CN104647026A - Automatic aligning device for grating code channel of encoder - Google Patents
Automatic aligning device for grating code channel of encoder Download PDFInfo
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- CN104647026A CN104647026A CN201510089483.1A CN201510089483A CN104647026A CN 104647026 A CN104647026 A CN 104647026A CN 201510089483 A CN201510089483 A CN 201510089483A CN 104647026 A CN104647026 A CN 104647026A
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- encoder
- grating
- code channel
- automatic aligning
- servo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
Abstract
The invention discloses an automatic aligning device for a grating code channel of an encoder, and belongs to the field of manufacturing of photoelectric equipment. The automatic aligning device comprises an image collecting device, an upper computer, a servo driver, an executing device and an encoder fixing platform, wherein the image collecting device is arranged above the encoder fixing platform and is connected with the upper computer, the upper computer is connected with the servo driver, the servo driver is connected with the executing device, and the executing device is arranged at one side of the encoder fixing platform, and can independently move along the X-axis direction and Y-axis directions. Compared with the manual aligning method, the automatic aligning device has the advantages that the code channel aligning accuracy is greatly improved, and the assembly requirement of the high-accuracy encoder is met; the assembly uniformity is high, the assembly efficiency is greatly improved, and the batch production is favorably realized.
Description
Technical field
the present invention relates to a kind of encoder grating code channel automatic aligning device, is specifically a kind of encoder grating code channel automatic aligning device that effectively can improve alignment accuracy, belongs to optoelectronic device and manufactures field.
Background technology
In the assembling process of optical encoder, the code channel alignment between grating and photocell is important process procedure, and the control of this link directly affects the quality of light path, and then determines the performance indications that optical encoder is final.Encoder production firm in the market still rests on the manually-operated stage, manual operation process mainly relies on grating and photronic position deviation in eye-observation microscope, then realizes aliging and correction of grating and photocell position by the manual grating edge that knocks.Although adopt manual method can greatly reduce the expenditure of manufacturing cost, but its production efficiency is low, and homogeneity of product is poor, be not suitable for the batch production of high-precision encoder, instantly as more and more higher to encoder precision in the industry such as robot, high-precision numerical control machine demand cannot be met.
Summary of the invention
Technical problem to be solved by this invention is to overcome prior art defect, provides a kind of alignment accuracy high, greatly can improve the performance of encoder and conforming encoder grating code channel automatic aligning device.
In order to solve the problems of the technologies described above, encoder grating code channel automatic aligning device provided by the invention, comprise image collecting device, host computer, servo-driver, actuating unit and encoder fixed platform, described image collecting device is erected at the top of encoder fixed platform, described image collector connects puts host computer, described host computer connects servo-driver, and described servo-driver connects actuating unit; Described actuating unit is arranged at the side of encoder fixed platform, can self-movement in both the x and y directions simultaneously.
In the present invention, between described image collecting device and encoder fixed platform, set up coaxial light source.
In the present invention, described image collector is set to CCD camera.
Beneficial effect of the present invention is: (1), the present invention are by image acquisition device grating and photocell image, through host computer by the markings form fit in two image informations, obtain grating and photronic central coordinate of circle respectively, again grating and photronic center of circle difference information are sent to servo-driver, control executing agency by servo-driver and adjust grating, realize overlapping of grating and the photocell center of circle, code channel alignment accuracy is it greatly improves, to meet the assembling demand of high-precision encoder compared with manual alignment; Meanwhile, its assembling uniformity is high, greatly improves efficiency of assembling, is conducive to mass production; (2), according to the CCD camera of the demand selection different accuracy of different accuracy encoder, to realize the best of breed that cost drops into, deployment cost can be reduced in this device; (3), between image collecting device and encoder fixed platform, coaxial light source is set up, for providing an approximate source of parallel light, be radiated at grating surface Vertical Uniform, be conducive to the image clearly reflecting grating and photocell surface, the interference that surface irregularity brings can be eliminated, improve the shooting precision of image collecting device, and then improve alignment accuracy and efficiency further; (4), simple structure of the present invention, it is convenient to realize, and system extension malleability is strong, can adapt to grating and photronic alignment in dissimilar encoder.
Accompanying drawing explanation
the structural representation of Fig. 1 inventive encoder grating code channel automatic aligning device;
Fig. 2 increment type grating and photronic code channel relative position schematic diagram;
Fig. 3 encoder grating code channel automatic aligning operational flowchart.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1, inventive encoder grating code channel automatic aligning device comprises CCD camera 2, coaxial light source 3, host computer 4, servo-driver 5, executing agency 6 and encoder fixed platform 7.Encoder 1 to be installed is placed in encoder fixed platform 7, the top fixture fixing erection CCD camera 2 of encoder fixed platform 7.Coaxial light source 3 is fixed between encoder fixed platform 7 and CCD camera 2 by fixture, and CCD camera 2 connects host computer 4, and host computer 4 connects servo-driver 5, and servo-driver 5 connects executing agency 6.Above-mentioned each parts form a closed-loop control system together, achieve the alignment operation to encoder grating code channel.
CCD camera 2 is mainly used in taking the grating on encoder 1 to be installed and photocell image, carries out the feedback element of alignment operation as executing agency.The required precision that normal root aligns according to grating really of the type selecting of CCD camera 2 and installation site is determined.The installation accuracy General Requirements of high-precision encoder, in 0.001-0.01mm scope, can determine the visual field size of CCD camera according to grating and photronic markings size.By selecting camera lens and its distance to grating in the present embodiment, by the visual field size adjustment of CCD camera 2 to 6*6mm, alignment accuracy precision prescribed is 0.005mm, so the theoretical minimum resolution of camera is (6/0.005) * (6/0.005)=1200*1200, be about 1,400,000 pixels, consider the existence of picture element flaw, the final CCD camera selecting 3,000,000 pixels.In the present embodiment, CCD camera 2 adopts technical grade camera, comprises the Falco2 serial model No. etc. of aviator or the DALSA company of Basler company.
Coaxial light source 3 adopts the OPDX series of general Tyke difficult to understand light source science and technology or the Vanch model of side's thousand photoelectricity, its effect is to provide an approximate source of parallel light, be radiated at grating surface Vertical Uniform, be conducive to the image clearly reflecting grating and photocell surface, the interference that surface irregularity brings can be eliminated, improve the precision that CCD camera 2 gathers grating and photocell image.
Host computer 4 is primarily of PC and image pick-up card composition, and image pick-up card is responsible for receiving and the image of process CCD camera 2 captured in real-time, is converted to data signal and is sent to PC end and carries out analyzing and processing.As shown in Figure 2, grating markings L1 in image information and photocell markings L2 is carried out form fit by PC end, obtain grating center of circle C1 and photocell center of circle C2, and draw each coordinate, the difference information of grating center of circle C1 and photocell center of circle C2 is sent to servo-driver 5 by last host computer.
The coordinate difference that host computer 4 sends by servo-driver 5 is converted to executing agency 6 displacement in x and y direction, sends instruction control executing agency 6 and carries out action.In the present embodiment, servo-driver 5 model adopts the EDS of Ai Sidun or the SGD7S series in peace river.
Executing agency 6 is two, is made up of drive motors and decelerator, Liang Ge executing agency 6 self-movement in both the x and y directions respectively.Displacement instruction that Liang Ge executing agency 6 exports according to servo-driver 6 (i.e. the distance of two drive motors movement in x and y direction) promotes grating and planar moves.In the present embodiment, decelerator adopts German SEW or SUMITOMO CHEMICAL.
It should be known that drive motors is relevant to alignment operation permissible accuracy with the type selecting of decelerator as those of ordinary skill in the art, can select according to the assembling demand of different accuracy encoder.
As shown in Figure 2, in assembling process, be fixed in encoder fixed platform 7 by encoder 1 to be installed, the grating in encoder 1 to be installed is the Circular gratings of increment type or absolute encoding mode, and the photo-sensitive cell distribution on photocell is corresponding with grating type.In encoder 1 to be installed, the standard of code channel alignment is overlapped by the medium line of grating markings L1 and photocell markings L2, and horizontal and vertical error is ± 0.005mm.
As shown in Figure 3, the present embodiment encoder grating code channel automatic aligning process is:
CCD camera 2 captured in real-time grating and photronic image, be delivered to host computer 4;
Host computer 4 processes the grating collected and photronic image, simulates both revolution centers of circle according to the markings on grating and photocell, calculates central coordinate of circle and the difference of coordinate is sent to servo-driver 5;
Servo-driver 5 is that the coordinate difference sent by host computer 4 is converted to Liang Ge executing agency 6 displacement in x and y direction, sends instruction control executing agency 6 and performs respectively.
The position that executing agency 6 completes grating according to the instruction of servo-driver 5 is moved.As grating and the photocell center of circle differ 0.1mm in the X direction, the gearratio of decelerator is 100, namely the instruction that the executing agency in X-direction receives is mobile 0.1*100=10mm, the step pitch that each pulse of motor is advanced is converted and performed end is 1mm, and at this moment executing agency receives the instruction of servo-driver is exactly X-direction 10 pulses;
While executing agency's 6 pairs of grating movements, CCD camera 2 carries out grating and photronic Image Acquisition in real time, host computer 4 constantly obtains new center of circle difference, when stopping alignment operation in the scope that the difference of X and Y coordinates is adjusted to-0.005-+0.005mm, otherwise repeat above-mentioned steps until meet above-mentioned scope.
Machine vision and servo-control system are applied in the alignment operation of encoder grating code channel by the present invention, utilize industrial camera to form closed-loop control system as feedback element, solve the problem of the low and uniformity difference of precision that current dependence manual operation brings.
The above is only the preferred embodiment of the present invention, it should be pointed out that for those skilled in the art, can also make some improvement under the premise without departing from the principles of the invention, and these improvement also should be considered as protection scope of the present invention.
Claims (3)
1. an encoder grating code channel automatic aligning device, it is characterized in that: comprise image collecting device, host computer, servo-driver, actuating unit and encoder fixed platform, described image collecting device is erected at the top of encoder fixed platform, described image collector connects puts host computer, described host computer connects servo-driver, and described servo-driver connects actuating unit; Described actuating unit is arranged at the side of encoder fixed platform, can self-movement in both the x and y directions simultaneously.
2. encoder grating code channel automatic aligning device according to claim 1, is characterized in that: set up coaxial light source between described image collecting device and encoder fixed platform.
3. encoder grating code channel automatic aligning device according to claim 1 and 2, is characterized in that: described image collector is set to CCD camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510089483.1A CN104647026A (en) | 2015-02-27 | 2015-02-27 | Automatic aligning device for grating code channel of encoder |
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| CN201510089483.1A CN104647026A (en) | 2015-02-27 | 2015-02-27 | Automatic aligning device for grating code channel of encoder |
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| CN201510089483.1A Pending CN104647026A (en) | 2015-02-27 | 2015-02-27 | Automatic aligning device for grating code channel of encoder |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106951814A (en) * | 2016-01-06 | 2017-07-14 | 哈尔滨理工大学 | The eccentric computational methods of Circular gratings of encoder bias adjustment system |
| CN109093375A (en) * | 2018-11-06 | 2018-12-28 | 中国工程物理研究院激光聚变研究中心 | A kind of flexible assembly method and assembly device for precision element dress school |
-
2015
- 2015-02-27 CN CN201510089483.1A patent/CN104647026A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106951814A (en) * | 2016-01-06 | 2017-07-14 | 哈尔滨理工大学 | The eccentric computational methods of Circular gratings of encoder bias adjustment system |
| CN106951814B (en) * | 2016-01-06 | 2020-11-24 | 哈尔滨理工大学 | Circular grating eccentricity calculation method of encoder eccentricity adjustment system |
| CN109093375A (en) * | 2018-11-06 | 2018-12-28 | 中国工程物理研究院激光聚变研究中心 | A kind of flexible assembly method and assembly device for precision element dress school |
| CN109093375B (en) * | 2018-11-06 | 2023-11-03 | 中国工程物理研究院激光聚变研究中心 | Flexible assembly method and assembly device for assembling and calibrating precise element |
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Application publication date: 20150527 |
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