305; one end of the angle adjusting connecting rod 304 is connected with the angle adjusting sliding block 303 through a movable hinge 307, and the other end is connected with the encoder mounting plate 305 through the movable hinge 307.

In one embodiment, the encoder mounting plate 305 is coupled to the angle-adjustment platform 301 by a living hinge 307. The angle adjusting handle 302 can only rotate around the axis thereof and cannot move along the axial direction, and when the angle adjusting handle 302 is rotated, the angle adjusting slider 303 is driven to move along the axis direction of the angle adjusting handle 302, and the encoder mounting plate 305 is driven to rotate around the axis direction of the movable hinge 307, so that the angle adjustment is realized.

Preferably, the encoder mounting plate 305 is mounted with an encoder mounting seat 306 on a side thereof remote from the angle adjustment handle 302. When the motor assembly 400 is installed, the motor assembly 400 includes a motor 401; the motor 401 is mounted to the fourth rail slider 205-4 via a motor mount 402, thereby enabling 400 the motor assembly to be adjustable in distance on the rail 102. Preferably, the motor mounting base 402 is provided with a second fixing screw 403, and the second fixing screw 403 is locked when the distance is adjusted to a proper position, so as to fix the position of the motor assembly 400 on the guide rail 102.

In one embodiment, the base plate 101 is further provided with a screw 103 for limiting the motor mount 402. As shown in fig. 6, the motor shaft is connected with a switching shaft 404; the encoder 500 under test includes an encoder code wheel 501 and an encoder readhead plate 502. The encoder code wheel 501 is fixedly connected to the adapter shaft 404 and can rotate along with the motor shaft; the encoder readhead plate 502 is mounted on the encoder mounting block 306.

The utility model adopts the thread subdivision and stroke doubling mechanism to realize displacement small quantity change in the distance direction, and adopts the thread subdivision and triangle changing mechanism to realize angle small quantity change in the angle direction. The thread subdivision, that is, the distance knob and the angle scale 20401 on the angle knob, refers to subdivision of the movement amount of the thread in the pitch direction, the double-stroke mechanism, that is, the telescopic frame, refers to movement of a small amount at the driving side and movement of a large amount at the tail end of the double-stroke mechanism, so that the movement amount amplifying effect is realized, and in turn, the movement amount reducing effect is realized, as shown in fig. 7, the point a is a fixed point, the point B always moves in the AB direction, the point C is a driving point, and the movement amount of the point B is 4 times the movement amount of the point C. The triangle-changing mechanism, i.e. the mechanism formed by the angle-adjusting connecting rod 304, the angle-adjusting sliding block 303 and the encoder mounting plate 305, is that the length of two sides in the triangle is kept unchanged, and the other side is changed, so that three angles in the triangle are changed.

In one specific embodiment, first, the encoder code wheel 501 is mounted to the adapter shaft 404 and the encoder readhead plate 502 is mounted to the encoder mounting block 306; moving the motor assembly 400 to the proper position, locking the second set screw 403; the distance adjusting handle 204 rotates by an angle scale 20401 as shown in fig. 3, and since the thread pitch of the long rod part on the distance adjusting handle 204 is 1mm, the second guiding and transferring block 203 is driven to move by 1mm x 18/360=0.05 mm along the direction of the linear guide rail; further driving the expansion bracket consisting of 4 second connecting rods 207 and two first connecting rods 208 to shrink or expand; further, the first guiding connection block 209 is driven to move by 0.05x1/4=0.0125 mm along the direction of the linear guide rail; further, the angle adjusting slider 303 is driven to move along the direction of the linear guide rail, so that the linear distance adjustment of the encoder reading head plate 502 relative to the encoder code wheel 501 is realized.

Rotating the angle adjustment handle 302 by an angle scale 20401, because the thread pitch of the long rod portion on the angle adjustment handle 302 is 1mm, will drive the angle adjustment slider 303 to move 1mm x 18/360=0.05 mm along the axis direction of the angle adjustment handle 302, so will drive the encoder mounting plate 305 to rotate a small angle around the axis of the movable hinge 307, thereby realizing the angle adjustment between the encoder reading head plate 502 and the encoder code wheel 501. The specific angle value of adjustment is dependent upon the size of the angle adjustment link 304 and the size between the mounting holes of the living hinge 307 on the encoder mounting plate 305.

The micro-motion platform for encoder test provided by the utility model can be used for measuring the influence of parameters such as the distance between the encoder reading head plate and the encoder code disc, the inclination angle and the like on the signal quality. The minimum moving amount in the distance direction can reach 0.01mm, the minimum rotating amount in the inclination angle direction can reach 0.05 degrees, the adjustment of the micro angle and the distance of the encoder can be realized, and the scheme is low in cost and simple and convenient to use.

Note that the above is only a preferred embodiment of the present utility model and the technical principle applied. It will be understood by those skilled in the art that the present utility model is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the utility model. Therefore, while the utility model has been described in connection with the above embodiments, the utility model is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the utility model, which is set forth in the following claims.

Claims (10)

1. A micro-motion platform for encoder testing, comprising: a base plate assembly (100), a distance adjusting mechanism (200), an angle adjusting mechanism (300), a motor assembly (400) and an encoder (500) to be detected; the bottom plate assembly (100) comprises a bottom plate (101), a guide rail (102) is fixedly arranged on the bottom plate (101), and a sliding block is arranged on the guide rail (102); the distance adjusting mechanism (200), the angle adjusting mechanism (300) and the motor assembly (400) are arranged on the sliding block; the distance adjusting mechanism (200) comprises a telescopic frame, and the telescopic frame is movably connected with the angle adjusting mechanism (300) through a first guide connecting block (209); the encoder (500) to be measured is arranged between the angle adjusting mechanism (300) and the motor assembly (400).

2. The micro-motion platform for encoder testing according to claim 1, wherein the guide rail (102) comprises a first guide rail and a second guide rail, the first guide rail and the second guide rail are linear guide rails arranged in parallel, and are fixedly arranged on the bottom plate (101).

3. The micro-motion platform for encoder testing of claim 2, wherein the telescoping rack comprises: the telescopic frame body is formed by connecting a plurality of telescopic units, each telescopic unit comprises two crossed first connecting rods (208), and two end parts and the middle part of each first connecting rod (208) are respectively provided with connecting holes; the two first connecting rods (208) of each telescopic unit are rotationally connected through a connecting hole in the middle part by a movable pin (210) to form a second connecting point (P2); the first connecting rods (208) of two adjacent telescopic units are rotatably connected through connecting holes at the end parts by movable pins (210).

4. A micro-motion platform for encoder testing according to claim 3, wherein the telescoping unit further comprises: the two ends of the second connecting rods (207) are respectively provided with movable connecting holes; one end of each of the two second connecting rods (207) is rotatably connected with the first connecting rod (208) at one side of the telescopic frame body, which is close to the angle adjusting mechanism (300), through a connecting hole at the end part of the first connecting rod, which is penetrated by a movable pin (210), and a fourth connecting point (P4) is arranged at one side of the telescopic frame body, which is close to the angle adjusting mechanism (300); the other end of the second connecting rod (207) is rotationally connected with the other second connecting rod (207) through a connecting hole at the end part of the movable pin (210) to form a first connecting point (P1); one end of the two second connecting rods (207) is rotatably connected with the first connecting rod (208) at one side of the telescopic frame body far away from the angle adjusting mechanism (300) through a connecting hole at the end part of the movable pin (210); the other end of the second connecting rod (207) is rotatably connected with the other second connecting rod (207) through a connecting hole at the end part by a movable pin (210) to form a third connecting point (P3).

5. The micro-motion platform for encoder testing according to claim 4, wherein the first connecting point (P1) is fixedly connected with the bottom plate (101) through a first fixing frame (201), a first guide rail sliding block (205-1) is arranged below the second connecting point (P2), and is fixedly connected with the first guide rail sliding block (205-1) through a guide block (206); a second guide rail sliding block (205-2) is arranged below the third connecting point (P3), and one end of the second guide switching block (203) is fixedly connected with the second guide rail sliding block (205-2).

6. The micro-motion platform for encoder testing according to claim 5, wherein the distance adjusting mechanism further comprises a distance adjusting handle (204), the distance adjusting handle (204) being fixedly connected with the base plate (101) through a second fixing frame (202).

7. The micro-motion platform for encoder testing according to claim 6, characterized in that a first guiding connection block (209) is arranged below the fourth connection point (P4); a sliding groove is formed in the first guide connecting block (209), and an extending part of a movable pin (210) of the fourth connecting point (P4) is embedded into the sliding groove of the first guide connecting block (209) to realize fixed connection.

8. The micro-motion platform for encoder testing according to claim 7, wherein the angle adjustment mechanism (300) comprises an angle adjustment platform (301), and the angle adjustment platform (301) is fixedly connected with a third guide rail slider (205-3) through a first guide connection block (209).

9. The micro-motion platform for encoder testing according to claim 8, wherein the angle adjustment platform (301) is provided with an angle adjustment handle (302); an angle adjusting sliding block (303) is connected to the angle adjusting handle (302) in a threaded mode.

10. The micro-motion platform for encoder testing according to claim 9, wherein the angle adjustment mechanism (300) further comprises an angle adjustment link (304) and an encoder mounting plate (305); one end of the angle adjusting connecting rod (304) is connected with the angle adjusting sliding block (303) through a movable hinge (307), and the other end of the angle adjusting connecting rod is connected with the encoder mounting plate (305) through the movable hinge (307).