CN106247897A - A kind of displacement sensor for pull rope being integrated with Error Compensation Technology and preparation method thereof - Google Patents
A kind of displacement sensor for pull rope being integrated with Error Compensation Technology and preparation method thereof Download PDFInfo
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- CN106247897A CN106247897A CN201610649305.4A CN201610649305A CN106247897A CN 106247897 A CN106247897 A CN 106247897A CN 201610649305 A CN201610649305 A CN 201610649305A CN 106247897 A CN106247897 A CN 106247897A
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- glass pulley
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- thread bush
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/02—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness
- G01B5/04—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
- G01B5/043—Measuring arrangements characterised by the use of mechanical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring length
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- A Measuring Device Byusing Mechanical Method (AREA)
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Abstract
The invention discloses a kind of displacement sensor for pull rope being integrated with Error Compensation Technology and preparation method thereof, including basic machine, shaft coupling, encoder mounting seat, multi-turn absolute type encoder based on SSI interface, connect cable, single chip processing module.When the steel wire rope on basic machine pulls out, steel wire rope drives main shaft to rotate, main shaft drives multi-turn absolute type encoder to rotate, multi-turn absolute type encoder rotary course can export the signal of telecommunication with angle information, single chip processing module reads the signal of telecommunication of multi-turn absolute type encoder output, subsequently angle-data is decoded as displacement information, build error model by method of least square after original displacement information is demarcated and embed it in single chip processing module, it is integrated with the advantage that the displacement sensor for pull rope of single chip processing module has direct output shift quantity, eliminate the process of user's decoding, the displacement information of its output will be greatly improved the precision of displacement sensor for pull rope after error compensation corrects simultaneously.
Description
Technical field
The present invention relates to displacement sensor for pull rope, especially relate to a kind of stay cord displacement being integrated with Error Compensation Technology and pass
Sensor and preparation method thereof.
Background technology
Displacement sensor for pull rope is also known as rope sensor, stay cord electronic ruler, stay cord encoder, the merit of displacement sensor for pull rope
Can be mechanical movement to be converted into the signal of telecommunication that can measure, record or transmit.Displacement sensor for pull rope is by stretchable stainless
Steel cable is wound on a threaded wheel hub, and this wheel hub and a precision rotation angular transducer are coaxially connected together, angle
Sensor can be potentiometer, photoelectric encoder.
During displacement sensor for pull rope work, its housing is arranged on fixed position, and stay cord is tied on mobile object, stay cord
The axis of movement alignment of linear motion and mobile object.When motion occurs, stay cord stretches and shrinks, and an internal constant force spring is protected
The rate of tension of card stay cord is constant, and threaded wheel hub drives fine angle sensor rotation, exports one and stay cord displacement
The proportional signal of telecommunication, measures output signal and can draw the displacement of moving object, direction or speed.
Displacement sensor for pull rope is linear displacement transducer exquisite composition structurally, fully combines angular transducer
With the advantage of linear displacement transducer, be that a installation dimension is little, compact conformation, measurement stroke big, displacement transducer.
Relative to grating displacement transducer, owing to displacement sensor for pull rope has, compact conformation, range be big, environment adapts to
Property strong, the series of advantages such as simple are installed, thus it is widely used in industrial robot, reservoir dam protection system, straight line
Guide track system, hydraulic cylinder system, crane, vertical chute forming machine, the storage system such as location positioning, electro-hydraulic servo universal testing machine
The interior measurement for displacement.
Although displacement sensor for pull rope has above-mentioned plurality of advantages, but present stage certainty of measurement is its weakness, drawing of main flow
The certainty of measurement of rope displacement transducer is 0.5mm, and this is in general such as crane, vertical chute forming machine, storage location positioning etc.
Occasion can meet requirement, but in occasions such as some precision requirement higher such as robotic manipulator precise Positioning Control
Under then cannot meet application demand, and then largely limit its extensive application.
How to improve its certainty of measurement further for existing displacement sensor for pull rope is a technology waiting to break through
Difficult point.
Summary of the invention
First purpose of the present invention is to provide one to be integrated with Error Compensation Technology, absolute type, high-precision stay cord
Displacement transducer.
Second object of the present invention is to provide one to be integrated with Error Compensation Technology, absolute type, high-precision stay cord
The preparation method of displacement transducer.
First purpose of the present invention is achieved in that
A kind of displacement sensor for pull rope being integrated with Error Compensation Technology, feature is: include basic machine, shaft coupling, encoder
Mounting seat, multi-turn absolute type encoder based on SSI interface, connection cable, single chip processing module, encoder mounting seat is passed through
Encoder is installed pressing plate and is fixed on the top chock of basic machine, and multi-turn absolute type encoder based on SSI interface is fixed on
Above encoder mounting seat, the centre in encoder mounting seat is provided with shaft coupling, and shaft coupling is by the main shaft in basic machine
Linking together with the rotary shaft in multi-turn absolute type encoder, multi-turn absolute type encoder based on SSI interface is by connecting
Cable is connected with single chip processing module, basic machine include indexing sheet, glass pulley, thread bush, main shaft, guiding helical axis, on
Bearing block, steel wire rope, helicla flute, step, shell, draw ring, spring leaf, spring base, main shaft stern notch, upper bearing (metal), lower bearing,
It is fixed with centre in the upper end of columnar shell and is embedded with the top chock of upper bearing (metal), be fixed with in the lower end of shell middle embedding
Enter to have the step of lower bearing, be provided with the glass pulley of annular in the middle and lower part of shell, be fixed with indexing in the lower end of glass pulley
Sheet, the medial wall of indexing sheet is machined with coordinates with the keyway on main shaft lateral wall go out key, glass pulley is by indexable sheet
Keyway is enclosed within the lateral wall of main shaft middle and lower part, main shaft link into an integrated entity with glass pulley and can together with rotate, up and down the two of main shaft
End is respectively fitted in upper bearing (metal) and lower bearing, and thread bush is arranged on the upper end of glass pulley, and the inwall of thread bush has screw thread, guides
The outer wall of helical axis lower end has the screw thread matched with thread bush, guides the outer wall of helical axis lower end on the medial wall of thread bush
Being threaded connection can be up and down, and the upper end guiding helical axis is fixed on the bottom of top chock, in the lateral wall of glass pulley
If being provided with arterial highway helicla flute, the one ends wound of steel wire rope in some helicla flutes of glass pulley lateral wall, another of steel wire rope
Draw ring outside holding with shell is connected, and is fixed with spring base in the bottom of step, is fixed with spring leaf, main shaft in spring base
The lower end of stern notch is stuck on spring leaf, and the upper end of main shaft stern notch is fixing with the bottom of main shaft to be connected, and spring leaf passes through main shaft stern notch
Circumference rotational pressure is applied to glass pulley.
Single chip processing module is processed plate by module housing and Single-chip Controlling and forms, and is provided with in single chip processing module
Single-chip Controlling processes plate, and it is with STM32 series monolithic for core main control unit that Single-chip Controlling processes plate, the most peripheral expansion
Having opened up power subsystem, communication unit, display unit, Single-chip Controlling based on STM32 processes plate can be by multi-turn absolute encoding
The SSI interface signal of device output is decoded, and is converted into displacement.By displacement error is demarcated, according to calibration result
Build error model, and error model is embedded in single chip processing module, export through the revised displacement of error model
Data precision is greatly improved, and system sends revised angle-data to subsequent user with the signal of general RS422 form.
When steel wire rope pulls out, steel wire rope drives glass pulley to rotate, and glass pulley drives main shaft to rotate by indexing sheet, main shaft
Bottom by main shaft stern notch drive spring rotate, the top of main shaft by shaft coupling drive multi-turn absolute type encoder rotate,
The rotary motion realizing glass pulley and multi-turn absolute type encoder synchronizes.When glass pulley rotating 360 degrees, multi-turn absolute type encoder 1
Synchronous rotary 360 °, now the extension elongation of steel wire rope is L=3.14 × (glass pulley 8 diameters+steel wire rope 13 diameter), by this
The circumferential angle measurement of multi-turn absolute type encoder 1 is changed into the air line distance of steel wire rope output by method, it is achieved line measurement
And monitoring.
It is powered by single chip processing module multi-turn absolute type encoder on displacement sensor for pull rope, receives simultaneously
The angle-data with SSI interface of multi-turn absolute type encoder output, is decoded angle-data, subsequently according to single-chip microcomputer
Displacement is compensated by the error model in processing module, carries out revised displacement showing, exporting, is integrated with monolithic
The displacement sensor for pull rope of machine processing module has the advantage of direct output shift quantity, eliminates the process of user's decoding, simultaneously
The displacement information of its output will be greatly improved the precision of displacement sensor for pull rope after error compensation corrects.
Second object of the present invention is achieved in that
The preparation method of a kind of displacement sensor for pull rope being integrated with Error Compensation Technology, feature is: specifically comprise the following steps that
A, the basic machine of displacement sensor for pull rope include indexing sheet, glass pulley, thread bush, main shaft, guiding helical axis, upper bearing (metal)
Seat, steel wire rope, helicla flute, step, shell, draw ring, spring leaf, spring base, main shaft stern notch, upper bearing (metal), lower bearing, need root
Require these parts are processed according to design, wherein the part that sensor accuracy impact is maximum is thread bush, guides spiral shell
Spin axis, the processing and fabricating of glass pulley；
B, thread bush are arranged on the upper end of glass pulley, and the inwall of thread bush has a screw thread, guide the outer wall of helical axis lower end have with
The screw thread that thread bush matches, the outer wall guiding helical axis lower end is threaded connection on the medial wall of thread bush and can live up and down
Dynamic, the screw thread guided on helical axis lower end outer wall need to manufacture and use fine thread structure with the screw thread on thread bush medial wall；
C, glass pulley use multi-groove type uniform pitch Winding Design, and the feature of this winding mechanism is glass pulley coiling pitch and winding displacement
Wheel displacement pitch is equal, namely around cotton rope during flexible reciprocal centered by glass pulley each coiling helicla flute, work as winding displacement
Take turns the displacement that when turning around, coiling rope elongation shortens every time and be close to consistent, thus ensure that in displacement sensor for pull rope work process
The linearity, drastically increase the precision of product；
D, it is fixed with centre in the upper end of columnar shell and is embedded with the top chock of upper bearing (metal), be fixed with in the lower end of shell
Centre is embedded with the step of lower bearing, is provided with the glass pulley of annular in the middle and lower part of shell, fixes in the lower end of glass pulley
Have indexable sheet, indexing sheet medial wall on be machined with coordinates with the keyway on main shaft lateral wall go out key, glass pulley by turn
The keyway of bit slice is enclosed within the lateral wall of main shaft middle and lower part, main shaft link into an integrated entity with glass pulley and can together with rotate, main shaft
Two ends are respectively fitted in upper bearing (metal) and lower bearing up and down, and thread bush is arranged on the upper end of glass pulley, and the inwall of thread bush has spiral shell
Stricture of vagina, the outer wall guiding helical axis lower end has the screw thread matched with thread bush, guides the outer wall of helical axis lower end at thread bush
Being threaded connection on medial wall can be up and down, and the upper end guiding helical axis is fixed on the bottom of top chock, at glass pulley
If lateral wall be provided with arterial highway helicla flute, the one ends wound of steel wire rope in some helicla flutes of glass pulley lateral wall, steel wire
Rope the other end with shell outside draw ring be connected, be fixed with spring base in the bottom of step, in spring base, be fixed with bullet
Reed, the lower end of main shaft stern notch is stuck on spring leaf, and the upper end of main shaft stern notch is fixing with the bottom of main shaft to be connected, and spring leaf passes through
Main shaft stern notch applies circumference rotational pressure to glass pulley；
E, utilize protel circuit design Single-chip Controlling process plate, this Single-chip Controlling process plate circuit be divided into 4 functions
Link, respectively main control unit, power subsystem, communication unit, display unit, wherein: main control unit selects STMicw Electronics public
The STM32F103VCT6 single-chip microcomputer that department produces, has 256KB FLASH, 48KB RAM, integrated 12Bit A/ on sheet in its sheet
The resources such as D, D/A, PWM, CAN, USB, SDIO, FSMC, running frequency reaches 72 MHz, possesses hardware division and the monocycle takes advantage of
Method, fully meets this project demands；
System input+5V voltage is converted to+3.3V ,+1.2V by the function of power subsystem, selects American TI Company at this
Power conversion chip TPS70345 chip；
The function of communication unit is to send out, decoding, displacement data after error compensation at this with certain interface protocol
Max3232, max3490 is selected to export RS232, RS422 format signal respectively；
Display unit selects MAX7219 as driving display chip, and MAX7219 is that a kind of integrated serial input/output is total to
Negative electrode display driver, it connects 7 piece of digital LED of microprocessor and 8 bit digital and shows；
The circuit board designed transfers to the printed circuit board (PCB) manufacturer of specialty to make, and the technological parameter of making is: FR-4 epoxy
Resin, 1.6mm thickness of slab, green solder mask, the plurality of copper traces of 35 μ m-thick；
F, being placed in module housing by the Single-chip Controlling made process plate, Single-chip Controlling processes on plate terminals
Son, is used for accepting the signal of telecommunication of encoder output, and decoded displacement information is sent to subsequent user.
G, by encoder install pressing plate encoder mounting seat is fixed on top chock, subsequently by multi-turn absolute type compile
The fixing end of code device is connected with encoder mounting seat, and the rotary shaft of multi-turn absolute type encoder is by shaft coupling and basic machine
Main shaft be connected；
H, when steel wire rope pulls out, steel wire rope drive glass pulley rotate, glass pulley by indexing sheet drive main shaft rotate, main shaft
Bottom drive spring rotates, and the top of main shaft drives multi-turn absolute type encoder to rotate by shaft coupling, it is achieved glass pulley is with many
The rotary motion of circle absolute type encoder synchronizes, when glass pulley rotating 360 degrees, and multi-turn absolute type encoder synchronous rotary 360 °, this
Time steel wire rope extension elongation be L=3.14 × (glass pulley diameter+wirerope diameter), by the method by multi-turn absolute type compile
The circumferential angle measurement of code device changes into the air line distance of steel wire rope output, it is achieved line measurement and monitoring；
The precision of displacement sensor for pull rope is demarcated by I, equipment of being measured by third party, draws the precision at different displacements
Data, set up X-Y coordinate, and wherein X-coordinate system is current displacement, and Y coordinate system is the error amount at current displacement, according to this
Coordinate system sets up error model by least square fitting method, and realizes in single chip processing module；
The displacement data obtained after J, every time decoding is compensated by the error model in single-chip microcomputer, corrects, calibrated after
Its precision of displacement data will be greatly improved, and be sent to custom system by communication unit with the form of RS422.
The present invention is powered via single chip processing module multi-turn absolute type encoder on displacement sensor for pull rope,
Receive the angle-data with SSI interface of multi-turn absolute type encoder output simultaneously, subsequently angle-data is decoded, root
According to error model, displacement is compensated, carry out revised displacement showing, exporting, be integrated with single chip processing module
Displacement sensor for pull rope there is the advantage of direct output shift quantity, eliminate the process of user's decoding, simultaneously position of its output
Shifting information will be greatly improved the precision of displacement sensor for pull rope after error compensation corrects.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the cross-sectional schematic of basic machine；
Fig. 3 is the schematic diagram that Single-chip Controlling processes plate；
Fig. 4 is the hardware function units figure that Single-chip Controlling processes plate.
Detailed description of the invention
Below in conjunction with embodiment and compare accompanying drawing the present invention is described in further detail.
A kind of displacement sensor for pull rope being integrated with Error Compensation Technology, including basic machine 2, shaft coupling 3, encoder peace
Dress seat 4, multi-turn absolute type encoder 1 based on SSI interface, connection cable 5, single chip processing module 6, encoder mounting seat 4
By encoder, pressing plate 21 is installed to be fixed on the top chock 12 of basic machine 2, multi-turn absolute encoding based on SSI interface
Device 1 is fixed on above encoder mounting seat 4, and the centre in encoder mounting seat 4 is provided with shaft coupling 3, and shaft coupling 3 is by machinery
Main shaft 10 in body 2 links together with the rotary shaft 25 in multi-turn absolute type encoder 1, and multi-turn based on SSI interface is exhausted
Being connected by connecting cable 5 formula encoder 1 with single chip processing module 6, basic machine 2 includes indexing sheet 7, glass pulley 8, spiral shell
Stricture of vagina set 9, main shaft 10, guiding helical axis 11, top chock 12, steel wire rope 13, helicla flute 14, step 15, shell 16, draw ring
17, spring leaf 18, spring base 19, main shaft stern notch 20, upper bearing (metal) 22, lower bearing 23, fixes in the upper end of columnar shell 16
There is centre to be embedded with the top chock 12 of upper bearing (metal) 22, be fixed with centre in the lower end of shell 16 and be embedded with the lower axle of lower bearing 23
Bearing 15, is provided with the glass pulley 8 of annular in the middle and lower part of shell 16, is fixed with indexing sheet 7 in the lower end of glass pulley 8, in indexing
Being machined with the key that goes out coordinated with the keyway on main shaft 10 lateral wall on the medial wall of sheet 7, glass pulley 8 goes out key by indexing sheet 7
On the keyway of the lateral wall being enclosed within main shaft 10 middle and lower part, main shaft 10 link into an integrated entity with glass pulley 8 and can together with rotate, main shaft 10
Two ends up and down be respectively fitted in upper bearing (metal) 22 and lower bearing 23, thread bush 9 is arranged on the upper end of glass pulley 8, thread bush 9
Inwall has screw thread, and the outer wall guiding helical axis 11 lower end has the screw thread matched with thread bush 9, guides outside helical axis 11 lower end
Wall is threaded connection on the medial wall of thread bush 9 can be up and down, and the upper end guiding helical axis 11 is fixed on top chock
The bottom of 12, is provided with some helicla flutes 14 on the lateral wall of glass pulley 8, and the one ends wound of steel wire rope 13 is outside glass pulley 8
In some helicla flutes 14 of wall, the other end of steel wire rope 13 with shell 16 outside draw ring 17 be connected, in the bottom of step 15
Being fixed with spring base 19, be fixed with spring leaf 18 in spring base 19, the lower end of main shaft stern notch 20 is stuck on spring leaf 18, main shaft
The upper end of stern notch 20 is fixing with the bottom of main shaft 10 to be connected, and spring leaf 18 applies circumference by main shaft stern notch 20 to glass pulley and rotates
Pressure.
When steel wire rope 13 pulls out, steel wire rope 13 drives glass pulley 8 to rotate, and glass pulley 8 drives main shaft 10 by indexing sheet 7
Rotating, the bottom of main shaft 10 drives spring 18 to rotate by main shaft stern notch 20, and the top of main shaft 10 drives multi-turn by shaft coupling 3
Absolute type encoder 1 rotates, it is achieved the rotary motion of glass pulley 8 and multi-turn absolute type encoder 1 synchronizes.When glass pulley 8 rotates
360 °, multi-turn absolute type encoder 1 synchronous rotary 360 °, now the extension elongation of steel wire rope 13 is that L=3.14 × (glass pulley 8 is straight
Footpath+steel wire rope 13 diameter), by the method, the circumferential angle measurement of multi-turn absolute type encoder 1 is changed into steel wire rope 13 defeated
The air line distance gone out, it is achieved line measurement and monitoring.
Single chip processing module 6 is processed plate 61 by module housing 62 and Single-chip Controlling and forms, in single chip processing module 6
Inside being provided with Single-chip Controlling and process plate 61, it is with STM32 series monolithic for core main control unit that Single-chip Controlling processes plate 61,
Peripheral expansion power subsystem, communication unit, display unit simultaneously, Single-chip Controlling based on STM32 processes plate 61 can by many
The SSI interface signal of circle absolute type encoder 1 output is decoded, and is converted into displacement.By displacement error is demarcated,
Build error model according to calibration result, and error model is embedded in single chip processing module 6, through error model correction
After displacement output data precision be greatly improved, revised angle-data is passed by system with the signal of general RS422 form
Give subsequent user.
The preparation method of a kind of displacement sensor for pull rope being integrated with Error Compensation Technology, specifically comprises the following steps that
A, the basic machine of displacement sensor for pull rope include indexing sheet 7, glass pulley 8, thread bush 9, main shaft 10, guide helical axis
11, top chock 12, steel wire rope 13, helicla flute 14, step 15, shell 16, draw ring 17, spring leaf 18, spring base 19, master
Axle stern notch 20, upper bearing (metal) 22, lower bearing 23, need to require to be processed these parts according to design, wherein to sensor essence
The part of degree impact maximum is thread bush 9, guides helical axis 11, the processing and fabricating of glass pulley 8；
B, thread bush 9 are arranged on glass pulley 8 upper end, and the inwall of thread bush 9 has screw thread, and the outer wall guiding helical axis 11 lower end has
The screw thread matched with thread bush 9, the outer wall of guiding helical axis 11 lower end is threaded connection on the medial wall of thread bush 9 can
Up and down, the screw thread guided on helical axis 11 lower end outer wall need to manufacture with the screw thread on thread bush 9 medial wall and use closely-pitched
Helicitic texture；
C, glass pulley 8 use multi-groove type uniform pitch Winding Design, and the feature of this winding mechanism is the helicla flute 14 on glass pulley 8
Pitch equal with thread bush 9 inwall pitch, namely steel wire rope 13 is reciprocal with glass pulley each coiling spiral during flexible
Centered by groove, the displacement that steel wire rope 13 elongation is shortened when glass pulley 8 turns around for every time is close to consistent, thus ensure that stay cord position
The linearity in displacement sensor work process, drastically increases the precision of product；
D, it is fixed with centre in the upper end of columnar shell 16 and is embedded with the top chock 12 of upper bearing (metal) 22, on shell 16 times
End is fixed with centre and is embedded with the step 15 of lower bearing 23, is provided with the glass pulley 8 of annular in the middle and lower part of shell 16, row
The lower end of line wheel 8 is fixed with indexing sheet 7, is machined with and coordinates with the keyway on main shaft 10 lateral wall on the medial wall of indexing sheet 7
Go out key, on the glass pulley 8 keyway going out the lateral wall that key is enclosed within main shaft 10 middle and lower part by indexing sheet 7, main shaft 10 and winding displacement
Wheel 8 links into an integrated entity and can rotate together, and the two ends up and down of main shaft 10 are respectively fitted in upper bearing (metal) 22 and lower bearing 23, thread bush
9 upper ends being arranged on glass pulley 8, the inwall of thread bush 9 has screw thread, and the outer wall guiding helical axis 11 lower end has and thread bush 9
The screw thread matched, the outer wall of guiding helical axis 11 lower end is threaded connection on the medial wall of thread bush 9 can be up and down,
The upper end guiding helical axis 11 is fixed on the bottom of top chock 12, is provided with some helicla flutes 14 on the lateral wall of glass pulley 8,
The one ends wound of steel wire rope 13 is in some helicla flutes 14 of glass pulley 8 lateral wall, outside the other end of steel wire rope 13 is with shell 16
Draw ring 17 connect, be fixed with spring base 19 in the bottom of step 15, in spring base 19, be fixed with spring leaf 18, main shaft
The lower end of stern notch 20 is stuck on spring leaf 18, and the upper end of main shaft stern notch 20 is fixing with the bottom of main shaft 10 to be connected, and spring leaf 18 leads to
Cross main shaft stern notch 20 and apply circumference rotational pressure to glass pulley；
E, utilize protel circuit design Single-chip Controlling process plate 61, this Single-chip Controlling process plate 61 circuit be divided into 4
Function link, respectively main control unit, power subsystem, communication unit, display unit, wherein: main control unit selects meaning method partly to lead
The STM32F103VCT6 single-chip microcomputer that body company produces, has 256KB FLASH, 48KB RAM, integrated 12Bit on sheet in its sheet
The resources such as A/D, D/A, PWM, CAN, USB, SDIO, FSMC, running frequency reaches 72 MHz, possesses hardware division and the monocycle takes advantage of
Method, fully meets this project demands；
System input+5V voltage is converted to+3.3V ,+1.2V by the function of power subsystem, selects U.S. at this
The power conversion chip TPS70345 chip of TI company of state；
The function of communication unit is to send out, decoding, displacement data after error compensation at this with certain interface protocol
Max3232, max3490 is selected to export RS232, RS422 format signal respectively；
Display unit selects MAX7219 as driving display chip, and MAX7219 is that a kind of integrated serial input/output is total to
Negative electrode display driver, it connects 7 piece of digital LED of microprocessor and 8 bit digital and shows；
The circuit board designed transfers to the printed circuit board (PCB) manufacturer of specialty to make, and the technological parameter of making is: FR-4 epoxy
Resin, 1.6mm thickness of slab, green solder mask, the plurality of copper traces of 35 μ m-thick；
F, being placed in module housing 62 by the Single-chip Controlling made process plate 61, Single-chip Controlling processes on plate 61 and connects
Line terminals 37,26,27,28,29,30,31,32,33,34,35,36；Wherein: binding post 37 connects multi-turn absolute type encoder 1
Power positive end, binding post 26 connects the power supply negative terminal of multi-turn absolute type encoder 1, and binding post 27 connects multi-turn absolute encoding
The clock signal anode of device 1, binding post 28 connects the clock signal negative terminal of multi-turn absolute type encoder 1, and binding post 29 connects many
The data signal anode of circle absolute type encoder 1, binding post 30 connects the clock signal negative terminal of multi-turn absolute type encoder 1, connects
Line terminals 31 connects custom system power positive end, and binding post 32 connects custom system power supply negative terminal, and binding post 33 connects custom system
RS422 receives signal anode, and binding post 34 connects custom system RS422 and receives signal negative terminal, and binding post 35 connects custom system
RS422 sends signal anode, and binding post 36 connects custom system RS422 and sends signal negative terminal；
G, by encoder install pressing plate 21 encoder mounting seat 4 is fixed on top chock 12, subsequently by multi-turn absolute type
The fixing end of encoder 1 is connected with encoder mounting seat 4, and the rotary shaft 25 of multi-turn absolute type encoder 1 is by shaft coupling 3 and machine
Main shaft 10 in tool body 2 is connected；
H, when steel wire rope 13 pulls out, steel wire rope 13 drives glass pulley 8 to rotate, and glass pulley 8 drives main shaft 10 to revolve by indexing sheet 7
Turning, the bottom of main shaft 10 drives spring 18 to rotate, and the top of main shaft 10 drives multi-turn absolute type encoder 1 to revolve by shaft coupling 3
Turn, it is achieved the rotary motion of glass pulley 10 and multi-turn absolute type encoder 1 synchronizes, when glass pulley 8 rotating 360 degrees, multi-turn absolute type
Encoder 1 synchronous rotary 360 °, now the extension elongation of steel wire rope 13 is that L=3.14 × (glass pulley 8 diameters+steel wire rope 13 is straight
Footpath), by the method, the circumferential angle measurement of multi-turn absolute type encoder 1 is changed into the air line distance that steel wire rope 13 exports,
Realize line measurement and monitoring；
The precision of displacement sensor for pull rope is demarcated by I, equipment of being measured by third party, draws the precision at different displacements
Data, set up X-Y coordinate, and wherein X-coordinate system is current displacement, and Y coordinate system is the error amount at current displacement, according to this
Coordinate system sets up error model by least square fitting method, and realizes in single chip processing module 6；
The displacement data obtained after J, every time decoding is compensated by the error model in single-chip microcomputer, corrects, calibrated after
Its precision of displacement data will be greatly improved, and be sent to custom system by communication unit with the form of RS422.
The present invention supplies via the single chip processing module 6 multi-turn absolute type encoder 1 on displacement sensor for pull rope
Electricity, receives the angle-data with SSI interface of multi-turn absolute type encoder 1 output simultaneously, solves angle-data subsequently
Code, according to error model, displacement is compensated, carry out revised displacement showing, exporting, be integrated with at single-chip microcomputer
The displacement sensor for pull rope of reason module 6 has the advantage of direct output shift quantity, eliminates the process of user's decoding, and it is defeated simultaneously
The displacement information gone out will be greatly improved the precision of displacement sensor for pull rope after error compensation corrects.
Claims (4)
1. the displacement sensor for pull rope being integrated with Error Compensation Technology, it is characterised in that: include basic machine, shaft coupling,
Encoder mounting seat, multi-turn absolute type encoder based on SSI interface, connection cable, single chip processing module, encoder is installed
Seat is installed pressing plate by encoder and is fixed on the top chock of basic machine, multi-turn absolute type encoder based on SSI interface
Being fixed on above encoder mounting seat, the centre in encoder mounting seat is provided with shaft coupling, and shaft coupling is by basic machine
Main shaft link together with the rotary shaft in multi-turn absolute type encoder, multi-turn absolute type encoder based on SSI interface lead to
Crossing connection cable to be connected with single chip processing module, basic machine includes indexing sheet, glass pulley, thread bush, main shaft, guiding spiral
Axle, top chock, steel wire rope, helicla flute, step, shell, draw ring, spring leaf, spring base, main shaft stern notch, upper bearing (metal), under
Bearing, is fixed with centre in the upper end of columnar shell and is embedded with the top chock of upper bearing (metal), be fixed with in the lower end of shell
Centre is embedded with the step of lower bearing, is provided with the glass pulley of annular in the middle and lower part of shell, fixes in the lower end of glass pulley
Have indexable sheet, indexing sheet medial wall on be machined with coordinates with the keyway on main shaft lateral wall go out key, glass pulley by turn
The keyway of bit slice is enclosed within the lateral wall of main shaft middle and lower part, main shaft link into an integrated entity with glass pulley and can together with rotate, main shaft
Two ends are respectively fitted in upper bearing (metal) and lower bearing up and down, and thread bush is arranged on the upper end of glass pulley, and the inwall of thread bush has spiral shell
Stricture of vagina, the outer wall guiding helical axis lower end has the screw thread matched with thread bush, guides the outer wall of helical axis lower end at thread bush
Being threaded connection on medial wall can be up and down, and the upper end guiding helical axis is fixed on the bottom of top chock, at glass pulley
If lateral wall be provided with arterial highway helicla flute, the one ends wound of steel wire rope in some helicla flutes of glass pulley lateral wall, steel wire
Rope the other end with shell outside draw ring be connected, be fixed with spring base in the bottom of step, in spring base, be fixed with bullet
Reed, the lower end of main shaft stern notch is stuck on spring leaf, and the upper end of main shaft stern notch is fixing with the bottom of main shaft to be connected, and spring leaf passes through
Main shaft stern notch applies circumference rotational pressure to glass pulley.
Displacement sensor for pull rope the most according to claim 1, it is characterised in that: single chip processing module by module housing and
Single-chip Controlling processes plate composition, is provided with Single-chip Controlling and processes plate in single chip processing module, and Single-chip Controlling processes plate
It is made up of main control unit, power subsystem, communication unit, display unit.
The displacement sensor for pull rope being integrated with single chip processing module the most according to claim 2, it is characterised in that: based on
The Single-chip Controlling of STM32 processes plate and can be decoded by the SSI interface signal that multi-turn absolute type encoder exports, and is converted into position
Shifting amount；By displacement error is demarcated, build error model according to calibration result, and error model is embedded into single-chip microcomputer
In processing module, be greatly improved through error model revised displacement output accuracy, system by revised angle-data with
The signal of general RS422 form sends subsequent user to.
4. the preparation method of the displacement sensor for pull rope being integrated with Error Compensation Technology, it is characterised in that: concrete steps are such as
Under:
A, the basic machine of displacement sensor for pull rope include indexing sheet, glass pulley, thread bush, main shaft, guiding helical axis, upper bearing (metal)
Seat, steel wire rope, helicla flute, step, shell, draw ring, spring leaf, spring base, main shaft stern notch, upper bearing (metal), lower bearing, need root
Require these parts are processed according to design, wherein the part that sensor accuracy impact is maximum is thread bush, guides spiral shell
Spin axis, the processing and fabricating of glass pulley；
B, thread bush are arranged on the upper end of glass pulley, and the inwall of thread bush has a screw thread, guide the outer wall of helical axis lower end have with
The screw thread that thread bush matches, the outer wall guiding helical axis lower end is threaded connection on the medial wall of thread bush and can live up and down
Dynamic, the screw thread guided on helical axis lower end outer wall need to manufacture and use fine thread structure with the screw thread on thread bush medial wall；
C, glass pulley use multi-groove type uniform pitch Winding Design, and the feature of this winding mechanism is glass pulley coiling pitch and winding displacement
Wheel displacement pitch is equal, namely around cotton rope during flexible reciprocal centered by glass pulley each coiling helicla flute, work as winding displacement
Take turns the displacement that when turning around, coiling rope elongation shortens every time and be close to consistent, thus ensure that in displacement sensor for pull rope work process
The linearity, drastically increase the precision of product；
D, it is fixed with centre in the upper end of columnar shell and is embedded with the top chock of upper bearing (metal), be fixed with in the lower end of shell
Centre is embedded with the step of lower bearing, is provided with the glass pulley of annular in the middle and lower part of shell, fixes in the lower end of glass pulley
Have indexable sheet, indexing sheet medial wall on be machined with coordinates with the keyway on main shaft lateral wall go out key, glass pulley by turn
The keyway of bit slice is enclosed within the lateral wall of main shaft middle and lower part, main shaft link into an integrated entity with glass pulley and can together with rotate, main shaft
Two ends are respectively fitted in upper bearing (metal) and lower bearing up and down, and thread bush is arranged on the upper end of glass pulley, and the inwall of thread bush has spiral shell
Stricture of vagina, the outer wall guiding helical axis lower end has the screw thread matched with thread bush, guides the outer wall of helical axis lower end at thread bush
Being threaded connection on medial wall can be up and down, and the upper end guiding helical axis is fixed on the bottom of top chock, at glass pulley
If lateral wall be provided with arterial highway helicla flute, the one ends wound of steel wire rope in some helicla flutes of glass pulley lateral wall, steel wire
Rope the other end with shell outside draw ring be connected, be fixed with spring base in the bottom of step, in spring base, be fixed with bullet
Reed, the lower end of main shaft stern notch is stuck on spring leaf, and the upper end of main shaft stern notch is fixing with the bottom of main shaft to be connected, and spring leaf passes through
Main shaft stern notch applies circumference rotational pressure to glass pulley；
E, utilize protel circuit design Single-chip Controlling process plate, this Single-chip Controlling process plate circuit be divided into 4 functions
Link, respectively main control unit, power subsystem, communication unit, display unit, wherein: main control unit selects STMicw Electronics public
The STM32F103VCT6 single-chip microcomputer that department produces, has 256KB FLASH, 48KB RAM, integrated 12Bit A/ on sheet in its sheet
The resources such as D, D/A, PWM, CAN, USB, SDIO, FSMC, running frequency reaches 72 MHz, possesses hardware division and the monocycle takes advantage of
Method, fully meets this project demands；
System input+5V voltage is converted to+3.3V ,+1.2V by the function of power subsystem, selects American TI Company at this
Power conversion chip TPS70345 chip；
The function of communication unit is to send out, decoding, displacement data after error compensation at this with certain interface protocol
Max3232, max3490 is selected to export RS232, RS422 format signal respectively；
Display unit selects MAX7219 as driving display chip, and MAX7219 is that a kind of integrated serial input/output is total to
Negative electrode display driver, it connects 7 piece of digital LED of microprocessor and 8 bit digital and shows；
The circuit board designed transfers to the printed circuit board (PCB) manufacturer of specialty to make, and the technological parameter of making is: FR-4 epoxy
Resin, 1.6mm thickness of slab, green solder mask, the plurality of copper traces of 35 μ m-thick；
F, being placed in module housing by the Single-chip Controlling made process plate, Single-chip Controlling processes on plate terminals
Son, is used for accepting the signal of telecommunication of encoder output, and decoded displacement information is sent to subsequent user；
G, by encoder install pressing plate encoder mounting seat is fixed on top chock, subsequently by multi-turn absolute type encoder
Fixing end be connected with encoder mounting seat, the rotary shaft of multi-turn absolute type encoder is by the master in shaft coupling and basic machine
Axle is connected；
H, when steel wire rope pulls out, steel wire rope drive glass pulley rotate, glass pulley by indexing sheet drive main shaft rotate, main shaft
Bottom drive spring rotates, and the top of main shaft drives multi-turn absolute type encoder to rotate by shaft coupling, it is achieved glass pulley is with many
The rotary motion of circle absolute type encoder synchronizes, when glass pulley rotating 360 degrees, and multi-turn absolute type encoder synchronous rotary 360 °, this
Time steel wire rope extension elongation be L=3.14 × (glass pulley diameter+wirerope diameter), by the method by multi-turn absolute type compile
The circumferential angle measurement of code device changes into the air line distance of steel wire rope output, it is achieved line measurement and monitoring；
The precision of displacement sensor for pull rope is demarcated by I, equipment of being measured by third party, draws the precision at different displacements
Data, set up X-Y coordinate, and wherein X-coordinate system is current displacement, and Y coordinate system is the error amount at current displacement, according to this
Coordinate system sets up error model by least square fitting method, and realizes in single chip processing module；
The displacement data obtained after J, every time decoding is compensated by the error model in single-chip microcomputer, corrects, calibrated after
Its precision of displacement data will be greatly improved, and be sent to custom system by communication unit with the form of RS422.
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| CN108709491A (en) * | 2018-08-14 | 2018-10-26 | 河北稳控科技有限公司 | A kind of contactless structural deformation monitoring device and method |
| CN108759616A (en) * | 2018-03-28 | 2018-11-06 | 信承瑞技术有限公司 | A kind of meter counter with compensation function |
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| CN110673660A (en) * | 2019-11-06 | 2020-01-10 | 河南宏泽电子科技有限公司 | Digital conversion device of reinforcing steel bar rib stripping and threading machine |
| CN112286236A (en) * | 2020-11-02 | 2021-01-29 | 浙江中控太阳能技术有限公司 | Heliostat azimuth angle control device and method |
| CN113029062A (en) * | 2019-12-25 | 2021-06-25 | 航天科工惯性技术有限公司 | Automatic calibration device of pull rope type displacement meter and method using same |
| CN113607024A (en) * | 2021-10-08 | 2021-11-05 | 深圳市怡华兴电子有限公司 | Data line production detects uses length metering device |
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| CN112286236A (en) * | 2020-11-02 | 2021-01-29 | 浙江中控太阳能技术有限公司 | Heliostat azimuth angle control device and method |
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