CN102944189B - Detection method of cam profile detection system based on direct drive motor - Google Patents

Detection method of cam profile detection system based on direct drive motor Download PDF

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Publication number
CN102944189B
CN102944189B CN201210417583.9A CN201210417583A CN102944189B CN 102944189 B CN102944189 B CN 102944189B CN 201210417583 A CN201210417583 A CN 201210417583A CN 102944189 B CN102944189 B CN 102944189B
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China
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cam
drive motor
spacing
measuring head
laser measuring
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CN201210417583.9A
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CN102944189A (en
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丁仕燕
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Changzhou Institute of Technology
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Changzhou Institute of Technology
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Abstract

The invention provides a detection method of a cam profile detection system based on a direct drive motor, which is simple in structure and higher in detection precision and efficiency. The cam profile detection system comprises the direct drive motor, a mandrel coaxially fixed to a rotor of the direct drive motor and used for driving a cam to synchronously and coaxially rotate, a lead screw nut pair horizontally arranged on one side of the cam, a laser measurement head arranged on a movable nut of the lead screw nut pair, a grating ruler displacement sensor for measuring the horizontal displacement of the movable nut, a round grating arranged in a fixing seat of the direct drive motor and used for detecting a rotation angle of the rotor, and an industrial personal computer, wherein the industrial personal computer is used for controlling the direct drive motor and the lead screw nut pair to act, and obtaining the external profile data of the cam according to the measurement data of the laser measurement head, the grating ruler displacement sensor and the round grating.

Description

Based on the detection method of the cam outline detection system of direct-drive motor
The application is divisional application, the application number of original application: 201110114560.6, the applying date: 2011.05.04, denomination of invention: based on the cam outline detection system of direct-drive motor.
Technical field
The present invention relates to a kind of detection method of the cam outline detection system based on direct-drive motor.
Background technology
Cam mechanism is widely used in various automated machine, precision instrument, automation control system etc.Accomplish high accuracy, detect cam expeditiously, and correctly process, evaluate its every error, feed back the quality information of cam in time rapidly, traditional optical-mechanical amount instrument and the method for artificial data process, can not adapt to the needs of the transfer matic production that cam extensively adopts.Along with the high speed development of auto industry, engineering machinery etc. and improving constantly of manufacturing technology, to the precision and efficiency of detecting how improving cam cutting precision, it is the technical barrier that this area will solve.
Summary of the invention
Technical problem to be solved by this invention is to provide the detection method of the cam outline detection system based on direct-drive motor that a kind of structure is simple, precision and efficiency of detecting is higher.
For solving the problems of the technologies described above, the invention provides a kind of detection method of the cam outline detection system based on direct-drive motor, wherein, described cam outline detection system comprises: direct-drive motor, coaxially be fixed at the epitrochanterian for the axle with the synchronous coaxial rotating of moving cam of direct-drive motor, level is located at the screw pair of cam side, be located at the laser measuring head on the traveling nut of this screw pair, for measuring the grating scale displacement transducer of the horizontal displacement of described traveling nut, be located at the Circular gratings of the anglec of rotation for detecting described rotor in the holder of direct-drive motor, and industrial computer, described industrial computer controls described direct-drive motor and screw pair action, and draws the outline data of cam according to the data that described laser measuring head, grating scale displacement transducer and Circular gratings record.
Particularly, the screw mandrel of described screw pair is connected with a stepper motor transmission; Industrial computer comprises: for controlling the motion control card of described direct-drive motor and stepper motor action in real time, the laser displacement sensor capture card of the spacing of the outline for real-time detection laser gage outfit and cam be connected with described laser measuring head, the encoder to count card be connected with Circular gratings with described grating scale displacement transducer, and by CPU element that system bus is connected with encoder to count card with described motion control card, laser displacement sensor capture card; Described motion control card controls described direct-drive motor action by a servo-driver; Motion control card is simultaneously by a stepper motor driver control step motor action.
Be θ in the anglec of rotation of described cam itime, the outline of the cam recorded and the spacing of laser measuring head i.e. the first pitch measurements is ; Meanwhile, the described traveling nut that obtains of grating scale displacement sensor in the horizontal direction with the hard zero-bit of grating scale displacement transducer spacing i.e. the second pitch measurements be , i=1,2,3 ... n; I detects first, second pitch measurements described in the process that rotates a circle of cam simultaneously , number of times, 0 °≤θ i<360 °.
The another kind of detection method of the described cam outline detection system based on direct-drive motor comprises:
A), by spacing i.e. first spacing of the cylindrical of laser measuring head and axle control in the range of laser measuring head, then detect and record described first spacing , detect simultaneously and record described traveling nut in the horizontal direction with described hard zero-bit spacing i.e. the second spacing ;
B), by Cam gapless be matched with in described axle, if the outline data of unknown cam, then starting to control while cam rotates a circle, described first pitch measurements that the traveling nut controlling screw pair records according to laser measuring head is size do near or away from the straight-line displacement of cam, to control described first pitch measurements all the time be in the range of laser measuring head, and obtain first, second pitch measurements described corresponding with the anglec of rotation θ i of cam , ;
C), by mandrel diameters Φ d and described , , , , calculate footpath, the pole measured value of cam :
。
The present invention has positive effect: (1) cam outline detection system based on direct-drive motor of the present invention adopts non-contact measurement method, laser measuring head motion is by screw pair Direct driver, screw pair tightly can eliminate gap by giving, leading screw load is little, so dynamic rate is high, stable movement, dynamic performance are good.Gage outfit mechanical wearing and tearing in measuring process, with other contact type measurement, speed is fast, precision is high, precision stability is good.The laser measuring head of selected range scope little (range starting point ~ range terminal), under the condition that its linearity is constant, measure error is little.Laser measuring head horizontal motion distance is completed by grating scale displacement transducer, when the footpath, pole of cam changes greatly, still can obtain high certainty of measurement, higher price-performance ratio; (2) in order to ensure that laser measuring head is measured all the time in range ability, namely ensure that gage outfit and cam contour distance are between range starting point and range terminal, the present invention adopts NC Interpolation method, and cam rotary motion and laser measuring head horizontal direction rectilinear motion are linked.The cam anglec of rotation is detected by the Circular gratings be located in direct-drive motor, and axle is determined by Circular gratings zero pulse signal at circumferencial direction zero point.(3) axle is directly connected with rotor, eliminates driving error, mechanical hysteresis, the backlass in the traditional transmission structures such as decelerator, gear, belt, servo rigidity is high, fast-response can be good.(4) Circular gratings just exporting, cosine signal and zero signal, zero signal provides repeatably original position at circumferencial direction for rotor.Circular gratings just, cosine string signal being through segmenting and convert square-wave signal to, for servo-driver position-force control; This square-wave signal accesses encoder to count card simultaneously, and industrial computer can obtain cam actual rotational angle.
Accompanying drawing explanation
Fig. 1 is the structural representation of the cam outline detection system based on direct-drive motor of the present invention;
Fig. 2 be the cam outline detection system based on direct-drive motor in Fig. 1 cam is not installed time structure chart.
Detailed description of the invention
(embodiment 1)
See Fig. 1-2, the cam outline detection system based on direct-drive motor of the present embodiment comprises: for be located at direct-drive motor 1 side with moving cam 10 around the direct-drive motor 1 of the vertical horizontal coaxial rotating of axle 5, level screw pair 3, be located at this screw pair 3 traveling nut 3-1 on and laser measuring head 2 in cam 10 side, for measuring the grating scale displacement transducer 4 of the horizontal displacement of described traveling nut 3-1, the Circular gratings of the anglec of rotation for detecting cam 10 be located in the holder 1-1 of direct-drive motor 1 and industrial computer; Described industrial computer controls described direct-drive motor 1 and screw pair 3 action, and draws the outline data of cam 10 according to the data that described laser measuring head 2, grating scale displacement transducer 4 and Circular gratings record.Described motion control card controls the action of described direct-drive motor 1 by a motor servo driver; Motion control card is simultaneously by the action of stepper motor driver control step motor 7.
As the embodiment of optimum, the intersect vertical axis of the laser that the center line of the screw mandrel 3-2 of screw pair 3 and laser measuring head 2 export and described axle 5.
Described industrial computer comprises: for controlling the motion control card of described direct-drive motor 1 and screw pair 3 action in real time, be connected with described laser measuring head 2 for the laser displacement sensor capture card of real-time detection laser gage outfit 2 with the spacing of the outline of cam 10, the encoder to count card be connected with Circular gratings with described grating scale displacement transducer 4, by system bus and described motion control card, the CPU element that laser displacement sensor capture card is connected with encoder to count card, and through the LCD of outline data for showing and contrast cam 10 that video card is connected with described system bus.
Be θ in the anglec of rotation of described cam 10 itime, the outline of the cam 10 recorded and the spacing of laser measuring head 2 i.e. the first pitch measurements are ; Meanwhile, the described traveling nut 3-1 that measures of grating scale displacement transducer 4 in the horizontal direction with the hard zero-bit of grating scale displacement transducer 4 spacing i.e. the second pitch measurements be , i=1,2,3 ... n; I detects first, second pitch measurements described in the process that rotates a circle of cam 10 simultaneously , number of times, n can determine according to the cam gap size that takes measurement of an angle, and such as: 180,360,720 etc., n is larger, and the outline data of the cam 10 recorded are more accurate; 0 °≤θ i<360 °, θ i+1-θ i=θ i-θ i-1.
For improving the accuracy of detection to cam cutting required precision higher part position (the outline data as the lug boss of cam), guaranteeing detection efficiency simultaneously as far as possible, when can be arranged on this position of detection, reducing θ i+1and θ idifference.
If the outline data of known cam 10 , then the detection method of described detection system comprises:
A, by laser measuring head 2 spacing i.e. the first spacing with the cylindrical of axle 5 in the range of laser measuring head 2, (best embodiment is: the first spacing in control control near the range mid point of laser measuring head 2, because the measuring accuracy near range mid point is the highest), then detect and record described first spacing , detect simultaneously and record described traveling nut 3-1 in the horizontal direction with described hard zero-bit spacing i.e. the second spacing ;
B, by cam 10 blind-mate in described axle 5, starting to control while cam 10 rotates a circle, the outline controlling laser measuring head 2 opposing cam 10 according to + orbiting motion; Meanwhile, described first pitch measurements is controlled all the time in the range being in laser measuring head 2, (best embodiment is: the first spacing control near the range mid point of laser measuring head 2, because the measuring accuracy near range mid point is the highest; ), and obtain the anglec of rotation θ with cam 10 icorresponding first, second pitch measurements described , ;
C, by mandrel diameters Φ d and described , , , , calculate footpath, the pole measured value of cam 10 :
；
D, by footpath, described pole measured value with described outline data compare, draw the outline mismachining tolerance of cam 10.
If the outline data of unknown cam 10 , then the detection method of described detection system comprises:
A, by laser measuring head 2 spacing i.e. the first spacing with the cylindrical of axle 5 control in the range of laser measuring head 2, then detect and record described first spacing , detect simultaneously and record described traveling nut 3-1 in the horizontal direction with described hard zero-bit spacing i.e. the second spacing ;
B, by cam 10 blind-mate in described axle 5, starting to control while cam 10 rotates a circle, described first pitch measurements that the traveling nut 3-1 controlling screw pair 3 records according to laser measuring head 2 is size do near or away from the straight-line displacement of cam 10, to control described first pitch measurements all the time be in the range of laser measuring head 2, and obtain the anglec of rotation θ with cam 10 icorresponding first, second pitch measurements described , ;
C, by mandrel diameters Φ d and described , , , , calculating the outline data of cam 10, is also footpath, pole measured value :
。
Above-mentioned laser measuring head 2 can select the high precision laser displacement sensor of PRIMUS 1000-2 type based on PC of Germany, and its main performance index is: range 2mm, range starting point 16mm, range terminal 20mm, range mid point 18mm; The linearity 1 μm, resolution ratio 0.2 μm; Spot diameter 35 μm.
Grating scale displacement transducer is made up of scale grating and read head two parts.Read head is located on the traveling nut 3-1 of screw pair 3, and scale grating is fixed in the frame of screw mandrel 3-2 side of screw pair 3.The position of screw mandrel 3-2 is fixed.
The grating scale displacement transducer 4 of the present embodiment can select German Heidenhain LIP571 type grating scale, and read head exports the square-wave signal of expression measured value and delivers to described encoder to count card, accuracy class ± 1 μm; Resolution ratio 0.2 μm.The model of laser measuring head and grating scale, precision, range can make suitable adjustment according to Cam Detection required precision, footpath, cam pole size.
The grating scale displacement transducer 4 of the present embodiment can also select the GBC series grating scale of Weihai San Feng Electronic Science and Technology Co., Ltd., and it is made up of read head, scale grating and interface circuit.When read head moves, the photelectric receiver of interface circuit produces the pulse wave signal of A phase and B phase two-way phase 90 ° respectively, and this signal delivers to described encoder to count card more after treatment.
Described encoder to count card for the pulse number recording grating rule displacement sensor 4, Circular gratings produces, and then calculates nut displacement, the cam anglec of rotation of screw pair.The nut of motion control card control cam and screw pair is pressed given trace and is moved.
A hard zero-bit is installed on the right side of the grating scale in grating scale displacement transducer 4, as the starting point of grating scale displacement transducer 4 measuring distance tolerance.
Direct-drive motor (also referred to as: directly drive electric rotating machine) the serial torque motor rotation platform of the TMSXX of TaiWan, China Dayin Microsystem Co Ltd can be selected, absolute fix precision 10 ", repetitive positioning accuracy 3 ".
(embodiment 2)
On the basis of embodiment 1, the present embodiment has following distortion:
For eliminating processing or the alignment error of axle 5, on the impact of cam contour accuracy of detection, the detection method of described cam outline detection system comprises:
The outer rim data of A, detection axle 5: when axle 5 starts to rotate a circle, by spacing i.e. first spacing of laser measuring head 2 with the cylindrical of axle 5 all the time control in the range of laser measuring head 2, detecting simultaneously and recording with the described anglec of rotation is θ ithe first corresponding spacing , and described mover 3-1 in the horizontal direction with described hard zero-bit spacing i.e. the second spacing ;
B, by cam 10 blind-mate in described axle 5, if the outline data of known cam 10 , then starting to control while cam 10 rotates a circle, the outline controlling laser measuring head 2 opposing cam 10 according to + orbiting motion; Meanwhile, described first pitch measurements is controlled all the time be in the range of laser measuring head 2, and obtain the anglec of rotation θ with cam 10 icorresponding first, second pitch measurements described , ;
C, by mandrel diameters Φ d and described , , , , calculate footpath, the pole measured value of cam 10
D, by footpath, described pole measured value with described outline data compare, draw the outline mismachining tolerance of cam 10.
If the outline data of unknown cam 10 , then the detection method of described cam outline detection system comprises:
The outer rim data of a, detection axle 5: when axle 5 starts to rotate a circle, by spacing i.e. first spacing of laser measuring head 2 with the cylindrical of axle 5 all the time control in the range of laser measuring head 2, detecting simultaneously and recording with the described anglec of rotation is θ ithe first corresponding spacing , and described mover 3-1 in the horizontal direction with described hard zero-bit spacing i.e. the second spacing ;
B, by cam 10 blind-mate in described axle 5, if the outline data of unknown cam 10, then starting to control while cam 10 rotates a circle, described first pitch measurements that the mover 3-1 controlling linear electric motors 3 records according to laser measuring head 2 is size do near or away from the straight-line displacement of cam 10, to control described first pitch measurements all the time be in the range of laser measuring head 2, and obtain the anglec of rotation θ with cam 10 icorresponding first, second pitch measurements described , ;
C, by mandrel diameters Φ d and described , , , , calculate footpath, the pole measured value of cam 10
。
Obviously, the above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.And these belong to spirit institute's apparent change of extending out of the present invention or change and are still among protection scope of the present invention.

Claims (1)

1. based on a detection method for the cam outline detection system of direct-drive motor,
Described cam outline detection system comprises: direct-drive motor (1), coaxially be fixed on the rotor (1-2) of direct-drive motor (1) for the axle (5) with the synchronous coaxial rotating of moving cam (10), level is located at the screw pair (3) of cam (10) side, be located at the laser measuring head (2) on the traveling nut (3-1) of this screw pair (3), for measuring the grating scale displacement transducer (4) of the horizontal displacement of described traveling nut (3-1), be located at the Circular gratings of the anglec of rotation for detecting described rotor (1-2) in the holder (1-1) of direct-drive motor (1), and industrial computer,
Described industrial computer controls described direct-drive motor (1) and screw pair (3) action, and draws the outline data of cam (10) according to the data that described laser measuring head (2), grating scale displacement transducer (4) and Circular gratings record;
The screw mandrel (3-2) of described screw pair (3) is connected with a stepper motor (7) transmission;
It is characterized in that: described industrial computer comprises: for controlling the motion control card of described direct-drive motor (1) and stepper motor (7) action in real time, the laser displacement sensor capture card of the spacing of the outline for real-time detection laser gage outfit (2) and cam (10) be connected with described laser measuring head (2), the encoder to count card be connected with Circular gratings with described grating scale displacement transducer (4), and by CPU element that system bus is connected with encoder to count card with described motion control card, laser displacement sensor capture card;
Described motion control card is connected with described direct-drive motor (1) by a servo-driver, and the detection signal output (1-3) of described Circular gratings is connected with the feedback signal input terminal of this servo-driver; Motion control card is simultaneously by stepper motor driver control step motor (7) action;
Be θ in the anglec of rotation of described cam (10) itime, the outline of the cam (10) recorded and spacing i.e. first pitch measurements of laser measuring head (2) they are l ti; Meanwhile, the described traveling nut (3-1) measured of grating scale displacement transducer (4) in the horizontal direction with the hard zero-bit (l of grating scale displacement transducer (4) 0) spacing i.e. the second pitch measurements be l mi, i=1,2,3...n; I detects first, second pitch measurements l described in the process that rotates a circle of cam (10) simultaneously ti, l minumber of times, 0 °≤θ i< 360 °;
The detection method of described cam outline detection system comprises:
A), by the spacing i.e. first spacing l of laser measuring head (2) with the cylindrical of axle (5) t0control in the range of laser measuring head (2), then detect and record described first spacing l t0, detect simultaneously and record described traveling nut (3-1) in the horizontal direction with described hard zero-bit (l 0) spacing i.e. the second spacing l m0;
If b) the outline data of unknown cam (10), then starting to control while cam (10) rotates a circle, described first pitch measurements that the traveling nut (3-1) controlling screw pair (3) records according to laser measuring head (2) is l tisize do near or away from the straight-line displacement of cam (10), to control described first pitch measurements l tiall the time be in the range of laser measuring head (2), and obtain the anglec of rotation θ with cam (10) icorresponding first, second pitch measurements l described ti, l mi;
C), by mandrel diameters φ d and described l t0, l m0, l ti, l mi, calculate footpath, the pole measured value ρ of cam (10) i(θ i):
&rho; i ( &theta; i ) = 1 2 &phi;d + ( l T 0 - l Ti ) + ( l M 0 - l Mi ) .
CN201210417583.9A 2011-05-04 2011-05-04 Detection method of cam profile detection system based on direct drive motor Expired - Fee Related CN102944189B (en)

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Application Number Priority Date Filing Date Title
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Related Parent Applications (1)

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CN2011101145606A Division CN102252631B (en) 2011-05-04 2011-05-04 Cam contour detecting system based on direct drive motor

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Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020101595A1 (en) * 2001-01-31 2002-08-01 Johnson Richard M. Device and method for inspecting cam profiles
CN100410625C (en) * 2006-06-02 2008-08-13 江苏万工科技集团有限公司 Shedding profilogram measuring apparatus
CN101377418B (en) * 2008-09-24 2011-05-04 上海大学 Device and method for detecting contact type large-scale special-shaped glass outline based on rotating-rectilinear movements
CN101639348B (en) * 2008-12-30 2011-03-30 江苏万工科技集团有限公司 Laser tester for cam profile

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