CN112710334B - Zero position adjusting device and method for driving mechanism based on photoelectric displacement sensor - Google Patents
Zero position adjusting device and method for driving mechanism based on photoelectric displacement sensor Download PDFInfo
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- CN112710334B CN112710334B CN202011629237.8A CN202011629237A CN112710334B CN 112710334 B CN112710334 B CN 112710334B CN 202011629237 A CN202011629237 A CN 202011629237A CN 112710334 B CN112710334 B CN 112710334B
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- 238000006073 displacement reaction Methods 0.000 title claims abstract description 102
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- 230000003287 optical effect Effects 0.000 claims description 89
- 239000003638 chemical reducing agent Substances 0.000 claims description 47
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- 230000005693 optoelectronics Effects 0.000 claims description 5
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/06—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for operation by a null method
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention discloses a zero position adjusting device and method of a driving mechanism based on a photoelectric displacement sensor, wherein the device comprises a device mounting platform, a rotation control mechanism, a measuring mechanism and a driving mechanism, the measuring mechanism is arranged above the device mounting platform and is used for measuring the actual deviation of the mechanical zero position of the driving mechanism, the rotation control mechanism is arranged above the device mounting platform, the input end of the driving mechanism is connected with the output end of the rotation control mechanism, and the rotation control mechanism is used for controlling the driving mechanism to rotate and feeding back the rotation angle. According to the invention, the mechanical zero position of the driving mechanism can be debugged in the production process of the driving mechanism, so that the mechanical zero position meets the index requirement; three adjustable supporting tables are added between the working platform and the supporting bracket, and the levelness of the working platform is adjusted by adjusting the adjustable bolts of the adjustable supporting tables, so that the working platform is horizontal.
Description
Technical Field
The invention relates to the field of mechanical zeroing, in particular to a zero position adjusting device and method of a driving mechanism based on a photoelectric displacement sensor.
Background
The driving mechanism is provided with two zero identifiers, namely a mechanical zero identifier and an electrical zero identifier. In the production process of the driving mechanism, the deviation between the mechanical zero position and the electrical zero position of the driving mechanism is required to be debugged, so that the deviation between the mechanical zero position and the electrical zero position meets the index requirement.
The electrical zero position detection is mainly used for detecting the installation position and performance parameters of a zero position sensor installed in the driving mechanism, and zero position signals measured by an electrical measurement element are utilized. In practice, this null is an artificially defined position relative to the null of the machine. The mechanical zero position is a machine reference zero point marked by an instrument such as a scale on equipment, other equipment is installed, the operation takes the point as a reference position, and the mechanical zero point mainly used is generally the initial position for marking the shutdown state of the machine.
The zeroing method of the driving mechanism comprises the following steps: the measuring element corresponding to the mechanical zero position is measured by the number '0' to fix the measuring element, so that the mechanical zero position and the electrical zero position are at the same point position, namely, the mechanical zero position and the electrical zero position are coincident. However, in practice, the zero position of the mechanical encoder is difficult to coincide with the zero position of the measured value of the electric encoder, the data measured by the corresponding measuring element of the zero position of the mechanical encoder is in a range, and deviation exists. The deviation is generally shortened by two methods, one is to improve the performance and the mounting position accuracy of the zero position sensor in the driving mechanism; and the other is to measure the actual deviation and perform high-precision mechanical zeroing on the driving mechanism under the condition that the installation position and the performance of the zero position sensor in the driving mechanism are determined. The current practice of zeroing the drive mechanism is generally manual measurement and adjustment by manpower, and the main defects are that: firstly, the stability of manual measurement is not high, and the measurement accuracy is affected; secondly, because the difference between the mechanical zero position and the electrical zero position is smaller, manual adjustment is quite laborious; thirdly, high-precision zeroing of the driving mechanism is difficult to achieve through manual measurement and adjustment; fourth, the efficiency of the measurement and adjustment is quite low.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a zero position adjusting device and method for a driving mechanism based on a photoelectric displacement sensor, which can be used for debugging the mechanical zero position of the driving mechanism in the production process of the driving mechanism so as to enable the mechanical zero position to meet the index requirement.
The invention realizes the above purpose through the following technical scheme: the utility model provides a actuating mechanism zero position adjusting device based on photoelectric displacement sensor, includes equipment mounting platform, rotation control mechanism, measuring mechanism, actuating mechanism, measuring mechanism install in equipment mounting platform's top, measuring mechanism is used for measuring actuating mechanism mechanical zero position's actual deviation, rotation control mechanism install in above the equipment mounting platform, actuating mechanism's input with rotation control mechanism's output is connected, rotation control mechanism is used for control actuating mechanism is rotatory and feedback rotation angle.
The equipment installation platform comprises a supporting bracket, an adjustable supporting table, a working platform, an installation vertical frame and a positioning block.
The support brackets are stably erected on a large ground plane, the total number of the adjustable support platforms is three, the adjustable support platforms are respectively fixed at three different positions on the support brackets in a triangular mode, the working platforms are arranged on the three adjustable support platforms, square grooves are formed in the working platforms, the positioning blocks are arranged in the square grooves of the working platforms, the total number of the installation vertical frames is two, and the installation vertical frames are respectively and symmetrically fixed on two sides of a transverse central axis on the working platforms; in the leveling process of the working platform, the adjustable supporting platform is used as a main adjusting supporting point to support the working platform and determine the actual levelness of the working platform.
The rotation control mechanism comprises a first servo motor, a first speed reducer, a main shaft, a brake support, a first angle encoder, an expansion sleeve, an encoder adapter block, a universal joint, a torsion spring, a bottom plate and a first speed reducer support.
The output end of the first servo motor is connected with the input end of the first speed reducer, the first speed reducer is fixedly arranged on the side face of the first speed reducer support, the bottom face of the first speed reducer support is arranged on the upper face of the base plate, the output end of the first speed reducer is connected with one end of the main shaft, the other end of the main shaft is connected with the universal joint adapter block through expansion, the brake is arranged on the main shaft, the brake is fixed on one side face of the brake support, the bottom face of the brake support is fixed on the upper face of the base plate, the first angle encoder is arranged on one end of the encoder adapter block, the first angle encoder is fixed on the other side face of the brake support, one end of the universal joint is connected with the other end of the encoder adapter block, one end of the torsion spring is connected with the universal joint input end, the other end of the torsion spring is connected with the universal joint output end, and the base plate is arranged on the working platform; in the zeroing process, the first servo motor provides driving force for rotary motion, torque is amplified and rotation speed is reduced through the first speed reducer, the main shaft is driven to rotate and drive the universal joint to rotate, and the first angle encoder provides an angle for the universal joint to actually rotate.
The measuring mechanism comprises a supporting beam, a second servo motor, a second speed reducer bracket, a coupler, a rotating shaft, a linear bearing seat, a second angle encoder bracket, a second angle encoder, an optical axis seat, an optical axis switching block, an optical axis counterweight, a photoelectric displacement sensor and a photoelectric displacement sensor mounting plate. The output end of the second servo motor is connected with the input end of the second speed reducer, the second speed reducer is fixed on one side of a second speed reducer support, the other side of the second speed reducer support is fixed on one side of a supporting beam, the output end of the second speed reducer is connected with one end of a coupler, the other end of the coupler is connected with one end of a rotating shaft, the other end of the rotating shaft penetrates through a linear bearing seat and a second angle encoder to be fixedly connected with an optical axis conversion block, the bottom surface of the linear bearing seat is fixed on the upper surface of the supporting beam, the second angle encoder is fixed on the side surface of the second angle encoder support, the bottom surface of the second angle encoder support is fixed on the upper surface of the supporting beam, an optical axis counterweight is placed on one side of the optical axis conversion block, the optical axis is fixedly connected on the other side of the optical axis conversion block, the optical axis is installed on two optical axis seats, two optical axis seat through holes are vertically fixed downwards on one side of a displacement sensor mounting plate, and the photoelectric sensor is fixed on the other side of the displacement sensor mounting plate.
The driving mechanism comprises a driving mechanism rotor and a driving mechanism stator. Two rotor positioning pins are arranged on the driving mechanism rotor, and the driving mechanism stator is arranged on the working platform; in the zeroing process, when the universal joint drives the driving mechanism rotor to rotate, the rotor locating pin moves along with the driving mechanism rotor.
Further, a torsion spring is arranged on the universal joint, one end of the torsion spring is connected with the input end of the universal joint, the other end of the torsion spring is connected with the output end of the universal joint, and transmission backlash of the input end and the output end of the universal joint is eliminated.
Furthermore, one end of the driving mechanism rotor is symmetrically provided with two cylindrical rotor positioning pins at the rotation center of the driving mechanism.
Further, the cross-sectional shape of the optical axis is a combination of a semicircle and a rectangle for restricting the degree of freedom of longitudinal rotation of the optical axis.
A method for adjusting zero position of a driving mechanism based on an optoelectronic displacement sensor specifically comprises the following steps:
Step one: adjusting adjustable bolts in the three adjustable support tables to enable the working platform to be horizontal;
Step two: unscrewing a screw on the optical axis conversion block for fixing the optical axis, so that the optical axis can longitudinally move; adjusting the height of the optical axis until the photoelectric displacement sensor is higher than the top of the driving mechanism; tightening the screw for fixing the optical axis on the optical axis conversion block to ensure that the optical axis cannot longitudinally move;
Step three: the driving mechanism is placed on the working platform by depending on a positioning block on the working platform so as to be convenient to install; fixedly connecting a driving mechanism rotor with the output end of a universal joint of a rotation control mechanism; fixing a driving mechanism stator on a working platform by using screws;
Step four: unscrewing a screw on the optical axis conversion block for fixing the optical axis, so that the optical axis can longitudinally move; the height of the optical axis is regulated until the photoelectric displacement sensor can measure two rotor positioning pins on the rotor of the driving mechanism; tightening the screw for fixing the optical axis on the optical axis conversion block to ensure that the optical axis cannot longitudinally move;
Step five: driving a second servo motor, wherein the output end of the second servo motor amplifies the output torque through a second speed reducer and reduces the output rotating speed to drive a rotating shaft to rotate, so as to drive a second angle encoder and an optical axis adapter block on the rotating shaft to rotate; the photoelectric displacement sensor rotates along with the rotating shaft, and the second angle encoder feeds back the actual rotating angle of the rotating shaft in real time; when the photoelectric displacement sensor detects a rotor positioning pin on a rotor of the driving mechanism, the second servo motor is immediately stopped, and the distance between the photoelectric displacement sensor and the rotor positioning pin and the rotating angle fed back by the second angle encoder are recorded;
Step six: the first servo motor of the rotary control mechanism is driven, so that the universal joint of the rotary control mechanism drives the active cell of the driving mechanism to rotate until the light spot of the photoelectric displacement sensor is hit on the working platform; meanwhile, a first angle encoder of the rotation control mechanism records a rotation angle theta a, and a photoelectric displacement sensor records the distance from the photoelectric displacement sensor to the working platform;
Step seven: the first servo motor of the rotary control mechanism is driven, so that the universal joint of the rotary control mechanism drives the active cell of the drive mechanism to rotate by a reverse rotation angle theta a, and the drive mechanism returns to an initial state before zeroing;
Step eight: the second servo motor is reversely driven, and when the photoelectric displacement sensor detects the other rotor positioning pin on the rotor of the driving mechanism, the second servo motor is immediately stopped and the distance between the photoelectric displacement sensor and the rotor positioning pin and the rotation angle fed back by the second angle encoder are recorded;
Step nine: the first servo motor of the rotary control mechanism is driven, so that the universal joint of the rotary control mechanism drives the active cell of the driving mechanism to rotate until the light spot of the photoelectric displacement sensor is hit on the working platform; meanwhile, a first angle encoder of the rotation control mechanism records a rotation angle thetab, and a photoelectric displacement sensor records the distance from the photoelectric displacement sensor to the working platform;
Step ten: driving a second servo motor to enable the photoelectric displacement sensor to detect the light spot to move to the center position of the driving mechanism;
Step eleven: calculating an angle theta required to rotate a rotor of the driving mechanism when the driving mechanism is regulated, driving a first servo motor of the rotation control mechanism, amplifying output torque by an output end of the first servo motor through a first speed reducer, reducing output rotating speed, and driving a main shaft to rotate, so that a first angle encoder and a universal joint on the main shaft are driven to rotate; the universal joint drives the driving mechanism rotor to rotate, and meanwhile, the first angle encoder feeds back the actual rotation angle of the universal joint in real time; when the rotation angle fed back by the first angle encoder is theta, immediately stopping the first servo motor of the rotation control mechanism;
Step twelve: checking whether the mechanical zero position of the driving mechanism meets the requirement or not, and repeating the steps five to eleven until the mechanical zero position of the driving mechanism meets the requirement;
Step thirteen: removing the driving mechanism with the mechanical zeroing completed, and repeating the steps three to twelve for the driving mechanism with the mechanical zeroing waiting until all the driving mechanisms complete the mechanical zeroing;
step fourteen: all objects are reset or zeroed.
Further, before the measurement process, the target mechanical zero position of the driving mechanism is that two rotor positioning pins are positioned on the same horizontal line, the detection light spot direction of the photoelectric displacement sensor is near the center position of the driving mechanism, so that the rotor positioning pin positioned at the left side is a, and the rotor positioning pin positioned at the right side is b; in the rotation measurement process, the photoelectric displacement sensor measures and records the distance between two rotor positioning pins on the rotor of the driving mechanism and the photoelectric displacement sensor, and the distance between the photoelectric displacement sensor and the working platform when the photoelectric displacement sensor detects the two rotor positioning pins on the rotor of the driving mechanism; the second angle encoder records that the rotation angle of the photoelectric displacement sensor from the center position of the driving mechanism to the rotor positioning pin a is theta oa, the rotation angle of the rotor positioning pin a to the rotor positioning pin b is theta ab, and the photoelectric displacement sensor returns to the initial working position to be required to rotate by theta bo＝θab-θoa. The distance between the two rotor positioning pins and the photoelectric displacement sensor is respectively Da and Db, and the distance between the photoelectric displacement sensor and the working platform is respectively Da and Db when the photoelectric displacement sensor detects the two rotor positioning pins; can obtain the angle required by the two rotor positioning pins to rotate to the horizontal position
When the angle is positive, the driving mechanism rotor is rotated clockwise; when the angle is negative, the driving mechanism mover is rotated counterclockwise.
The invention has the beneficial effects that:
1) According to the invention, three adjustable supporting tables are added between the working platform and the supporting bracket, and the levelness of the working platform is adjusted by adjusting the adjustable bolts of the adjustable supporting tables, so that the working platform is horizontal;
2) The optical axis is tightly connected with the optical axis conversion block in a clasping way, and tightness is realized in a screw locking way, so that the measurement height of the measuring mechanism can be freely adjusted;
3) The invention adopts the second servo motor of the measuring mechanism to control the photoelectric displacement sensor to do rotary motion, thereby improving the automation level of the rotary measuring process;
4) The invention adopts the first servo motor of the rotary control mechanism to control the rotary motion of the driving mechanism, thereby improving the automation level of the zeroing process;
5) According to the invention, the first angle encoder is added on the main shaft to feed back the actual rotation angle of the main shaft, so that closed-loop control is realized; a torsion spring is added on the universal joint to eliminate the rotation clearance of the universal joint; in addition, when the first servo motor of the rotation control mechanism stops driving, the rotation of the main shaft is stopped in time by a brake. The high-precision control of the rotation angle by the rotation control mechanism is realized;
6) According to the invention, the second angle encoder is added on the rotating shaft to feed back the actual rotating angle of the rotating shaft, so that the high-precision control of the measuring mechanism on the rotating angle of the rotating shaft is realized;
7) According to the invention, the balance weight is added on one side of the optical axis conversion block, so that the rotation stability of the rotating shaft is improved;
8) The invention adopts a rotation measurement method, and in the measurement form, compared with a vertical measurement rotor positioning pin, the inclination measurement reduces the measurement error brought by the photoelectric displacement sensor and improves the measurement precision of the measurement mechanism; in the measuring process, the distance between the photoelectric displacement sensor and the working platform when the photoelectric displacement sensor detects the two rotor positioning pins is recorded, and the distance is used as reference data for calculating the angle required by the two rotor positioning pins to rotate to the horizontal position, so that the actual measuring accuracy of the measuring mechanism is improved.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the zero position adjusting device of the driving mechanism based on the photoelectric displacement sensor.
Fig. 2 is a schematic structural view of the device mounting platform of the present invention.
Fig. 3 is a schematic structural view of the rotation control mechanism of the present invention.
Fig. 4 is a schematic structural view of the measuring mechanism of the present invention.
Fig. 5 is a schematic structural view of the driving mechanism of the present invention.
In the figure: 1-equipment mounting platform, 11-support bracket, 12-adjustable support platform, 13-working platform, 14-mounting stand, 15-positioning block, 2-rotation control mechanism, 21-first servo motor, 22-first decelerator, 23-spindle, 24-brake, 25-brake bracket, 26-first angle encoder, 27-expansion shell, 28-encoder adapter block, 29-universal joint, 210-torsion spring, 211-bottom plate, 212-first decelerator bracket, 3-measuring mechanism, 31-second servo motor, 32-second decelerator, 33-second decelerator bracket, 34-coupling, 35-rotation shaft, 36-second angle encoder, 37-optical axis, 38-optical axis counterweight, 39-optical axis seat, 310-photoelectric displacement sensor mounting plate, 311-photoelectric displacement sensor, 312-optical axis adapter block, 313-second angle encoder bracket, 314-support beam, 315-linear bearing seat, 4-driving mechanism, 41-driving mechanism mover, 410-positioning pin, 42-driving mechanism.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
As shown in fig. 1 to 5, the device for high-precision measurement and zeroing of a driving mechanism comprises a device mounting platform 1, a rotation control mechanism 2, a measuring mechanism 3 and a driving mechanism 4, wherein the measuring mechanism 3 is mounted above the device mounting platform 1, the measuring mechanism 3 is used for measuring the actual deviation of the mechanical zero position of the driving mechanism 4, the rotation control mechanism 2 is mounted above the device mounting platform 1, the input end of the driving mechanism 4 is connected with the output end of the rotation control mechanism 2, and the rotation control mechanism 2 is used for controlling the rotation of the driving mechanism 4 and feeding back the rotation angle.
The equipment installation platform 1 comprises a support bracket 11, an adjustable support table 12, a working platform 13, an installation stand 14 and a positioning block 15.
The supporting brackets 11 stand on a large ground plane stably, the three adjustable supporting tables 12 are three in number and are respectively fixed on three different positions on the supporting brackets 11 in a triangular mode, the working platforms 13 are placed on the three adjustable supporting tables 12, square grooves are formed in the working platforms 13, the positioning blocks 15 are placed in the square grooves of the working platforms 13, and the two mounting vertical frames 14 are two in number and are respectively and symmetrically fixed on two sides of a transverse central axis on the working platforms 13; during the leveling of the work platform 13, the adjustable support table 12 serves as a main adjustment support point for supporting the work platform 13 and determining the actual levelness of the work platform 13.
The rotation control mechanism 2 includes a first servo motor 21, a first decelerator 22, a main shaft 23, a brake 24, a brake bracket 25, a first angle encoder 26, an expansion sleeve 27, an encoder adapter block 28, a universal joint 29, a torsion spring 210, a base plate 211, and a first decelerator bracket 212.
The output end of the first servo motor 21 is connected with the input end of the first speed reducer 22, the first speed reducer 22 is fixedly installed on the side surface of the first speed reducer bracket 212, the bottom surface of the first speed reducer bracket 212 is installed on the upper surface of the bottom plate 211, the output end of the first speed reducer 22 is connected with one end of the main shaft 23, the other end of the main shaft 23 is connected with the universal joint 29 adapter block through expansion by adopting the expansion sleeve 27, the brake 24 is installed on the main shaft 23, the brake 24 is fixed on one side surface of the brake bracket 25, the bottom surface of the brake bracket 25 is fixed on the upper surface of the bottom plate 211, the first angle encoder 26 is installed on one end of the encoder adapter block 28, the first angle encoder 26 is fixed on the other side surface of the brake bracket 25, one end of the universal joint 29 is connected with the other end of the encoder adapter block 28, the torsion spring 210 is installed on the universal joint 29, one end of the torsion spring 210 is connected with the universal joint 29, and the other end of the universal joint 29 is connected with the working platform 13; during zeroing, the first servo motor 21 provides driving force for rotary motion, the torque is amplified and the rotation speed is reduced through the first speed reducer 22, the main shaft 23 is driven to rotate, the universal joint 29 is driven to rotate, and the first angle encoder 26 provides an angle at which the universal joint 29 actually rotates.
The measuring mechanism 3 comprises a supporting beam 314, a second servo motor 31, a second speed reducer 32, a second speed reducer bracket 33, a coupler 34, a rotating shaft 35, a linear bearing seat 315, a second angle encoder bracket 313, a second angle encoder 36, an optical axis 37, an optical axis seat 39, an optical axis adapter block 312, an optical axis counterweight 38, an optoelectronic displacement sensor 311 and an optoelectronic displacement sensor mounting plate 310. The output end of the second servo motor 31 is connected with the input end of the second speed reducer 32, the second speed reducer 32 is fixed on one side of the second speed reducer bracket 33, the other side of the second speed reducer bracket 33 is fixed on the side of the supporting beam 314, the output end of the second speed reducer 32 is connected with one end of the coupling 34, the other end of the coupling 34 is connected with one end of the rotating shaft 35, the other end of the rotating shaft 35 passes through the linear bearing seat 315 and the second angle encoder 36 to be fixedly connected with the optical axis conversion block 312, the bottom surface of the linear bearing seat 315 is fixed on the side of the supporting beam 314, the bottom surface of the second angle encoder bracket 313 is fixed on the side of the supporting beam 314, the optical axis counterweight 38 is placed on one side of the optical axis conversion block 312, the optical axis 37 is fixedly connected with the other side of the optical axis conversion block 312, the optical axis 37 is installed on the two optical axis seats 39, the optical axis 39 is fixed on the other side of the photoelectric sensor mounting plate 310, and the optical axis 39 is fixed on the other side of the photoelectric sensor mounting plate 310.
The drive mechanism 4 includes a drive mechanism mover 41 and a drive mechanism stator 42. Two rotor positioning pins 410 are arranged on the driving mechanism rotor 41, and the driving mechanism stator 42 is arranged on the working platform 13; in the zeroing process, when the universal joint 29 drives the driving mechanism mover 41 to rotate, the mover positioning pin 410 moves along with the driving mechanism mover 41.
Further, a torsion spring 210 is mounted on the universal joint 29, one end of the torsion spring 210 is connected with the input end of the universal joint 29, the other end is connected with the output end of the universal joint 29, and transmission backlash between the input end and the output end of the universal joint 29 is eliminated.
Further, two cylindrical mover positioning pins 410 are symmetrically disposed at one end of the driving mechanism mover 41 with respect to the rotation center of the driving mechanism 4.
Further, the cross-sectional shape of the optical axis 37 is a combination of a semicircle and a rectangle for restricting the degree of freedom of longitudinal rotation of the optical axis 37.
A method for adjusting zero position of a driving mechanism based on an optoelectronic displacement sensor specifically comprises the following steps:
step one: adjusting the adjustable bolts in the three adjustable support tables 12 to enable the working platform 13 to be horizontal;
step two: unscrewing the screw for fixing the optical axis 37 on the optical axis conversion block 312, so that the optical axis 37 can be longitudinally moved; adjusting the height of the optical axis 37 until the photoelectric displacement sensor 311 is higher than the top of the driving mechanism 4; tightening the screw for fixing the optical axis 37 on the optical axis conversion block 312 so that the optical axis 37 is not longitudinally movable;
Step three: the driving mechanism 4 is placed on the working platform 13 by means of a positioning block 15 on the working platform 13 so as to be convenient to install; fixedly connecting a driving mechanism rotor 41 with the output end of the universal joint 29 of the rotation control mechanism 2; fixing the driving mechanism stator 42 on the working platform 13 by using screws;
Step four: unscrewing the screw for fixing the optical axis 37 on the optical axis conversion block 312, so that the optical axis 37 can be longitudinally moved; the height of the optical axis 37 is adjusted until the photoelectric displacement sensor 311 can measure two mover positioning pins 410 on the driving mechanism mover 41; tightening the screw for fixing the optical axis 37 on the optical axis conversion block 312 so that the optical axis 37 is not longitudinally movable;
Step five: the second servo motor 31 is driven, the output end of the second servo motor 31 amplifies the output torque through the second speed reducer 32 and reduces the output rotating speed, and the rotating shaft 35 is driven to rotate, so that the second angle encoder 36 and the optical axis conversion block 312 on the rotating shaft 35 are driven to rotate; the photoelectric displacement sensor 311 rotates along with the rotation shaft 35, and simultaneously the second angle encoder 36 feeds back the actual rotation angle of the rotation shaft 35 in real time; when the photoelectric displacement sensor 311 detects one mover positioning pin 410 on the driving mechanism mover 41, the second servo motor 31 is immediately stopped and the distance between the photoelectric displacement sensor 311 and the mover positioning pin 410 and the rotation angle fed back by the second angle encoder 36 are recorded;
Step six: the first servo motor 21 of the rotation control mechanism 2 is driven, so that the universal joint 29 of the rotation control mechanism 2 drives the driving mechanism rotor 41 to rotate until the light spot of the photoelectric displacement sensor 311 is hit on the working platform 13; meanwhile, the first angle encoder 26 of the rotation control mechanism 2 records the rotation angle θa, and the photoelectric displacement sensor 311 records the distance from the photoelectric displacement sensor 311 to the working platform 13;
Step seven: the first servo motor 21 of the rotation control mechanism 2 is driven, the universal joint 29 of the rotation control mechanism 2 drives the driving mechanism rotor 41 to rotate by a reverse rotation angle thetaa, and the driving mechanism 4 returns to an initial state before zeroing;
Step eight: the second servo motor 31 is reversely driven, when the photoelectric displacement sensor 311 detects the other rotor positioning pin 410 on the driving mechanism rotor 41, the second servo motor 31 is immediately stopped and the distance between the photoelectric displacement sensor 311 and the rotor positioning pin 410 and the rotation angle fed back by the second angle encoder 36 are recorded;
Step nine: the first servo motor 21 of the rotation control mechanism 2 is driven, so that the universal joint 29 of the rotation control mechanism 2 drives the driving mechanism rotor 41 to rotate until the light spot of the photoelectric displacement sensor 311 is hit on the working platform 13; meanwhile, the first angle encoder 26 of the rotation control mechanism 2 records the rotation angle θb, and the photoelectric displacement sensor 311 records the distance from the photoelectric displacement sensor 311 to the working platform 13;
Step ten: driving the second servo motor 31 to move the light spot detected by the photoelectric displacement sensor 311 to the center position of the driving mechanism 4;
step eleven: calculating an angle theta required to rotate the driving mechanism rotor 41 when the driving mechanism 4 is zeroed, driving the first servo motor 21 of the rotation control mechanism 2, amplifying output torque and reducing output rotating speed of the output end of the first servo motor 21 through the first speed reducer 22, and driving the main shaft 23 to rotate, so as to drive the first angle encoder 26 and the universal joint 29 on the main shaft 23 to rotate; the universal joint 29 drives the driving mechanism rotor 41 to rotate, and meanwhile, the first angle encoder 26 feeds back the actual rotation angle of the universal joint 29 in real time; when the rotation angle fed back by the first angle encoder 26 is θ, the first servo motor 21 of the rotation control mechanism 2 is stopped immediately;
Step twelve: checking whether the mechanical zero position of the driving mechanism 4 meets the requirement or not, and repeating the steps five to eleven until the mechanical zero position of the driving mechanism 4 meets the requirement;
Step thirteen: removing the driving mechanism 4 with the mechanical zeroing completed, and repeating the steps three to twelve for the driving mechanism 4 with the mechanical zeroing waiting until all the driving mechanisms 4 complete the mechanical zeroing;
step fourteen: all objects are reset or zeroed.
Before the measurement process, the target mechanical zero position of the driving mechanism 4 is that the two mover positioning pins 410 are positioned on the same horizontal line, and the detection light spot direction of the photoelectric displacement sensor 311 is near the center position of the driving mechanism 4. For convenience of explanation and calculation, the mover alignment pin 410 located on the left side is set to be a, and the mover alignment pin 410 located on the right side is set to be b. In the rotation measurement process, the photoelectric displacement sensor 311 measures and records the distance between the two mover positioning pins 410 on the driving mechanism mover 41 and the photoelectric displacement sensor 311, and the distance between the photoelectric displacement sensor 311 and the working platform 13 when the photoelectric displacement sensor 311 detects the two mover positioning pins 410 on the driving mechanism mover 41. The second angle encoder 36 records that the rotation angle of the photoelectric displacement sensor 311 from the center position of the driving mechanism 4 to the mover positioning pin a is θoa, the rotation angle of the mover positioning pin a to the mover positioning pin b is θab, and the photoelectric displacement sensor 311 returns to the initial operating position by an angle θ bo＝θab-θoa required to rotate. Let the distance between the two positioning pins 410 and the photoelectric displacement sensor 311 be Da and Db respectively, and the distance between the photoelectric displacement sensor 311 and the working platform 13 when the photoelectric displacement sensor 311 detects the two positioning pins 410 be Da and Db respectively. The required angle for the two rotor positioning pins 410 to rotate to the horizontal position can be obtained
When the angle is positive, the driving mechanism mover 41 is rotated clockwise; when the angle is negative, the driving mechanism mover 41 is rotated counterclockwise.
The above embodiments are only preferred embodiments of the present invention, and are not limiting to the technical solutions of the present invention, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present invention.
Claims (3)
1. A driving mechanism zero position adjusting device based on a photoelectric displacement sensor is characterized in that: the device comprises a device mounting platform, a rotation control mechanism, a measuring mechanism and a driving mechanism, wherein the measuring mechanism is arranged above the device mounting platform and is used for measuring the actual deviation of the mechanical zero position of the driving mechanism;
the equipment installation platform comprises a support bracket, an adjustable support table, a working platform, an installation vertical frame and a positioning block;
The support brackets are stably erected on a large ground plane, the total number of the adjustable support platforms is three, the adjustable support platforms are respectively fixed at three different positions on the support brackets in a triangular mode, the working platforms are arranged on the three adjustable support platforms, square grooves are formed in the working platforms, the positioning blocks are arranged in the square grooves of the working platforms, the total number of the installation vertical frames is two, and the installation vertical frames are respectively and symmetrically fixed on two sides of a transverse central axis on the working platforms; in the leveling process of the working platform, the adjustable supporting platform is used as a main adjusting supporting point to support the working platform and determine the actual levelness of the working platform;
The rotation control mechanism comprises a first servo motor, a first speed reducer, a main shaft, a brake bracket, a first angle encoder, an expansion sleeve, an encoder adapter block, a universal joint, a torsion spring, a bottom plate and a first speed reducer bracket;
The output end of the first servo motor is connected with the input end of the first speed reducer, the first speed reducer is fixedly arranged on the side face of the first speed reducer support, the bottom face of the first speed reducer support is arranged on the upper face of the base plate, the output end of the first speed reducer is connected with one end of the main shaft, the other end of the main shaft is connected with the universal joint adapter block through expansion, the brake is arranged on the main shaft, the brake is fixed on one side face of the brake support, the bottom face of the brake support is fixed on the upper face of the base plate, the first angle encoder is arranged on one end of the encoder adapter block, the first angle encoder is fixed on the other side face of the brake support, one end of the universal joint is connected with the other end of the encoder adapter block, one end of the torsion spring is connected with the universal joint input end, the other end of the torsion spring is connected with the universal joint output end, and the base plate is arranged on the working platform; in the zeroing process, the first servo motor provides driving force for rotary motion, torque is amplified and rotation speed is reduced through the first speed reducer, the main shaft is driven to rotate and the universal joint is driven to rotate, and the first angle encoder provides an angle for the actual rotation of the universal joint;
The measuring mechanism comprises a supporting beam, a second servo motor, a second speed reducer bracket, a coupler, a rotating shaft, a linear bearing seat, a second angle encoder bracket, a second angle encoder, an optical axis seat, an optical axis conversion block, an optical axis counterweight, a photoelectric displacement sensor and a photoelectric displacement sensor mounting plate; the output end of the second servo motor is connected with the input end of the second speed reducer, the second speed reducer is fixed on one side of the second speed reducer bracket, the other side of the second speed reducer bracket is fixed on one side of the supporting beam, the output end of the second speed reducer is connected with one end of the coupler, the other end of the coupler is connected with one end of the rotating shaft, the other end of the rotating shaft penetrates through the linear bearing seat and the second angle encoder to be fixedly connected with the optical axis transfer block, the bottom surface of the linear bearing seat is fixed on the upper surface of the supporting beam, the second angle encoder is fixed on the side surface of the second angle encoder bracket, the bottom surface of the second angle encoder bracket is fixed on the upper surface of the supporting beam, the optical axis counterweight is placed on one side of the optical axis transfer block, the optical axis is fixedly connected on the other side of the optical axis transfer block, the optical axis is arranged on two optical axis seats, the two optical axis seat through holes are vertically fixed on one side of the displacement sensor mounting plate downwards, and the photoelectric sensor is fixed on the other side of the displacement sensor mounting plate;
The driving mechanism comprises a driving mechanism rotor and a driving mechanism stator; two rotor positioning pins are arranged on the driving mechanism rotor, and the driving mechanism stator is arranged on the working platform; in the zeroing process, when the universal joint drives the driving mechanism rotor to rotate, the rotor positioning pin moves along with the driving mechanism rotor;
one end of the driving mechanism rotor is symmetrically provided with two cylindrical rotor positioning pins at the rotation center of the driving mechanism;
The cross section of the optical axis is a combination of a semicircle and a rectangle, and is used for limiting the longitudinal rotation freedom degree of the optical axis.
2. The drive mechanism zero position adjustment device based on the photoelectric displacement sensor according to claim 1, wherein: a method for adjusting zero position of a driving mechanism based on an optoelectronic displacement sensor specifically comprises the following steps:
Step one: adjusting adjustable bolts in the three adjustable support tables to enable the working platform to be horizontal;
Step two: unscrewing a screw on the optical axis conversion block for fixing the optical axis, so that the optical axis can longitudinally move; adjusting the height of the optical axis until the photoelectric displacement sensor is higher than the top of the driving mechanism; tightening the screw for fixing the optical axis on the optical axis conversion block to ensure that the optical axis cannot longitudinally move;
Step three: the driving mechanism is placed on the working platform by depending on a positioning block on the working platform so as to be convenient to install; fixedly connecting a driving mechanism rotor with the output end of a universal joint of a rotation control mechanism; fixing a driving mechanism stator on a working platform by using screws;
Step four: unscrewing a screw on the optical axis conversion block for fixing the optical axis, so that the optical axis can longitudinally move; the height of the optical axis is regulated until the photoelectric displacement sensor can measure two rotor positioning pins on the rotor of the driving mechanism; tightening the screw for fixing the optical axis on the optical axis conversion block to ensure that the optical axis cannot longitudinally move;
Step five: driving a second servo motor, wherein the output end of the second servo motor amplifies the output torque through a second speed reducer and reduces the output rotating speed to drive a rotating shaft to rotate, so as to drive a second angle encoder and an optical axis adapter block on the rotating shaft to rotate; the photoelectric displacement sensor rotates along with the rotating shaft, and the second angle encoder feeds back the actual rotating angle of the rotating shaft in real time; when the photoelectric displacement sensor detects a rotor positioning pin on a rotor of the driving mechanism, the second servo motor is immediately stopped, and the distance between the photoelectric displacement sensor and the rotor positioning pin and the rotating angle fed back by the second angle encoder are recorded;
Step six: the first servo motor of the rotary control mechanism is driven, so that the universal joint of the rotary control mechanism drives the active cell of the driving mechanism to rotate until the light spot of the photoelectric displacement sensor is hit on the working platform; meanwhile, a first angle encoder of the rotation control mechanism records a rotation angle theta a, and a photoelectric displacement sensor records the distance from the photoelectric displacement sensor to the working platform;
Step seven: the first servo motor of the rotary control mechanism is driven, so that the universal joint of the rotary control mechanism drives the active cell of the drive mechanism to rotate by a reverse rotation angle theta a, and the drive mechanism returns to an initial state before zeroing;
Step eight: the second servo motor is reversely driven, and when the photoelectric displacement sensor detects the other rotor positioning pin on the rotor of the driving mechanism, the second servo motor is immediately stopped and the distance between the photoelectric displacement sensor and the rotor positioning pin and the rotation angle fed back by the second angle encoder are recorded;
Step nine: the first servo motor of the rotary control mechanism is driven, so that the universal joint of the rotary control mechanism drives the active cell of the driving mechanism to rotate until the light spot of the photoelectric displacement sensor is hit on the working platform; meanwhile, a first angle encoder of the rotation control mechanism records a rotation angle thetab, and a photoelectric displacement sensor records the distance from the photoelectric displacement sensor to the working platform;
Step ten: driving a second servo motor to enable the photoelectric displacement sensor to detect the light spot to move to the center position of the driving mechanism;
Step eleven: calculating an angle theta required to rotate a rotor of the driving mechanism when the driving mechanism is regulated, driving a first servo motor of the rotation control mechanism, amplifying output torque by an output end of the first servo motor through a first speed reducer, reducing output rotating speed, and driving a main shaft to rotate, so that a first angle encoder and a universal joint on the main shaft are driven to rotate; the universal joint drives the driving mechanism rotor to rotate, and meanwhile, the first angle encoder feeds back the actual rotation angle of the universal joint in real time; when the rotation angle fed back by the first angle encoder is theta, immediately stopping the first servo motor of the rotation control mechanism;
Step twelve: checking whether the mechanical zero position of the driving mechanism meets the requirement or not, and repeating the steps five to eleven until the mechanical zero position of the driving mechanism meets the requirement;
Step thirteen: removing the driving mechanism with the mechanical zeroing completed, and repeating the steps three to twelve for the driving mechanism with the mechanical zeroing waiting until all the driving mechanisms complete the mechanical zeroing;
step fourteen: all objects are reset or zeroed.
3. The drive mechanism zero position adjustment device based on the photoelectric displacement sensor according to claim 2, wherein: in the eleventh step, the calculation method of the angle theta required to rotate the driving mechanism rotor when the driving mechanism adjusts the time is as follows: before the measurement process, the target mechanical zero position of the driving mechanism is that two rotor positioning pins are positioned on the same horizontal line, the detection light spot direction of the photoelectric displacement sensor is near the center position of the driving mechanism, so that the rotor positioning pin positioned at the left side is a, and the rotor positioning pin positioned at the right side is b; in the rotation measurement process, the photoelectric displacement sensor measures and records the distance between two rotor positioning pins on the rotor of the driving mechanism and the photoelectric displacement sensor, and the distance between the photoelectric displacement sensor and the working platform when the photoelectric displacement sensor detects the two rotor positioning pins on the rotor of the driving mechanism; the second angle encoder records that the rotation angle from the center position of the driving mechanism to the rotor positioning pin a of the photoelectric displacement sensor is theta oa, the rotation angle from the rotor positioning pin a to the rotor positioning pin b of the photoelectric displacement sensor is theta ab, and the photoelectric displacement sensor returns to the initial working position to need to rotate; The distance between the two rotor positioning pins and the photoelectric displacement sensor is respectively Da and Db, and the distance between the photoelectric displacement sensor and the working platform is respectively Da and Db when the photoelectric displacement sensor detects the two rotor positioning pins; obtaining the required angle/>, of the two rotor positioning pins to rotate to the horizontal positionWhen the angle is positive, the driving mechanism rotor is rotated clockwise; when the angle is negative, the driving mechanism mover is rotated counterclockwise.
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| CN113847867B (en) * | 2021-06-29 | 2023-12-29 | 北京控制工程研究所 | Zero sensor for rotating mechanism |
| CN114440946B (en) * | 2021-12-30 | 2024-05-24 | 重庆特斯联智慧科技股份有限公司 | A from coding device that is used for park to enable intelligent study of platform |
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