CN112157635B - Double-encoder type dynamic angle generation turntable and use method thereof - Google Patents
Double-encoder type dynamic angle generation turntable and use method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The application discloses a double-encoder type dynamic angle generation turntable and a use method thereof, and the technical scheme is as follows: the device comprises a base, a motor seat, a shell, a reading head seat and a workbench which are coaxially arranged; the motor seat, the shell and the inner cavity of the reading head seat are rotationally connected with a mandrel, the top end of the mandrel is fixedly connected with the workbench, the bottom end of the mandrel is coaxially provided with a direct-drive motor, the direct-drive motor comprises a motor rotor and a motor stator, the motor rotor is fixedly sleeved with the bottom end of the mandrel, and the motor stator is fixedly arranged in the motor seat; the bottom end of the mandrel is provided with a secondary encoder; the top end of the mandrel is provided with a main encoder. The main encoder is arranged on the upper part, the measuring encoder and the control encoder are separated, the dynamic angle measurement precision is high, the high angular rigidity design enables the main encoder to have stronger anti-overturning moment, the high-precision dynamic generation of angles, angular speeds, angular accelerations and the like can be realized, and the main encoder is suitable for angle measurement or calibration occasions such as gyroscopes, circular gratings, angle measurement rotary tables and the like, and has wide application value.
Description
Technical Field
The application relates to the technical field of ultra-precise movement and ultra-precise measurement, in particular to a double-encoder type dynamic angle generation turntable and a use method thereof.
Background
The angle is one of the most basic geometric quantities, and is applied in almost all scientific fields, and the angle generating device is widely applied to industries such as manufacturing, measuring, military, aerospace and the like as a physical reference of the angle. With the appearance of dynamic angle performance requirements, the conventional angle generating devices such as a polygon, a multi-tooth table, an index plate and the like can not meet the development requirements of modern science and technology industry.
The high-precision angle generating turntable is a novel angle generating device formed by compounding multi-disciplinary tip technologies such as optics, machinery, electronics, computers and the like which are developed in recent years. At present, the conventional turntable is based on a single encoder and a driving motor type, the same encoder is adopted for driving feedback and measurement, the mounting distance between the driving motor and the encoder is relatively short, encoder signals are easy to interfere, and a dynamic angle with relatively high precision cannot be generated. In addition, the follow-up power supply and signal acquisition can not be realized by the conventional turntable, the inclined use condition is not considered in the structure, the anti-overturning angle rigidity is low, and the requirements of dynamic angles such as a gyroscope and the like can not be met.
Therefore, how to research and design a dual-encoder type dynamic angle generation turntable and a use method thereof is an urgent problem to be solved at present.
Disclosure of Invention
In order to overcome the defects in the prior art, the application aims to provide a double-encoder type dynamic angle generation turntable and a use method thereof.
The technical aim of the application is realized by the following technical scheme:
the double-encoder type dynamic angle generation turntable comprises a base, a motor seat, a shell, a reading head seat and a workbench for fixedly mounting a tested object, wherein the base, the motor seat, the shell and the reading head seat are sequentially and coaxially arranged from bottom to top; the motor seat, the shell and the inner cavity of the reading head seat are rotationally connected with a mandrel, the top end of the mandrel is fixedly connected with the workbench, the bottom end of the mandrel is coaxially provided with a direct-drive motor, the direct-drive motor comprises a motor rotor and a motor stator, the motor rotor is fixedly sleeved with the bottom end of the mandrel, and the motor stator is fixedly arranged in the motor seat; the bottom end of the mandrel is provided with an auxiliary encoder electrically connected with the direct-drive motor, the auxiliary encoder comprises an auxiliary grating disk and an auxiliary reading head, the auxiliary grating disk is coaxially arranged at the bottom end of the mandrel, and the auxiliary reading head is fixed on the inner surface of the base; the top of dabber is equipped with main encoder, and main encoder includes main grating dish, main reading head, and main grating dish coaxial arrangement is on the top of dabber, and main reading head fixed mounting is at reading headstock.
By adopting the technical scheme, the main encoder and the auxiliary encoder are independently arranged at the two ends of the mandrel, the auxiliary encoder and the direct-drive motor form a control unit for driving the mandrel to rotate, so that the turntable can be accurately controlled to rotate, the distance between the main encoder and the workbench is shortened, the condition that the measured dynamic angle measurement signal error is large due to inconsistent rotation conditions of the two ends when the mandrel oscillates is avoided, the main encoder outputs a high-precision dynamic angle measurement signal, and the comparison and calibration error between the main encoder and rotation data output by a measured object is small; in addition, the dynamic angle generation turntable can be obliquely arranged and used according to the requirement, the use scene is not limited, and the environment adaptability is strong.
The application is further provided with: a slip ring is arranged between the mandrel and the base; the fixed part of the slip ring is fixedly connected with the base and is movably connected with the mandrel; the rotating part in the fixed part of the slip ring is fixedly connected with the mandrel, and the rotating part and the fixed part can rotate relative to the circumference; the workbench is fixedly provided with two follow-up interfaces, the inside of the mandrel is hollow along the axis direction of the mandrel, and the follow-up interfaces penetrate through the mandrel through cables and are connected with the rotating part of the slip ring; one of the follow-up interfaces is a power port for supplying power to the tested object, and the other follow-up interface is a signal interface for transmitting signals to the tested object. The follow-up interface, the cable and the rotating part of the slip ring connected with the cable all synchronously move with the workbench, so that the turntable can realize full-circumference angle work.
The application is further provided with: the outer wall of the mandrel is sleeved with a supporting structure positioned in the shell. The support structure can limit the relative oscillation between the mandrel and the shell, and the stability of the turntable is enhanced, so that the use accuracy of the turntable is improved.
The application is further provided with: the support structure is a hydrostatic bearing or a combined structure of radial and axial bearings. When the support structure adopts a gas hydrostatic bearing, dynamic rotation accuracy of better than 50nm can be obtained.
The application is further provided with: the length-diameter ratio of the supporting structure is 1.8-2.2, and the supporting structure has larger angular rigidity.
The application is further provided with: the direct drive motor is a torque motor with low cogging. So as to obtain good slewing accuracy and speed stability.
The application is further provided with: the follow-up interface is a 9-pin aviation plug.
The application is further provided with: the main encoder and the auxiliary encoder adopt at least two reading heads which are uniformly distributed along the circumferential direction of the corresponding grating disk, and the signals of the plurality of reading heads are used as dynamic angle measurement signals after being processed by average. The method can reduce the installation errors of the main encoder and the auxiliary encoder and the scribing errors of the grating disk, and improve the dynamic angle generation precision and the turntable angular motion control precision.
The application is further provided with: the main encoder adopts a 36-ten-thousand-line main grating disk, and resolution of 0.0009' is obtained through 4096 times of digital subdivision; the secondary encoder adopts a secondary grating disk with 18 ten lines, and the control resolution of 0.0018' is obtained through 4096 times of digital subdivision. The dynamic angle resolution and the small angle measurement capability of the turntable can be improved.
A method of using a dual encoder type dynamic angle generating turntable according to any one of the first aspect, comprising the steps of:
s101: fixedly mounting the tested object on a workbench, and connecting a power supply and a signal interface of the tested object with a follow-up interface according to the requirement;
s102: setting the rotation angle, the angular speed and the angular acceleration of the turntable according to the requirements, and driving the turntable to rotate by a direct drive motor according to the set parameters;
s103: the auxiliary encoder measures the bottom end rotation data of the mandrel and feeds back the bottom end rotation data to the direct-drive motor so as to realize rotary table rotation adaptability adjustment control;
s104: the main encoder detects the top end rotation data of the mandrel, and the detected object outputs the rotation parameters of the detected object in the rotation process for comparing and analyzing with the top end rotation data.
Compared with the prior art, the application has the following beneficial effects:
the application adopts the direct drive motor with low cogging effect and the photoelectric encoder with high subdivision, the main encoder is arranged on the upper part, the measuring encoder and the control encoder are separated, the dynamic angle measurement precision is high, the high angle rigidity design ensures that the motor has stronger anti-overturning moment, the high-precision dynamic generation of angles, angular velocity, angular acceleration and the like can be realized, and the motor is suitable for angle measurement or calibration occasions such as gyroscopes, circular gratings, angle measurement turntables and the like, and has wide application value.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:
fig. 1 is a schematic diagram of the overall structure in the embodiment of the present application.
In the drawings, the reference numerals and corresponding part names:
1. a base; 2. a motor base; 3. a mandrel; 4. a housing; 5. a support structure; 6. reading a headstock; 7. a work table; 8. a main grating disk; 9. a main reading head; 10. a follow-up interface; 11. a cable; 12. a slip ring; 13. a motor rotor; 14. a motor stator; 15. an auxiliary grating disk; 16. a secondary reading head.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present application, the present application will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present application and the descriptions thereof are for illustrating the present application only and are not to be construed as limiting the present application.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Examples: the utility model provides a revolving stage takes place for double encoder formula dynamic angle, as shown in fig. 1, including base 1, motor cabinet 2, shell 4, reading headstock 6 and the workstation 7 that supplies the fixed installation of measured object that coaxial setting from bottom to top in proper order, the axiality is better than 5 mu m, and base 1, motor cabinet 2, shell 4, reading headstock 6 are fixed connection in proper order. The motor cabinet 2, shell 4, the inside cavity rotation of reading headstock 6 are connected with dabber 3, and dabber 3's top and workstation 7 fixed connection, dabber 3's bottom coaxial direct drive motor that is provided with includes motor rotor 13 and motor stator 14, and motor rotor 13 cup joints with dabber 3 bottom fixed, and motor stator 14 fixed mounting is in motor cabinet 2. The bottom of dabber 3 is equipped with the vice encoder of direct-drive motor electric connection, and vice encoder includes vice grating disk 15, vice reading head 16, and vice grating disk 15 coaxial arrangement is in the bottom of dabber 3, and vice reading head 16 is fixed at the internal surface of base 1. The top of dabber 3 is equipped with main encoder, and main encoder includes main grating dish 8, main reading head 9, and main grating dish 8 coaxial arrangement is on the top of dabber 3, and main reading head 9 fixed mounting is at reading headstock 6. The main encoder and the auxiliary encoder are independently arranged at two ends of the mandrel 3, the auxiliary encoder and the direct-drive motor form a control unit for driving the mandrel 3 to rotate, so that the turntable can be accurately controlled to rotate, the distance between the main encoder and the workbench 7 is shortened, the condition that the measured dynamic angle measurement signal error is large due to inconsistent rotation conditions of the two ends when the mandrel 3 oscillates is avoided, the main encoder outputs a high-precision dynamic angle measurement signal, and the comparison and calibration error between the main encoder and rotation data output by a tested object is small; in addition, the dynamic angle generation turntable can be obliquely arranged and used according to the requirement, the use scene is not limited, and the environment adaptability is strong.
A slip ring 12 is arranged between the mandrel 3 and the base 1. The fixed part of the slip ring 12 is fixedly connected with the base 1 and is movably connected with the mandrel 3. The rotating part in the fixed part of the slip ring 12 is fixedly connected with the mandrel 3, and the rotating part and the fixed part can rotate relatively to the circumference. The workbench 7 is fixedly provided with two follow-up interfaces 10, the inside of the mandrel 3 is hollow along the axis direction of the mandrel 3, and the follow-up interfaces 10 penetrate through the mandrel 3 through cables 11 and then are connected with the rotating part of the slip ring 12. One of the slave interfaces 10 is a power port for supplying power to the object to be tested, and the other slave interface 10 is a signal interface for transmitting signals to the object to be tested. The follower interface 10, the cable 11 and the rotating part of the slip ring 12 connected with the cable 11 all synchronously move with the workbench 7, so that the turntable can realize full-circumference angle work.
The outer wall of the mandrel 3 is sleeved with a supporting structure 5 positioned in the shell 4. The support structure 5 limits the relative oscillation between the spindle 3 and the housing 4, enhancing the stability of the turntable and thus the accuracy of the turntable use. The support structure 5 is a hydrostatic bearing or a combined radial and axial bearing structure. When the support structure 5 employs a hydrostatic bearing, a dynamic slewing accuracy of better than 50nm can be obtained. Wherein the aspect ratio of the supporting structure 5 is 1.8-2.2, and has larger angular rigidity. In this embodiment, the aspect ratio of the support structure 5 is 2.
In this embodiment, the direct drive motor employs a torque motor with low cogging. So as to obtain good slewing accuracy and speed stability.
In this embodiment, the follower interface 10 employs a 9 pin aviation plug.
The main encoder and the auxiliary encoder adopt at least two reading heads which are uniformly distributed along the circumferential direction of the corresponding grating disk, and the signals of the plurality of reading heads are used as dynamic angle measurement signals after being processed by average. The method can reduce the installation errors of the main encoder and the auxiliary encoder and the scribing errors of the grating disk, and improve the dynamic angle generation precision and the turntable angular motion control precision. In this embodiment, the primary encoder uses 4 primary readheads 9 and the secondary encoder uses 2 secondary readheads 16.
In this embodiment, the master encoder uses a 36 ten thousand master grating disk 8, which is subdivided by 4096 times to obtain a resolution of 0.0009'; the secondary encoder uses a secondary grating disk 15 of 18 ten thousand lines, and obtains a control resolution of 0.0018″ through 4096 times digital subdivision. The dynamic angle resolution and the small angle measurement capability of the turntable can be improved.
The using method comprises the following steps:
s101: fixedly mounting the tested object on a workbench 7, and connecting a power supply and a signal interface of the tested object with a follow-up interface 10 according to the requirement;
s102: setting the rotation angle, the angular speed and the angular acceleration of the turntable according to the requirements, and driving the turntable to rotate by a direct drive motor according to the set parameters;
s103: the auxiliary encoder measures the bottom end rotation data of the mandrel 3 and feeds back the bottom end rotation data to the direct-drive motor to realize rotary table rotation adaptability adjustment control;
s104: the main encoder detects the top end rotation data of the mandrel 3, and the detected object outputs the rotation parameters of the detected object in the rotation process for comparing and analyzing with the top end rotation data.
Working principle: the main encoder is arranged on the upper part, the measuring encoder and the control encoder are separated, the dynamic angle measurement precision is high, the high angular rigidity design enables the main encoder to have stronger anti-overturning moment, the high-precision dynamic generation of angles, angular speeds, angular accelerations and the like can be realized, and the main encoder is suitable for angle measurement or calibration occasions such as gyroscopes, circular gratings, angle measurement rotary tables and the like, and has wide application value.
The foregoing detailed description of the application has been presented for purposes of illustration and description, and it should be understood that the application is not limited to the particular embodiments disclosed, but is intended to cover all modifications, equivalents, alternatives, and improvements within the spirit and principles of the application.
Claims (8)
1. The double-encoder type dynamic angle generation turntable is characterized by comprising a base (1), a motor base (2), a shell (4), a reading head base (6) and a workbench (7) for fixedly mounting a tested object, which are coaxially arranged from bottom to top in sequence, wherein the base (1), the motor base (2), the shell (4) and the reading head base (6) are fixedly connected in sequence; the motor seat (2), the shell (4) and the inner cavity of the reading head seat (6) are rotationally connected with a mandrel (3), the top end of the mandrel (3) is fixedly connected with a workbench (7), the bottom end of the mandrel (3) is coaxially provided with a direct-drive motor, the direct-drive motor comprises a motor rotor (13) and a motor stator (14), the motor rotor (13) is fixedly sleeved with the bottom end of the mandrel (3), and the motor stator (14) is fixedly arranged in the motor seat (2); the bottom end of the mandrel (3) is provided with an auxiliary encoder electrically connected with the direct-drive motor, the auxiliary encoder comprises an auxiliary grating disk (15) and an auxiliary reading head (16), the auxiliary grating disk (15) is coaxially arranged at the bottom end of the mandrel (3), and the auxiliary reading head (16) is fixed on the inner surface of the base (1); the top end of the mandrel (3) is provided with a main encoder, the main encoder comprises a main grating disk (8) and a main reading head (9), the main grating disk (8) is coaxially arranged at the top end of the mandrel (3), and the main reading head (9) is fixedly arranged on a reading head seat (6);
a slip ring (12) is arranged between the mandrel (3) and the base (1); the fixed part of the slip ring (12) is fixedly connected with the base (1) and is movably connected with the mandrel (3); the rotating part of the slip ring (12) positioned in the fixed part is fixedly connected with the mandrel (3), and the rotating part and the fixed part can rotate relative to the circumference; the workbench (7) is fixedly provided with two follow-up interfaces (10), the inside of the mandrel (3) is hollow along the axis direction of the mandrel, and the follow-up interfaces (10) penetrate through the mandrel (3) through a cable (11) and are connected with the rotating part of the slip ring (12); one of the follow-up interfaces (10) is a power port for supplying power to the tested object, and the other follow-up interface (10) is a signal interface for transmitting signals to the tested object;
the main encoder and the auxiliary encoder adopt at least two reading heads which are uniformly distributed along the circumferential direction of the corresponding grating disk, and the signals of the plurality of reading heads are used as dynamic angle measurement signals after being processed by average.
2. A dual encoder type dynamic angle generating turntable according to claim 1, characterized in that the outer wall of the spindle (3) is sleeved with a supporting structure (5) located in the housing (4).
3. A dual encoder type dynamic angle generating turntable according to claim 2, characterized in that the support structure (5) is a hydrostatic bearing or a combined radial and axial bearing structure.
4. A dual encoder type dynamic angle generating turntable according to claim 2, wherein the aspect ratio of the support structure (5) is 1.8-2.2.
5. The dual encoder type dynamic angle generating turntable as claimed in claim 1, wherein the direct drive motor is a torque motor with low cogging.
6. A dual encoder type dynamic angle generating turntable as claimed in claim 1, wherein said follower interface (10) is a 9 pin aviation plug.
7. The dual encoder type dynamic angle generating turntable according to claim 1, wherein the main encoder adopts a 36 ten thousand line main grating disk (8) and obtains a resolution of 0.0009 "through 4096 times digital subdivision; the secondary encoder adopts a secondary grating disk (15) with 18 ten thousand lines, and the control resolution of 0.0018' is obtained through 4096 times digital subdivision.
8. A method of using a dual encoder type dynamic angle generating turntable according to any one of claims 1 to 7, comprising the steps of:
s101: fixedly mounting the tested object on a workbench (7), and connecting a power supply and a signal interface of the tested object with a follow-up interface (10) according to the requirement;
s102: setting the rotation angle, the angular speed and the angular acceleration of the turntable according to the requirements, and driving the turntable to rotate by a direct drive motor according to the set parameters;
s103: the auxiliary encoder measures the bottom end rotation data of the mandrel (3) and feeds the bottom end rotation data back to the direct-drive motor to realize rotary table rotation adaptability adjustment control;
s104: the main encoder detects the top end rotation data of the mandrel (3), and the detected object outputs the rotation parameters of the detected object in the rotation process for comparing and analyzing with the top end rotation data.
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| CN113503810A (en) * | 2021-08-11 | 2021-10-15 | 中国工程物理研究院机械制造工艺研究所 | Method and device for measuring rotation angle between narrow gap layers of revolving body |
| CN114413767B (en) * | 2022-01-24 | 2023-06-13 | 中国工程物理研究院机械制造工艺研究所 | Precise rotary positioning and adjusting device for laser transmission |
| CN114199282B (en) * | 2022-02-17 | 2022-05-10 | 南京谷贝电气科技有限公司 | Angle sensor calibration device and method based on double encoders |
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| CN213411920U (en) * | 2020-10-26 | 2021-06-11 | 中国工程物理研究院机械制造工艺研究所 | Double-encoder type dynamic angle generation rotary table |
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