CN104807482B - Crusing robot steering angle measures encoder and steering angle error correcting method - Google Patents
Crusing robot steering angle measures encoder and steering angle error correcting method Download PDFInfo
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- CN104807482B CN104807482B CN201510211903.9A CN201510211903A CN104807482B CN 104807482 B CN104807482 B CN 104807482B CN 201510211903 A CN201510211903 A CN 201510211903A CN 104807482 B CN104807482 B CN 104807482B
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Abstract
The present invention relates to crusing robot steering angle and measure encoder and steering angle error correcting method, it is provided that a kind of crusing robot steering angle measures encoder, including encoder housing, circuitry for signal measurement and measurement drive disk assembly；Described measurement drive disk assembly includes angle transmission axle and magnet steel, and this angle transmission axle is arranged in described encoder housing, and described magnet steel is arranged on the upper end of described angle transmission axle；Being provided with gripper shoe in described encoder housing, described measurement drive disk assembly is positioned at the lower section of this gripper shoe；Described circuitry for signal measurement is arranged on the lower surface of this gripper shoe, is right against described magnet steel.Small in volume of the present invention, meet the use more, narrow space of robot vertical steering mechanism component well and limit requirement, measuring drive disk assembly adopts high precision part to be connected with magnet steel by tested rotation axle, mechanical angle displacement is directly changed into changes of magnetic field, use integrated magnetic angular position sensor to measure changes of magnetic field simultaneously, ensure that encoder has 0.02 ° of working resolution, meet the high-precision requirement of measurement.
Description
Technical field
The present invention relates to a kind of crusing robot steering angle and measure encoder and steering angle error correcting method.
Background technology
Encoder is the equipment that the signal of telecommunication or data are converted into the signal form that may be used to communication, transmission and storage.Encoder can be divided into increment type and absolute type two class according to operation principle, can be divided into again photoelectric encoder and magnetism encoder according to attribute own.Magnetism encoder is a kind of novel angle or displacement measuring device, its principle is to adopt magnetic resistance or Hall element that angle or the shift value of the magnetic material of change are measured, the change of magnetic material angle or displacement can cause the change of certain resistance or voltage, by amplifying circuit, variable quantity is amplified, output pulse signal or analog signals after being processed by single-chip microcomputer, reach the purpose measured.
The special document CN201110449167.2 of Chinese invention provides a kind of absolute value encoder, including shell, the main shaft being located in shell, it is sheathed on the main body outside main shaft, encoder basement and metal code disk, it is provided with bearing between described main shaft and main body, slit assembly it is additionally provided with outside this main shaft, this slit assembly includes a metallic slit sheet, luminous tube printed board and couples the gusset piece of metallic slit sheet and luminous tube printed board, described main body adopts plastic-steel insulant to be made, and shell and gusset piece all adopt ABS to add glass fiber material and be made.This absolute value encoder adopts encoder basement and metal code disk structure, manufactures and designs installation complex, is unfavorable for further miniaturization.
Summary of the invention
For solving prior art Problems existing, the present invention provides the crusing robot steering angle that a kind of simple in construction is small and exquisite, precision is high to measure encoder.
Crusing robot steering angle provided by the present invention measures encoder, including encoder housing, it is characterised in that: also include circuitry for signal measurement and measure drive disk assembly；Described measurement drive disk assembly includes angle transmission axle and magnet steel, and this angle transmission axle is arranged in described encoder housing, and described magnet steel is arranged on the upper end of described angle transmission axle；Being provided with gripper shoe in described encoder housing, described measurement drive disk assembly is positioned at the lower section of this gripper shoe；Described circuitry for signal measurement is arranged on the lower surface of this gripper shoe, is right against described magnet steel.
During use, tested rotating shaft is arranged on the lower end of angle transmission axle, tested rotating shaft, angle transmission axle, magnet steel coaxially connect with one heart, and it is equipped with precision bearing to ensure the mechanical precision that crusing robot steering angle transmits, measure drive disk assembly and transmitted the angle change of measurand by the mechanical Hard link of tested power transmission shaft, angle transmission axle and magnet steel exactly, and mechanical angle variable signal is converted to magnetic field variation signal；Field signal is converted into the signal of telecommunication by circuitry for signal measurement, exports the standard signal supply applications circuit of various ways after processing the signal of telecommunication.
Circuitry for signal measurement of the present invention includes circuitry for signal measurement plate and is arranged in the electric power management circuit on circuitry for signal measurement plate, angular position sensor, dsp controller and signaling interface, and this signaling interface is connected with described dsp controller, electric power management circuit respectively；After described angular position sensor is sequentially connected with difference amplifier, analog-digital converter, it is connected with described dsp controller.This circuitry for signal measurement can adopt integrated 14 to process chip, reduces board design complexity and the error of signal processing introducing.
Preferably, described angular position sensor at least arranges that two is right on described circuitry for signal measurement plate.Utilize two to angular position sensor error correcting method of tabling look-up convenient to carry out, before encoder provided by the present invention dispatches from the factory, by coaxially connected to itself and high-precision encoder, set up the correspondence table between the output voltage of one pair of which angular transducer and the measurement angle of high-precision encoder, use measured value to add look-up table during actual measurement and steering angle is modified.This angular position sensor generally uses Hall element.
For ease of the installation of magnet steel, the upper end of described angle transmission axle is provided with U-shaped hole, and described magnet steel is embedded in this U-shaped hole.Magnet steel can adopt two semicylinders of respectively north and south magnetic pole to be put together.
For ease of the installation of tested rotating shaft, the bottom of described angle transmission axle is provided with U-shaped connecting hole, is arranged on by tested rotating shaft in this U-shaped connecting hole, the sidewall of U-shaped connecting hole can be offered top wire hole, utilize jackscrew to be fixed in U-shaped connecting hole by tested rotating shaft.
For ease of the installation of encoder provided by the present invention, the outside of described encoder housing is provided with mounting ear, and mounting ear offers encoder installing hole, utilizes mounting ear to be arranged on crusing robot by encoder.
Signaling interface has one or more of PWM, SPI, IIC standard signal output interface, it is ensured that turn to closed-loop control system to have enough adjustment frequencies when crusing robot frequently turns to.
The present invention also provides for a kind of detector robot steering angle error correcting method, and this modification method employs the encoder including at least two pairs of angular position sensors provided by the present invention, comprises the following steps:
(1) standard coders and crusing robot steering angle are measured encoder and be connected in same rotating shaft, utilize standard coders that crusing robot steering angle is measured encoder to demarcate, set up look-up table, in this look-up table, described crusing robot steering angle measures the output voltage u of the one pair of which angular position sensor a in encoderaTwo of corresponding standard coders measure angle, θ respectivelys1、θs2；
(2) in described crusing robot steering angle measurement encoder is actually used, angular position sensor a and another actual output voltage u' to angular position sensor b is obtaineda、u'b；According to u 'a、u′bCalculate the angle value θ ' with errord, wherein θ 'd=arctan (u'a/u'b)；
(3) the actual output voltage u ' according to angular position sensor aaInquire u ' in a lookup tableaCorresponding standard coders measures angle, θ 's1、θ′s2If, | θ 'd-θ′s1|<|θ′d-θ′s2|, then θ 's1For revised steering angle, otherwise θ 's2For revised steering angle.
Before utilizing standard coders that crusing robot steering angle measurement encoder is demarcated, first the initial position of standard coders, crusing robot steering angle measurement encoder is adjusted, make the actual angle that both measure in the process set up look-up table consistent, comprise the following steps:
(1) standard coders is arranged on one end fixed standard encoder of rotating shaft, and rotating shaft makes the output angle of standard coders be after 0, fixed rotating shaft；
(2) crusing robot steering angle being measured encoder and be arranged on the other end of rotating shaft, rotate crusing robot steering angle and measure encoder and make its angular position sensor a output voltage be after 0, fixing crusing robot steering angle measures encoder；
(3) unclamping rotating shaft, rotating shaft can carry out gamut demarcation and build table.
The present invention adopts magnetic encoder mode but not adopts traditional Weight and disk type encoder；Tested rotating shaft, angle transmission axle, magnet steel being designed as coaxial connection with one heart, and be equipped with precision bearing to ensure the mechanical precision of robot steering angle transmission, the small and exquisite precision of simple in construction is high；Integrated 14 are adopted to process the error that chip reduces board design complexity, signal processing introduces, circuitry for signal measurement plate arranges A, B two-way Hall element, use coaxially connected high-precision encoder that its A phase is measured amplitude before dispatching from the factory and angle corresponding relation sets up form, use measured value to add look-up table during actual measurement and obtain high accuracy.
The method have the advantages that
(1) present configuration is simple, small in volume, and after making finished product, weight can be controlled in about 20g, and size can be only 22 × 12.5 × 11mm, meets the use more, narrow space of robot vertical steering mechanism component well and limits requirement.
(2) measuring drive disk assembly adopts high precision part to be connected with magnet steel by tested rotation axle, mechanical angle displacement is directly changed into changes of magnetic field, use integrated magnetic angular position sensor to measure changes of magnetic field simultaneously, ensure that encoder has 0.02 ° of working resolution, meet the high-precision requirement of measurement.
(3) inventive encoder has good kinetic measurement performance, possesses PWM, SPI, IIC multiple standards signal output interface, it is ensured that turn to closed-loop control system to have enough adjustment frequencies when robot frequently turns to.
(4) present invention uses magnetic encoder to add auxiliary measuring error modification method so that it is simpler that its structure compares tradition code-disc encoder, it is easy to miniaturization, and it has higher precision than traditional magnetic encoder simultaneously.The present invention uses two to Hall element, corresponding two the look-up table exact values of the actual output voltage value of one pair of which Hall element, the angle value with error using inventive encoder actually measured gets rid of a look-up table exact value, simplifies structure and the lookup of look-up table.
Accompanying drawing explanation
Fig. 1 is overall schematic of the present invention；
Fig. 2 is machinery profile of the present invention；
Fig. 3 is tested rotating shaft of the present invention, magnet steel, measuring circuit Board position schematic diagram；
Fig. 4 is circuitry for signal measurement plate schematic diagram of the present invention；
Fig. 5 is Fig. 3 top view；
Fig. 6 is in magnet steel rotates a circle, and A is to Hall element corresponding relation figure of output voltage values and angle after differential amplifier circuit.
In figure: 110, encoder housing；111, assemble fixed thread hole；112, cable hole；113, encoder installing hole；114, bearing；115, gripper shoe；120, measure drive disk assembly；121, tested rotating shaft；122, top wire hole；123, angle transmission axle；124, magnet steel；130, circuitry for signal measurement plate；131, hole, measuring circuit plate location；132, electric power management circuit；133, angular position sensor；134, Coder controller；135, signaling interface；136, Led indicating circuits.
Detailed description of the invention
As Figure 1-4, the present invention includes encoder housing 110, circuitry for signal measurement plate 130 and measures drive disk assembly；The outside of encoder housing 110 is provided with two small-sized mounting ears, offers encoder installing hole 113 on mounting ear, is arranged in robot by encoder provided by the invention by mounting ear, encoder installing hole.Being additionally provided with cable hole 112 in encoder housing 110, cable hole 112 is used for the power line of circuitry for signal measurement plate 130 and the extraction of holding wire.Encoder housing is additionally provided with assembling fixed thread hole 111, when assembling inventive encoder, utilizes screw to schedule in this assembling fixed thread hole, the internal part compact siro spinning technology making encoder housing with being arranged in housing.It is provided with gripper shoe 115 in encoder housing 110, gripper shoe 115 is preset with hole 131, measuring circuit plate location, use jackscrew, through hole 131, measuring circuit plate location, circular signal measuring circuit plate 130 is arranged on the lower surface of gripper shoe 115.Measure drive disk assembly and be positioned at below gripper shoe 115, measure drive disk assembly and include angle transmission axle 123 and magnet steel 124；Passing miniature bearing 114 internal ring in the middle part of angle transmission axle 123 and fix, bearing 114 is arranged in encoder housing 110；The upper end of angle transmission axle 123 is provided with U-shaped hole；Former and later two semicylinders respectively north and south magnetic pole of magnet steel 124, magnet steel 124 is embedded in the U-shaped hole of angle transmission axle upper end；The lower end of angle transmission axle 123 is provided with the U-shaped connecting hole with top wire hole 122, and tested rotating shaft 121 inserts in this U-shaped connecting hole, and tested rotating shaft is fixed on angle transmission axle 123 by jackscrew through top wire hole 122.Circular signal measuring circuit plate 130 is arranged in gripper shoe 115, and utilize screw to be fixed through hole 131, measuring circuit plate location, circuitry for signal measurement plate 130 is right against magnet steel 124, and circuitry for signal measurement plate 130 is used for installing each components and parts to form circuitry for signal measurement.
Tested rotating shaft 121 rotates, thus driving angle transmission axle 123 and magnet steel 124 to rotate, and the magnetic field of change is produced on magnet steel 124 top, the mechanical Hard link of tested power transmission shaft 121, angle transmission axle 123 and magnet steel 124 transmits the angle change of measurand exactly, and mechanical angle variable signal is converted to magnetic field variation signal；Field signal is converted into the signal of telecommunication by circuitry for signal measurement, exports the standard signal supply applications circuit of various ways after processing the signal of telecommunication.
As shown in Fig. 3,4,5, being provided with electric power management circuit 132, angular position sensor 133, dsp controller 134, signaling interface 135, difference amplifier and analog-digital converter ADC on circuitry for signal measurement plate 130, signaling interface 135 connects electric power management circuit 132, dsp controller 134 respectively；Outside DC5V Power convert is the DC3.3V power supply needed for angular position sensor 133 and dsp controller 134 by electric power management circuit 132.The angular position sensor 133 of inventive encoder can use Hall element, circuitry for signal measurement plate is arranged at least two pairs of Hall elements (A+, A-and B+, B-), these two pairs of Hall elements are arranged symmetrically with, the magnetic field of two pairs of Hall element change perceived is also converted to corresponding analog electrical signal, analog electrical signal is sent into analog-digital converter ADC respectively after difference amplifier amplifies and is carried out analog digital conversion, being re-fed into dsp controller 134 after conversion, result is exported with signal forms such as PWM, SPI, IIC by dsp controller 134 by signaling interface 135.Dsp controller 134 can also connect LED indicating circuit 136, the running status of inventive encoder is shown by LED indicating circuit 136.
In conjunction with Fig. 5,6, the present invention also provides for a kind of crusing robot steering angle error correcting method, utilizes High-precision standard encoder that inventive encoder is demarcated, sets up look-up table.
Inventive encoder and High-precision standard encoder are connected in same rotating shaft so that in the process set up look-up table, the two actual angle measured is consistent.Adjust two encoders, when to make high-precision encoder measured value be 0, the A road voltage of inventive encoder is output as 0 (i.e. this output voltage to Hall element of A+, A-, B+, B-this output voltage of Hall element is designated as B road voltage), two encoder initial position adjustment processes are as follows: standard coders is arranged on one end the fixed standard encoder of rotating shaft by (1), rotating shaft makes the output angle of standard coders be after 0, fixed rotating shaft；(2) crusing robot steering angle being measured encoder and be arranged on the other end of rotating shaft, rotate crusing robot steering angle and measure encoder and make its angular position sensor a output voltage be after 0, fixing crusing robot steering angle measures encoder；(3) unclamping rotating shaft, rotating shaft can carry out gamut demarcation and build table.
Hall element A+, A-and B+, B-are respectively through obtaining the voltage signal u that amplitude larger interference is less after differential amplifier circuita、ub, the noisy voltage signal u of output band on one week A road of axis of rotationa=sin θ+da, the in like manner noisy voltage signal u of the output band on B roadb=sin θ+db, wherein, θ is axis of rotation angle, da、dbFor error amount, due to da、dbValue unknown, ua、ubValue calculate not by formula, but Hall element output valve；Then inventive encoder passes through A, B two-way Hall element output voltage ua、ubCalculate the angle, θ with errord=arctan (ua/ub)；From fig. 6, it can be seen that inventive encoder A road output voltage uaMeasure angle, θ for two of corresponding standard coderss1And θs2, set up a uaWith standard coders output angle θsThe corresponding form T of a pair twos, form is as follows:
In inventive encoder use procedure, tested rotating shaft drives angle transmission axle, magnet steel to rotate, and records current A, B two-way Hall element voltage u 'a、u′b, calculate the angle, θ ' with errord, θ 'd=arctan (u 'a/u′b), at table TsIn inquire u 'aCorresponding value θ 's1With θ 's2If, | θ 'd-θ′s1|<|θ′d-θ′s2|, then θ 's1For revised steering angle, otherwise θ 's2For revised steering angle.
The revised steering angle value inquired is converted to the canonical form signals such as PWM, SPI, IIC and is read for user by signaling interface output by dsp controller.
A road Hall element two exact values of actual voltage value correspondence standard coders of the present invention, use the angle value with error that inventive encoder records to get rid of a look-up table exact value, thus enormously simplify the structure of table and lookup.
Claims (8)
1. crusing robot steering angle measures an encoder, including encoder housing, also includes circuitry for signal measurement and measures drive disk assembly；Described measurement drive disk assembly includes angle transmission axle and magnet steel, and this angle transmission axle is arranged in described encoder housing, and described magnet steel is arranged on the upper end of described angle transmission axle；Being provided with gripper shoe in described encoder housing, described measurement drive disk assembly is positioned at the lower section of this gripper shoe；Described circuitry for signal measurement is arranged on the lower surface of this gripper shoe, is right against described magnet steel；Described circuitry for signal measurement includes circuitry for signal measurement plate and is arranged in the electric power management circuit on circuitry for signal measurement plate, angular position sensor, dsp controller and signaling interface, and this signaling interface is connected with described dsp controller, electric power management circuit respectively；After described angular position sensor is sequentially connected with difference amplifier, analog-digital converter, it is connected with described dsp controller；It is characterized in that: described angular position sensor at least arranges that two is right on described circuitry for signal measurement plate；Standard coders and crusing robot steering angle are measured encoder and is connected in same rotating shaft, utilize standard coders that described crusing robot steering angle is measured encoder to demarcate, set up look-up table, in this look-up table, described crusing robot steering angle measures the output voltage u of the one pair of which angular position sensor a in encoderaTwo of corresponding standard coders measure angle, θ respectivelys1、θs2。
2. crusing robot steering angle as claimed in claim 1 measures encoder, it is characterised in that: the upper end of described angle transmission axle is provided with U-shaped hole, and described magnet steel is embedded in this U-shaped hole.
3. crusing robot steering angle as claimed in claim 1 measures encoder, it is characterised in that: the bottom of described angle transmission axle is provided with U-shaped connecting hole.
4. crusing robot steering angle as claimed in claim 1 measures encoder, it is characterised in that: the outside of described encoder housing is provided with mounting ear.
5. crusing robot steering angle as claimed in claim 1 measures encoder, it is characterised in that: described magnet steel is put together by two semicylinders of respectively north and south magnetic pole.
6. crusing robot steering angle as claimed in claim 1 measures encoder, it is characterised in that: described signaling interface has one or more of PWM, SPI, IIC standard signal output interface.
7. one kind uses the encoder described in claim 1 to realize detector robot steering angle error correcting method, it is characterised in that comprise the following steps:
(1) standard coders and crusing robot steering angle are measured encoder and be connected in same rotating shaft, utilize standard coders that crusing robot steering angle is measured encoder to demarcate, set up look-up table, in this look-up table, described crusing robot steering angle measures the output voltage u of the one pair of which angular position sensor a in encoderaTwo of corresponding standard coders measure angle, θ respectivelys1、θs2；
(2) in described crusing robot steering angle measurement encoder is actually used, angular position sensor a and another actual output voltage u to angular position sensor b is obtaineda'、ub'；According to ua′、ub' calculate the angle value θ with errord', wherein θd'=arctan (ua'/ub')；
(3) the actual output voltage u according to angular position sensor aa' inquire u in a lookup tablea' corresponding standard coders measures angle, θs1'、θs2', if | θd'-θs1'|<|θd'-θs2' |, then θs1' for revised steering angle, otherwise θs2' for revised steering angle.
8. detector robot as claimed in claim 7 steering angle error correcting method, it is characterized in that: before utilizing standard coders that crusing robot steering angle measurement encoder is demarcated, first the initial position of standard coders, crusing robot steering angle measurement encoder is adjusted, comprises the following steps:
(1) standard coders is arranged on one end the fixed standard encoder of rotating shaft, and rotating shaft makes the output angle of standard coders be after 0, fixed rotating shaft；
(2) crusing robot steering angle being measured encoder and be arranged on the other end of rotating shaft, rotate crusing robot steering angle and measure encoder and make its angular position sensor a output voltage be after 0, fixing crusing robot steering angle measures encoder；
(3) unclamping rotating shaft, rotating shaft can carry out gamut demarcation and build table.
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| CN108088476A (en) * | 2017-05-14 | 2018-05-29 | 张洪国 | It is a kind of to inhibit interference and the hall signal sampling magnetism encoder of temperature drift |
| CN109532718A (en) * | 2018-11-16 | 2019-03-29 | 东北林业大学 | A kind of driver's operation behavior information collecting method |
| CN109900500B (en) * | 2019-03-19 | 2019-12-17 | 华中农业大学 | System and method for testing electric control hydraulic steering characteristics of combined harvester |
| CN110793491A (en) * | 2019-11-25 | 2020-02-14 | 中国航空工业集团公司北京航空精密机械研究所 | High-precision absolute type external synchronization angle capturing device and method |
| CN114499060B (en) * | 2021-12-22 | 2024-06-04 | 上海睿能高齐自动化有限公司 | Magnetic encoder assembly and motor |
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| JP4621987B2 (en) * | 2003-10-24 | 2011-02-02 | 株式会社安川電機 | Magnetic encoder device and actuator |
| JP2007085889A (en) * | 2005-09-22 | 2007-04-05 | Ntn Corp | Bearing with rotation detecting device |
| JP2007132862A (en) * | 2005-11-11 | 2007-05-31 | Koyo Electronics Ind Co Ltd | Magnetic encoder |
| CN101377524B (en) * | 2007-08-30 | 2011-02-16 | 北京佳讯飞鸿电气股份有限公司 | Vehicle speed measuring method based on steel rail deformation / stress parameters |
| CN100517945C (en) * | 2007-12-12 | 2009-07-22 | 北京航空航天大学 | Low-speed highly precise control system for magnetic suspending flying wheel electromotor based on n Hall sensors |
| CN201364163Y (en) * | 2008-12-30 | 2009-12-16 | 上海骏图电子科技有限公司 | High-precision magnetic encoder |
| JP2013185826A (en) * | 2012-03-05 | 2013-09-19 | Asahi Kasei Electronics Co Ltd | Magnetic encoder |
| CN203479313U (en) * | 2013-09-05 | 2014-03-12 | 中国船舶重工集团公司第七一〇研究所 | Magnetic detection based multi-loop absolute value encoder |
| CN103983290B (en) * | 2014-05-06 | 2016-05-11 | 上海精浦机电有限公司 | Compound absolute value encoder |
| CN204594473U (en) * | 2015-04-29 | 2015-08-26 | 江苏亿嘉和信息科技有限公司 | Crusing robot steering angle measures scrambler |
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