CN111426425B - Method for balancing weight of rotary table by reading speed curve of encoder - Google Patents
Method for balancing weight of rotary table by reading speed curve of encoder Download PDFInfo
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- CN111426425B CN111426425B CN202010288489.2A CN202010288489A CN111426425B CN 111426425 B CN111426425 B CN 111426425B CN 202010288489 A CN202010288489 A CN 202010288489A CN 111426425 B CN111426425 B CN 111426425B
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- encoder
- weight
- counterweight
- code value
- rotating shaft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/14—Determining unbalance
- G01M1/16—Determining unbalance by oscillating or rotating the body to be tested
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/30—Compensating unbalance
Abstract
The invention relates to a method for balancing a rotary table by reading a speed curve of an encoder, which comprises the following steps: the driving motor operates according to a set rotating speed to drive the rotating shaft and the counterweight at the front end of the rotating shaft to rotate; reading a code value of an encoder to obtain an encoder code value-time curve; judging the region where the counterweight is uneven according to code values corresponding to the starting positions and the steady-approaching positions of the wave crests and the wave troughs on the curve; trying to select the weight of the eccentric weight according to the amplitudes of the wave crests and the wave troughs and configuring the weight at the front end of the rotating shaft according to the uneven area of the weight; and repeating the process until the code value-time curve of the encoder tends to be stable and smooth after initial rising, and finishing the turntable balancing. The invention is simple and easy to operate, and is suitable for large-scale turntables, in particular to the counter weight of the large-scale turntables with rolling direction rotation.
Description
Technical Field
The invention belongs to the technical field of optical instruments, and relates to a method for balancing a turntable by reading a speed curve of an encoder, which is particularly applied to the condition that the turntable is overweight and rotates in a rolling direction.
Background
When carrying out the platform counter weight, need through making the platform rotate with manual, when taking place slope or unstability, judge whether the revolving stage is balanced, nevertheless when the load is heavy excessively, self gravity and frictional force influence are great, can't realize that uneven state inclines or counter weight is serious uneven, and the slope phenomenon is not obvious, can not adopt traditional scheme to carry out the counter weight.
Disclosure of Invention
The invention provides a method for balancing a turntable by reading a speed curve of an encoder, which can utilize the existing shafting to find a position needing balancing weight through the encoder to balance weight and can solve the problem that a large turntable cannot be balanced in a traditional mode.
In order to solve the technical problem, the method for reading the speed curve of the encoder to be the counterweight of the rotary table comprises the following steps: the driving motor operates according to a set rotating speed to drive the rotating shaft and the counterweight at the front end of the rotating shaft to rotate; reading a code value of an encoder to obtain an encoder code value-time curve; judging the region where the counterweight is uneven according to code values corresponding to the starting positions and the stable approaching positions of the wave crests and the wave troughs on the curve; trying to select the weight of the eccentric weight according to the amplitudes of the wave crests and the wave troughs and configuring the weight at the front end of the rotating shaft according to the uneven area of the weight; driving the motor to operate again according to the set rotating speed, obtaining a code value-time curve of the encoder, continuously trying to select the weight of the eccentric counterweight according to the amplitude of the wave crest or the wave trough, and configuring the eccentric counterweight at the front end of the rotating shaft according to the region where the counterweight is not flat; and repeating the process until the code value-time curve of the encoder tends to be stable and smooth after initial rising, and finishing the turntable balancing.
Aiming at the wave crest appearing on the code value-time curve of the encoder, the eccentric weight with the edge bulge is selected to be arranged at the front end of the rotating shaft, and the angle of the edge bulge corresponds to the uneven area of the weight.
Aiming at the wave trough appearing on the code value-time curve of the encoder, the eccentric counterweight with the edge gap is selected to be arranged at the front end of the rotating shaft, and the angle of the edge gap corresponds to the uneven area of the counterweight.
The edge bulge on the eccentric balance weight is in a sector shape, and the corresponding central angle is equal to the angle of the area where the balance weight is uneven.
The edge gap on the eccentric balance weight is in a sector shape, and the corresponding central angle is equal to the angle of the area where the balance weight is not flat.
The invention can use the existing shafting to find the position needing the counterweight for counterweight by reading the code value of the encoder, has simple and easy operation, and is suitable for the counterweight of a large turntable, in particular to the counterweight of the large turntable with rolling direction rotation.
Drawings
The invention is described in further detail below with reference to the figures and the detailed description of the invention
Figure 1 is an initial schematic view of a turntable counterweight structure.
Fig. 2 is a speed curve showing the trim.
FIG. 3 is a schematic diagram showing encoder code values in a trim state.
Figure 4 is a speed curve showing a counterweight being uneven.
FIG. 5 is a graph showing encoder code values in a weight uneven condition.
Figure 6 is a cross-sectional view of a turntable counterweight structure when the counterweight is not flat.
Fig. 7 is a perspective view of a counterweight structure of a turntable when the counterweight is not flat.
1. A base; 2. a motor; 3. a crossed ball bearing; 4. an encoder; 5. a rotating shaft; 6. and (5) initially weighting.
Detailed Description
As shown in fig. 1, the counterweight structure of the turntable comprises a base 1, a motor 2, a crossed ball bearing 3, an encoder 4, a rotating shaft 5 and an initial counterweight 6; the motor 2 is fixed on the base 1, the encoder 4 is arranged on a motor shaft of the motor 2, and the rotating shaft 5 is supported and arranged on the base 1 by the crossed ball bearing 3; the initial weight 6 is installed at the front end of the rotation shaft 5 opposite to the motor 2.
The base 1 be fixed in on the mounting surface, the base adopts the aluminum alloy material, and is about 96kg heavy to guarantee that there is not the influence that rocks the production when the test, overall structure form is the structural style of traditional installation motor, bearing, encoder, whole weight is about 150 kg. The crossed ball bearing is calculated to bear the test conditions, wherein the electrified rotatable part is a rotating shaft 5 and an initial counterweight 6 driven by the rotating shaft 5; the total weight of the rotating part is about 70 kg. All structural parts are in an axisymmetric structure at the beginning, the density is uniform, the long axis is used as the central line, and no convex or concave shape exists at each position, so that the trimming state can be preliminarily judged.
In the graph shown in fig. 2, the abscissa represents time and the ordinate represents the rotational speed of the platform. According to the curve, after a speed value is given, the curve rises firstly and then tends to be stable, namely the curve rotates at a constant speed in the rotating process, the curve changes stably, the stress at each position is balanced, and the curve is in a balancing state.
In the graph shown in fig. 3, the abscissa represents time, and the ordinate represents the encoder code value. According to the curve, when the rotary table rotates, the code value of the encoder continuously and stably changes, no bulge or depression exists, the speed is uniform when the rotary table rotates, and the whole counterweight is on the axis central line and is judged to be finished.
In the graph shown in fig. 4, the abscissa represents time, and the ordinate represents the motor rotation speed. According to the curve, under the condition that the balance weight is not flat, after a certain speed value is given, the curve does not uniformly continue after rising, and the shapes of the bulges and the depressions appear in the motion process, which proves that the condition that the speed is not uniform locally appears in the motion process because the acceleration changes when the balance weight rotates due to the unevenness of the balance weight. At the moment, because of overlarge friction force, the self is overweight, the rotating shaft body is difficult, and the balance weight can not be carried out according to the conventional mode.
In the graph of fig. 5, the abscissa represents time and the ordinate represents the encoder code value. As can be seen from the curves, the encoder code values appear to have peaks and valleys in the case of uneven weights.
According to the positions and the amplitudes of the wave crests and the wave troughs of the encoder code values, trial balance weight can be performed, the size and the eccentric position of the eccentric balance weight are adjusted, the curve finally tested is similar to the curve shown in the figure 2, the change is stable, and the balance weight of the rotary table is completed. The specific method comprises the following steps:
the driving motor operates according to a set rotating speed to drive the rotating shaft and the counterweight at the front end of the rotating shaft to rotate; reading a code value of an encoder to obtain an encoder code value-time curve;
19 bits according to the performance of the used coder, through the formula
The dimension corresponding to the encoder code value can be calculated to be 0.00068 degrees/code value;
according to the starting positions and the stability-oriented positions of the wave crests and the wave troughs displayed by the encoder code value curve, calculating by (encoder code value multiplied by dimension) to obtain two angle values of the starting positions and the stability-oriented positions of the wave crests and the wave troughs; the areas where the balance weights are uneven are within two angle value ranges; the encoder adopted by the invention is an absolute encoder, so the calculated angle value is the only angle value, and the position of the area where the balance weight is not flat on the rotary table can be directly judged;
trying to select the weight of the eccentric weight according to the amplitude of the wave crest or the wave trough and configuring the weight at the front end of the rotating shaft according to the uneven area of the weight; as shown in fig. 6 and 7, for the peak appearing on the code value-time curve of the encoder, the eccentric weight with the edge bulge is selected to be arranged at the front end of the rotating shaft, and the angle of the edge bulge corresponds to the uneven area of the weight; aiming at the wave trough appearing on the code value-time curve of the encoder, the eccentric weight with the edge gap can be selected to be arranged at the front end of the rotating shaft, and the angle of the edge gap corresponds to the uneven area of the weight.
Driving the motor to operate again according to the set rotating speed, and acquiring an encoder code value-time curve; if the wave crest and the wave trough still appear on the code value-time curve of the encoder, the weight of the eccentric counterweight is continuously increased or decreased, the process is repeated, the code value-time curve of the encoder is similar to that shown in fig. 2, the code value-time curve tends to be stable and smooth after initial rising, and the counterweight completion can be judged.
The edge bulge on the eccentric balance weight can be in a sector shape, a round hole shape or other shapes in the angle of the balance weight, and the corresponding central angle is equal to the angle of the area where the balance weight is uneven.
The edge gap on the eccentric balance weight can be in a sector shape, a round hole shape or other shapes in the angle of the balance weight, and the corresponding central angle is equal to the angle of the area where the balance weight is uneven.
Claims (3)
1. A method of weighting a turntable by reading an encoder speed profile, the method comprising:
the driving motor operates according to a set rotating speed to drive the rotating shaft and the counterweight at the front end of the rotating shaft to rotate; reading a code value of an encoder to obtain an encoder code value-time curve;
according to the starting positions and the stability-approaching positions of the wave crests and the wave troughs displayed by the encoder code value-time curve, and then through the encoder code value multiplied by dimension calculation, two angle values of the starting positions and the stability-approaching positions of the wave crests and the wave troughs can be obtained; the areas where the balance weights are uneven are within two angle value ranges; trying to select the weight of the eccentric weight according to the amplitudes of the wave crests and the wave troughs and configuring the weight at the front end of the rotating shaft according to the uneven area of the weight; the method specifically comprises the following steps:
aiming at the wave crest appearing on the code value-time curve of the encoder, selecting to configure the eccentric counterweight with the edge bulge at the front end of the rotating shaft, and enabling the angle of the edge bulge to correspond to the uneven area of the counterweight;
aiming at the wave trough appearing on the code value-time curve of the encoder, selecting to configure the eccentric counterweight with the edge gap at the front end of the rotating shaft, and enabling the angle of the edge gap to correspond to the uneven area of the counterweight;
driving the motor to operate again according to the set rotating speed, obtaining a code value-time curve of the encoder, continuously trying to select the weight of the eccentric counterweight according to the amplitude of the wave crest or the wave trough, and configuring the eccentric counterweight at the front end of the rotating shaft according to the region where the counterweight is not flat; and repeating the process until the code value-time curve of the encoder tends to be stable and smooth after initial rising, and finishing the turntable balancing.
2. A method of turntable weighting by reading the speed profile of an encoder according to claim 1, wherein the edge protrusion on the eccentric weight is sector shaped with a corresponding central angle equal to the angle of the area where the weight is not flat.
3. The method of claim 1, wherein the edge gap of the eccentric weight is sector-shaped, and the corresponding central angle is equal to the angle of the area where the weight is not flat.
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| CN202010288489.2A CN111426425B (en) | 2020-04-14 | 2020-04-14 | Method for balancing weight of rotary table by reading speed curve of encoder |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6412345B1 (en) * | 2000-09-29 | 2002-07-02 | Ge Medical Systems Global Technology Company, Llc | Balancing of rotational components of CT imaging equipment |
| CN104848989A (en) * | 2015-05-29 | 2015-08-19 | 哈尔滨工业大学 | Automatic leveling device and leveling method of high-precision upright air-floating rotary platform |
| CN107167036A (en) * | 2017-03-31 | 2017-09-15 | 中国科学院长春光学精密机械与物理研究所 | Full-automatic high precision optical guidance device |
| CN108426556A (en) * | 2018-03-09 | 2018-08-21 | 安徽农业大学 | A kind of dynamometry vehicle wheel rotation angle measurement method based on acceleration |
| CN109342994A (en) * | 2018-12-12 | 2019-02-15 | 北京无线电测量研究所 | A kind of optical guidance system |
| CN110726511A (en) * | 2019-11-04 | 2020-01-24 | 湖南航天机电设备与特种材料研究所 | Centroid calculation method of inertial navigation system with rotating mechanism |
-
2020
- 2020-04-14 CN CN202010288489.2A patent/CN111426425B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6412345B1 (en) * | 2000-09-29 | 2002-07-02 | Ge Medical Systems Global Technology Company, Llc | Balancing of rotational components of CT imaging equipment |
| CN104848989A (en) * | 2015-05-29 | 2015-08-19 | 哈尔滨工业大学 | Automatic leveling device and leveling method of high-precision upright air-floating rotary platform |
| CN107167036A (en) * | 2017-03-31 | 2017-09-15 | 中国科学院长春光学精密机械与物理研究所 | Full-automatic high precision optical guidance device |
| CN108426556A (en) * | 2018-03-09 | 2018-08-21 | 安徽农业大学 | A kind of dynamometry vehicle wheel rotation angle measurement method based on acceleration |
| CN109342994A (en) * | 2018-12-12 | 2019-02-15 | 北京无线电测量研究所 | A kind of optical guidance system |
| CN110726511A (en) * | 2019-11-04 | 2020-01-24 | 湖南航天机电设备与特种材料研究所 | Centroid calculation method of inertial navigation system with rotating mechanism |
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Inventor after: Meng Lingqi Inventor after: Tian Bingling Inventor after: Zhang Rufei Inventor after: Yang Ce Inventor after: Yu Longhai Inventor after: Liu Zewen Inventor before: Meng Lingqi Inventor before: Tian Bingling |
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Address after: Building 2, Changchun Jingyue Technology Achievement Undertaking and Transformation Base, No. 888 Dujuan Road, Jingyue Development Zone, Changchun City, Jilin Province, 130033 Patentee after: Changchun Tongshi Optoelectronic Technology Co.,Ltd. Address before: Room 5005, Minsheng building, Jingyue hi tech Zone, Changchun, Jilin Province, 130000 Patentee before: CHANGCHUN TONGSHI PHOTOELECTRIC TECHNOLOGY Co.,Ltd. |
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