CN112762832A - Driving mechanism mechanical zero setting device with auxiliary measuring device and method - Google Patents
Driving mechanism mechanical zero setting device with auxiliary measuring device and method Download PDFInfo
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Abstract
The invention discloses a driving mechanism mechanical zero setting device with an auxiliary measuring device and a method, comprising an equipment mounting platform, a rotation control mechanism, a measuring mechanism and a driving mechanism, wherein the measuring mechanism is mounted above the equipment mounting platform, the measuring mechanism is used for measuring the actual deviation of the mechanical zero position of the driving mechanism, the rotation control mechanism is mounted above the equipment 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 rotation of the driving mechanism and feeding back the rotation angle; the invention can debug the mechanical zero position of the driving mechanism in the production process of the driving mechanism, so that the mechanical zero position meets the index requirement; the connection part of the optical axis and the optical axis seat is tightly held and connected, and the tightness is realized in a screw locking mode, so that the measuring height of the measuring mechanism can be freely adjusted.
Description
Technical Field
The invention relates to the field of mechanical zero setting, in particular to a driving mechanism mechanical zero setting device with an auxiliary measuring device and a method.
Background
The driving mechanism is provided with two zero marks of a mechanical zero position and an electric zero position. In the production process of the driving mechanism, the deviation between the mechanical zero position and the electrical zero position of the driving mechanism needs to be debugged, so that the deviation between the mechanical zero position and the electrical zero position meets the index requirement.
The electric zero position detection mainly detects the installation position and performance parameters of a zero position sensor installed in the driving mechanism, and utilizes a zero position signal measured by an electric appliance measuring element. In effect, this null is an artificially defined position relative to the mechanical null. The mechanical zero point is a machine reference zero point marked by a scale and other instruments on equipment, the other equipment is installed and operated by taking the point as a reference position, and the mainly used mechanical zero point is generally the initial position for marking the machine in a stop state.
The zero setting method of the driving mechanism comprises the following steps: the measuring element is fixed by measuring the digital '0' of the measuring element corresponding to the mechanical zero position, so that the mechanical zero position and the electrical zero position are at the same position, namely the two positions are coincident. But in reality, the mechanical zero position and the zero position of the measured value of the electrical encoder are difficult to coincide, and the data measured by the measuring element corresponding to the mechanical zero position is a range and has deviation. The offset is generally reduced by two methods, one of which is to improve the performance and mounting position accuracy of the zero sensor in the drive mechanism; and the other is that under the condition that the installation position and the performance of a zero position sensor in the driving mechanism are determined, the actual deviation is measured, and the driving mechanism is mechanically zeroed with high precision.
The current practice of drive mechanism zeroing is generally manual measurement and adjustment, with the main drawbacks:
firstly, the stability of manual measurement is not high, and the measurement accuracy is influenced;
secondly, because the difference value between the mechanical zero position and the electrical zero position is small, manual adjustment is very laborious;
thirdly, the high-precision zero setting of the driving mechanism is difficult to achieve through manual measurement and adjustment;
fourth, the work efficiency of measurement and adjustment is very low.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provides a driving mechanism mechanical zero setting device with an auxiliary measuring device and a method thereof, which can debug 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 purpose through the following technical scheme: the utility model provides a drive mechanism machinery zero-setting device with supplementary measuring device, includes equipment fixing platform, rotation control mechanism, measuring mechanism, actuating mechanism, measuring mechanism install in the top of equipment fixing platform, measuring mechanism is used for measuring the actual deviation of actuating mechanism mechanical zero position, rotation control mechanism install in the equipment fixing platform above, actuating mechanism's input with rotation control mechanism's output is connected, rotation control mechanism is used for controlling actuating mechanism is rotatory and feedback rotation angle.
The equipment mounting platform comprises a supporting bracket, a working platform, a mounting vertical frame and a positioning block.
The supporting bracket is stably erected on a ground plane, the working platform is placed on the supporting bracket, a square groove is formed in the working platform, the positioning block is placed in the square groove of the working platform, the number of the installation vertical frames is two, and the two installation vertical frames are symmetrically fixed on two sides of a transverse central axis on the working platform respectively.
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 transfer block, a universal joint, a torsion spring, a bottom plate and a first speed reducer support.
The first servo motor output end is connected with the input end of the first speed reducer, the first speed reducer is fixedly installed on the side face of the first speed reducer support, the bottom face of the first speed reducer support is installed on the bottom 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 switching block through expansion, the brake is installed 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 bottom plate, the first angle encoder is installed at one end of the encoder switching 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 switching block, the torsion spring is installed 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 the bottom plate is installed on the working platform; in the zero setting process, the first servo motor provides driving force for rotary motion, the main shaft is driven to rotate and drive the universal joint to rotate through the moment amplified by the first speed reducer and the rotating speed reduced, and the first angle encoder provides the actual rotating angle of the universal joint.
The measuring mechanism comprises a linear motion guiding device, an auxiliary measuring device and a displacement measuring device.
The linear motion guiding device comprises a supporting beam, a linear guide rail, a linear module main body, a linear module supporting frame, a linear module sliding block, a linear module servo motor, a driving lever and a linear guide rail sliding block. The linear module main body is fixed on the two linear module support frames, the side surfaces of the linear module support frames are fixed on one side surface of the support cross beam, the deflector rod is installed on the linear module sliding block, the linear guide rail is fixed on the support cross beam, the linear guide rail sliding block is installed on the linear guide rail, and the linear module servo motor is installed at one end of the linear module main body; in the measuring process, the supporting cross beam is fixed on the two mounting vertical frames; the linear module servo motor provides power for the transverse motion of the measuring mechanism, the linear module sliding block drives the shifting rod to move, and the linear guide rail provides guide for the transverse motion of the measuring mechanism.
The auxiliary measuring device comprises a grating ruler guide rail, a grating ruler slide block and a grating ruler support frame. The grating scale guide rail is arranged on the grating scale support frame, the grating scale sliding block is arranged on the grating scale guide rail, one end of the grating scale sliding block is fixedly connected with one side of the main sliding block, and the grating scale support frame is fixed on the support cross beam; in the measurement engineering, along with the movement of the grating ruler slide block, the working position of the measurement mechanism can be positioned in real time.
The displacement measuring device comprises a main sliding block, a counterweight frame, a counterweight, a second servo motor, a coupler, a rotating shaft, a linear bearing seat, a second speed reducer, a mounting support, a second angle encoder flange, an optical axis seat, a photoelectric displacement sensor and a photoelectric displacement sensor mounting plate. The second servo motor is fixed on one side surface of the mounting bracket, the output end of the second servo motor 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 to be fixedly connected with the input end of the second speed reducer, the second speed reducer is fixed on the other side surface of the mounting bracket, the bottom surface of the mounting bracket is fixed on the main sliding block, the bottom surface of the linear bearing seat is fixed on the mounting bracket, the second angle encoder is fixed on the second angle encoder flange, the second angle encoder flange is fixed on the output end of the second speed reducer, one end of the optical axis is fixedly connected with the output end of the second speed reducer, and the optical axis penetrates through the second angle encoder to be mounted on the two optical axis seats, the two optical axis seat through holes are vertically and downwards fixed at the vertical central line position of one side surface of the photoelectric displacement sensor mounting plate, and the two photoelectric displacement sensors are respectively fixed at the other side surface of the photoelectric displacement sensor mounting plate in a manner of being symmetrical to the vertical central line; in the detection process, the driving lever drives the main sliding block to do linear motion, and the photoelectric displacement sensor follows the main sliding block to do linear motion; the second servo motor provides driving force for rotary motion, the optical axis is driven to rotate by amplifying torque and reducing rotating speed through the rotating shaft and the second speed reducer, the photoelectric displacement sensor rotates along with the rotating shaft, and the second angle encoder provides the actual rotating angle of the optical axis.
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 zero setting process, when the universal joint drives the driving mechanism rotor to rotate, the rotor positioning pin moves along with the driving mechanism rotor.
Furthermore, a torsional spring is installed on the universal joint, one end of the torsional spring is connected with the input end of the universal joint, the other end of the torsional spring is connected with the output end of the universal joint, and the transmission backlash of the input end and the output end of the universal joint is eliminated.
Furthermore, the cross section of the longitudinal optical axis is in a combination of a semicircle and a rectangle, and is used for limiting the rotational freedom degree of the mounting plate of the photoelectric displacement sensor.
Furthermore, a square notch is formed in one side of the main sliding block, and one end of the driving lever is spherical and is arranged in the square notch of the main sliding block. In the measuring process, the driving lever drives the main sliding block to do linear motion, and the spherical end is in point-surface contact with the square notch, so that errors caused by longitudinal jumping from the driving lever to the main sliding block are eliminated.
Furthermore, one end of the driving mechanism rotor is provided with two cylindrical rotor positioning pins symmetrically arranged at the rotation center of the driving mechanism.
A measuring method for measuring the mechanical zero error of a driving mechanism and carrying out mechanical zero fading specifically comprises the following steps:
the method comprises the following steps: loosening screws used for fixing the optical axes on the two optical axis bases to enable the photoelectric displacement sensor mounting plate to move longitudinally; adjusting the height of an optical axis until the photoelectric displacement sensor can measure the upper plane of the working platform; screws used for fixing the optical axes on the two optical axis seats are screwed down, so that the photoelectric displacement sensor mounting plate cannot move longitudinally;
step two: a linear module servo motor of the linear module is driven to drive a linear module sliding block to drive a main sliding block on the linear guide rail to move; the two photoelectric displacement sensors do linear motion along with the main sliding block on the linear guide rail; meanwhile, the two photoelectric displacement sensors respectively measure and record the longitudinal distance between the photoelectric displacement sensors and the working platform at different positions; according to position data generated by the movement of the sliding block of the grating ruler and measurement data of the photoelectric displacement sensor, the position data and the measurement data serve as reference data of error compensation;
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 rotor of the driving mechanism with the output end of a universal joint of the rotary control mechanism; fixing the stator of the driving mechanism on the working platform by using screws;
step four: loosening screws used for fixing the optical axes on the two optical axis bases to enable the photoelectric displacement sensor mounting plate to move longitudinally; adjusting the height of an optical axis until the photoelectric displacement sensor can measure two rotor positioning pins on a rotor of the driving mechanism; then, a screw used for fixing the optical axis on the optical axis seat is screwed down, so that the mounting plate of the photoelectric displacement sensor cannot move longitudinally;
step five: driving a linear module servo motor to enable a linear module sliding block to drive a main sliding block on a linear guide rail to move; the photoelectric displacement sensor makes linear motion along with a main sliding block on the linear guide rail; meanwhile, recording the positions of the grating ruler slide blocks when one photoelectric displacement sensor detects two rotor positioning pins on the rotor of the driving mechanism according to the grating ruler guide rail; calculating to obtain the actual central position of the driving mechanism, and moving the optical axis to be right above the central position of the driving mechanism;
step six: the output end of the first servo motor amplifies output torque and reduces output rotating speed through a first speed reducer to drive the 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 a rotor of the driving mechanism to rotate, and meanwhile, a first angle encoder feeds back an actual rotation angle of the universal joint in real time; stopping rotating the first servo motor of the control mechanism until the two photoelectric displacement sensors can detect the two rotor positioning pins respectively;
step seven: the two photoelectric displacement sensors respectively measure and record the distances from the two rotor positioning pins to the photoelectric displacement sensors, and the required rotation angle theta of the driving mechanism during zero adjustment is calculated; the first servo motor drives the rotation control mechanism, and when the rotation angle fed back by the first angle encoder is theta, the first servo motor of the rotation control mechanism is immediately stopped;
step eight: checking whether the mechanical zero position of the driving mechanism meets the requirement, driving a second servo motor of the measuring mechanism to enable the two photoelectric displacement sensors to rotate 180 degrees along with the optical axis, and repeating the seventh step until the mechanical zero position of the driving mechanism meets the requirement;
step nine: unloading the driving mechanisms which are subjected to mechanical zero setting, and repeating the third step to the eighth step until all the driving mechanisms are subjected to mechanical zero setting;
step ten: all objects are either zeroed or zeroed.
Before the measurement process, the central distance between the two rotor positioning pins is d, and the target mechanical zero position of the driving mechanism is that the two rotor positioning pins are positioned on the same horizontal line; a rotor positioning pin positioned on the left side is a, and a rotor positioning pin positioned on the right side is b; in the measuring process, because the position data provided by the grating ruler slide block and the measuring data of the photoelectric displacement sensor are related to time, the absolute positions of the grating ruler slide block on the grating ruler guide rail are Xa and Xb respectively when the photoelectric displacement sensor measures the two rotor positioning pins, and the position of the grating ruler slide block is X when the detection light spot of the photoelectric displacement sensor moves to the central position of the driving mechanismo＝(Xa-Xb) 2; the two photoelectric displacement sensors measure and record longitudinal distances between the photoelectric displacement sensors and the working platform at different positions to serve as a database for error compensation; in addition, the two photoelectric displacement sensors respectively measure and record the distances between two mover positioning pins on the mover of the driving mechanism and the photoelectric displacement sensors; longitudinal distances between the rotor positioning pin a and the rotor positioning pin b and the photoelectric displacement sensor are respectively da and db; because the position data provided by the sliding of the grating ruler sliding block on the grating ruler guide rail and the measurement data of the photoelectric displacement sensor are related to time, the photoelectric displacement sensor can be indirectly determined to be measuringMeasuring the absolute position of the grating slide block on the guide rail of the grating ruler when the two rotor positioning pins are measured; setting the positions of the rotor positioning pin a and the rotor positioning pin b as Ya and Yb respectively; searching an error compensation database according to Ya and Yb, and determining that the longitudinal distances between the photoelectric displacement sensor and the working platform are da 'and db' when the photoelectric displacement sensor is at the two positions; the angle theta (Arcsin) that the two rotor positioning pins rotate to the horizontal position and the rotor of the driving mechanism needs to rotate can be obtained (d)a-db-(d′a-d′b) D), when the angle is positive, the driving mechanism rotor is rotated clockwise; and when the angle is negative, the rotor of the driving mechanism is rotated anticlockwise.
The invention has the beneficial effects that:
1) the connecting part of the optical axis and the optical axis seat is tightly connected, and the tightness is realized in a screw locking mode, so that the measuring height of the measuring mechanism can be freely adjusted;
2) according to the invention, the linear module is adopted to control the main sliding block to do transverse motion and the second servo motor is adopted to control the photoelectric displacement sensor to do reverse motion, so that the automation level of the measuring process is improved;
3) according to the invention, the first servo motor of the rotation control mechanism is adopted to control the rotation motion of the driving mechanism, so that the automation level of the zero setting process is improved;
4) according to the invention, a contact mode that the spherical end of the deflector rod on the linear module sliding block is in point-surface contact with the square notch of the main sliding block is adopted, and compared with a mode that the linear module sliding block is directly and rigidly connected with the main sliding block, the error generated by the longitudinal displacement of the main sliding block due to jumping during the motion of the linear module sliding block is eliminated, and the measurement precision of the measurement mechanism is improved;
5) according to the invention, the counterweight frame is additionally arranged on the main sliding block, and the pretightening force is increased by adding the counterweight on the counterweight frame, so that the stability of the main sliding block in the moving process is improved, and the measuring precision of the measuring mechanism is ensured;
6) according to the invention, the second angle encoder is added on the rotating shaft to feed back the actual rotating angle of the optical axis, so that the high-precision control of the measuring mechanism on the rotating angle of the optical axis is realized;
7) 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; and a torsion spring is added on the universal joint to eliminate the rotation gap of the universal joint; when the first servo motor of the rotation control mechanism stops driving, the rotation of the main shaft is stopped in time by the brake. The rotation control mechanism can control the rotation angle with high precision;
8) the invention adopts the grating ruler to carry out absolute positioning on the main sliding block during the transverse movement process, and in the measuring process, because the position data provided by the grating ruler and the measuring data of the photoelectric displacement sensor are both related to time, the absolute position of the photoelectric displacement sensor on the grating ruler when the photoelectric displacement sensor measures two positioning pins can be indirectly determined, thereby determining the actual central position of the driving mechanism and ensuring the accuracy of the working position of the photoelectric displacement sensor;
9) the invention adopts the grating ruler to carry out absolute positioning on the main sliding block during the transverse movement process, and records the longitudinal distance between the photoelectric displacement sensor and the working platform at different positions in the measuring process as an error compensation database; when the distance between two rotor positioning pins on a rotor of the driving mechanism and the photoelectric displacement sensor is measured, the absolute position of a slide block of the grating ruler on a guide rail of the grating ruler when the photoelectric displacement sensor measures the two rotor positioning pins is indirectly determined through position data provided by the grating ruler and measurement data of the photoelectric displacement sensor, and an error compensation database is searched for the absolute position to obtain and calculate an error value, so that a longitudinal error generated by incomplete parallel of a plane of a linear guide rail and a working plane is eliminated, and the actual measurement accuracy of the measuring mechanism is improved.
10) The invention adopts a method of reverse measurement of two photoelectric displacement sensors, and improves the efficiency of mechanical zero setting accuracy detection of the driving mechanism.
Drawings
Fig. 1 is a schematic overall structure diagram of a mechanical zero setting device of a driving mechanism with an auxiliary measuring device.
Fig. 2 is a schematic structural view of the apparatus 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 linear motion guide device of the present invention.
Fig. 6 is a schematic structural diagram of an auxiliary measuring device of the present invention.
Fig. 7 is a front view of the displacement measuring device of the present invention.
Fig. 8 is a right side view of the displacement measuring device of the present invention.
Fig. 9 is a schematic structural view of the drive mechanism of the present invention.
In the figure: 1-equipment installation platform, 11-support bracket, 12-working platform, 13-installation vertical frame, 14-positioning block, 2-rotation control mechanism, 21-first servo motor, 22-first reducer, 23-main shaft, 24-brake, 25-brake bracket, 26-first angle encoder, 27-expansion sleeve, 28-encoder transfer block, 29-universal joint, 210-torsion spring, 211-bottom plate, 212-first reducer bracket, 3-measuring mechanism, 31-linear motion guide device, 311-support beam, 312-linear guide rail, 313-linear module main body, 314-linear module support frame, 315-linear module sliding block, 316-linear module servo motor, 317-deflector rod, 318-linear guide rail slide block, 32-auxiliary measuring device, 321-grating ruler guide rail, 322-grating ruler slide block, 323-grating ruler support frame, 33-displacement measuring device, 331-main slide block, 332-second servo motor, 333-mounting bracket, 334-counterweight frame, 335-counterweight, 336-coupler, 337-rotating shaft, 338-linear bearing seat, 339-second reducer, 3310-second angle encoder flange, 3311-second angle encoder, 3312-optical shaft seat, 3313-optical shaft, 3314-photoelectric displacement sensor, 3315-photoelectric displacement sensor mounting plate, 4-driving mechanism, 41-driving mechanism mover, 410-mover positioning pin and 42-driving mechanism stator.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1 to 9, a device for high-precision measurement and zero adjustment of a driving mechanism includes an equipment mounting platform 1, a rotation control mechanism 2, a measurement mechanism 3, and a driving mechanism 4, wherein the measurement mechanism 3 is mounted above the equipment mounting platform 1, the measurement mechanism 3 is used for measuring an actual zero offset of a mechanical zero position of the driving mechanism 4, the rotation control mechanism 2 is mounted on the equipment mounting platform 1, an input end of the driving mechanism 4 is connected with an output end of the rotation control mechanism 2, and the rotation control mechanism 2 is used for controlling the driving mechanism 4 to rotate and feeding back a rotation angle.
The equipment mounting platform 1 comprises a support bracket 11, a working platform 12, a mounting stand 13 and a positioning block 14.
The supporting bracket 11 is stably arranged on the ground plane, the working platform 12 is arranged on the supporting bracket 11, a square groove is formed in the working platform 12, the positioning block 14 is arranged in the square groove of the working platform 12, the number of the installation vertical frames 13 is two, and the two installation vertical frames are symmetrically fixed on two sides of the transverse central axis of the working platform 12 respectively.
The rotation control mechanism 2 includes a first servo motor 21, a first speed reducer 22, a spindle 23, a brake 24, a brake bracket 25, a first angle encoder 26, an expansion sleeve 27, an encoder transfer block 28, a universal joint 29, a torsion spring 210, a base plate 211, and a first speed reducer 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 support 212, the bottom surface of the first speed reducer support 212 is installed on 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 transfer block through 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 support 25, the bottom surface of the brake support 25 is fixed on the bottom plate 211, the first angle encoder 26 is installed at one end of the encoder transfer block 28, the first angle encoder 26 is fixed on the other side surface of the brake support 25, one end of the universal joint 29 is connected with the other end of the encoder transfer block 28, the torsion spring 210 is installed 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 of the torsion spring 210 is connected with the output end of the universal joint 29, and the bottom plate 211 is installed on the working platform 12; during the zero setting process, the first servo motor 21 provides a driving force for a rotational motion, the first speed reducer 22 amplifies the moment and reduces the rotational speed, the spindle 23 is driven to rotate and drives the universal joint 29 to rotate, and the first angle encoder 26 provides an actual rotating angle of the universal joint 29.
The measuring mechanism 3 includes a linear motion guide device 31, an auxiliary measuring device 32, and a displacement measuring device 33.
The linear motion guide device 31 includes a support beam 311, a linear guide 312, a linear module main body 313, a linear module support frame 314, a linear module slider 315, a linear module servo motor 316, a shift lever 317, and a linear guide slider 318. The linear module main body 313 is fixed on the two linear module support frames 314, the side surfaces of the linear module support frames 314 are fixed on one side surface of the support beam 311, the shift lever 317 is installed on the linear module slider 315, the linear guide rail 312 is fixed on the support beam 311, the linear guide rail slider 318 is installed on the linear guide rail 312, and the linear module servo motor 316 is installed at one end of the linear module main body 313; during the measurement, the supporting beam 311 is fixed on the two mounting stands 13; the linear module servo motor 316 provides power for the lateral movement of the measuring mechanism 3, the linear module sliding block 315 drives the shift lever 317 to move, and the linear guide rail 312 provides guidance for the lateral movement of the measuring mechanism 3.
The auxiliary measuring device 32 comprises a grating ruler guide rail 321, a grating ruler slide block 322 and a grating ruler support frame 323. The grating scale guide rail 321 is mounted on the grating scale support frame 323, the grating scale slide block 322 is mounted on the grating scale guide rail 321, one end of the grating scale slide block 322 is fixedly connected with one side of the main slide block 331, and the grating scale support frame 323 is fixed on the support beam 311; in the measurement process, along with the movement of the grating ruler slide block 322, the working position of the measuring mechanism 3 can be positioned in real time.
The displacement measuring device 33 includes a main slider 331, a weight holder 334, a weight 335, a second servo motor 332, a coupling 336, a rotating shaft 337, a linear bearing block 338, a second reducer 339, a mounting bracket 333, a second angle encoder 3311, a second angle encoder flange 3310, an optical axis 3313, an optical axis holder 3312, a photoelectric displacement sensor 3314, and a photoelectric displacement sensor mounting plate 3315. The second servo motor 332 is fixed on one side surface of the mounting bracket 333, the output end of the second servo motor 332 is connected with one end of the shaft coupler 336, the other end of the shaft coupler 336 is connected with one end of the rotating shaft 337, the other end of the rotating shaft 337 passes through the linear bearing block 338 and is fixedly connected with the input end of the second speed reducer 339, the second speed reducer 339 is fixed on the other side surface of the mounting bracket 333, the bottom surface of the mounting bracket 333 is fixed on the main slider 331, the bottom surface of the linear bearing block 338 is fixed on the mounting bracket 333, the second angle encoder 3311 is fixed on the second angle encoder flange 3310, the second angle encoder flange 3310 is fixed on the output end of the second speed reducer 339, one end of the optical axis 3313 is fixedly connected with the output end of the second speed reducer 339, the optical axis 3313 passes through the second angle encoder 3311 and is mounted on the two optical axis holders 3312, the through holes of the two optical axis holders 3312 are vertically and downwardly fixed to the vertical center line of one side surface of the photoelectric displacement sensor mounting plate 3315, and the two photoelectric displacement sensors 3314 are respectively fixed to the other side surface of the photoelectric displacement sensor mounting plate 3315 symmetrically to the vertical center line; in the detection process, the shift lever 317 drives the main sliding block 331 to make a linear motion, and the photoelectric displacement sensor 3314 makes a linear motion along with the main sliding block 331; the second servo motor 332 provides a driving force for a rotational motion, and amplifies a moment and reduces a rotational speed through the rotation shaft 337 and the second decelerator 339 to drive the optical axis 3313 to rotate, the photoelectric displacement sensor 3314 performs a rotational motion along with the rotation shaft 337, and the second angle encoder 3311 provides an actual rotation angle of the optical axis 3313.
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 installed on the working platform 12; in the zero setting process, when the universal joint 29 drives the driving mechanism rotor 41 to rotate, the rotor positioning pin 410 moves along with the driving mechanism rotor 41.
Furthermore, a torsion spring 210 is installed 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 of the torsion spring 210 is connected with the output end of the universal joint 29, and the transmission backlash of the input end and the output end of the universal joint 29 is eliminated.
Further, the cross-sectional shape of the longitudinal optical axis 3313 is a combination of a semicircular shape and a rectangular shape, which is used to limit the rotational degree of freedom of the photoelectric displacement sensor mounting plate 3315.
Furthermore, a square notch is formed in one side of the main sliding block 331, and one end of the shift lever 317 is spherical and is placed in the square notch of the main sliding block 331. In the measuring process, the driving lever 317 drives the main sliding block 331 to do linear motion, and the spherical end is in point-surface contact with the square notch, so that errors caused by the longitudinal jumping from the driving lever 317 to the main sliding block 331 are eliminated.
Further, one end of the driving mechanism mover 41 is provided with two cylindrical mover positioning pins 410 symmetrically to the rotation center of the driving mechanism 4.
A measuring method for measuring mechanical zero error of a driving mechanism 4 and performing mechanical zero fading specifically comprises the following steps:
the method comprises the following steps: screws used for fixing the optical axis 3313 on the two optical axis bases 3312 are loosened, so that the photoelectric displacement sensor mounting plate 3315 can move longitudinally; adjusting the height of the optical axis 3313 until the photoelectric displacement sensor 3314 can measure the upper plane of the work platform 12; then, screws for fixing the optical axis 3313 on the two optical axis bases 3312 are tightened, so that the photoelectric displacement sensor mounting plate 3315 cannot move longitudinally;
step two: a linear module servo motor 316 for driving the linear module to drive the linear module sliding block 315 to drive the main sliding block 331 on the linear guide rail 312 to move; the two photoelectric displacement sensors 3314 move linearly along with the main slide block 331 on the linear guide rail 312; meanwhile, the two photoelectric displacement sensors 3314 respectively measure and record the longitudinal distance between the photoelectric displacement sensor 3314 and the working platform 12 at different positions; the position data generated by the movement of the grating ruler slide block 322 and the measurement data of the photoelectric displacement sensor 3314 are used as the reference data of error compensation;
step three: the driving mechanism 4 is placed on the working platform 12 by relying on a positioning block 14 on the working platform 12 so as to be convenient to install; fixedly connecting a driving mechanism rotor 41 with the output end of a universal joint 29 of the rotary control mechanism 2; the driving mechanism stator 42 is fixed on the working platform 12 by screws;
step four: screws used for fixing the optical axis 3313 on the two optical axis bases 3312 are loosened, so that the photoelectric displacement sensor mounting plate 3315 can move longitudinally; adjusting the height of the optical axis 3313 until the photoelectric displacement sensor 3314 can measure two mover positioning pins 410 on the driving mechanism mover 41; then, the screw for fixing the optical axis 3313 on the optical axis base 3312 is tightened, so that the photoelectric displacement sensor mounting plate 3315 cannot move longitudinally;
step five: driving the linear module servo motor 316 to make the linear module sliding block 315 drive the main sliding block 331 on the linear guide rail 312 to move; the photoelectric displacement sensor 3314 moves linearly along with the main slider 331 on the linear guide 312; meanwhile, the position of the grating ruler slide block 322 when one of the photoelectric displacement sensors 3314 detects two mover positioning pins 410 on the driving mechanism mover 41 is recorded according to the grating ruler guide rail 321; calculating the actual center position of the driving mechanism 4, and moving the optical axis 3313 to a position directly above the center position of the driving mechanism 4;
step six: a first servo motor 21 for driving the rotation control mechanism 2, wherein the output end of the first servo motor 21 amplifies the output torque and reduces the output rotation speed through a first speed reducer 22, and drives a main shaft 23 to rotate, thereby driving a first angle encoder 26 and a 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; stopping rotating the first servo motor 21 of the control mechanism 2 until the two photoelectric displacement sensors 3314 can detect the two mover positioning pins 410, respectively;
step seven: the two photoelectric displacement sensors 3314 respectively measure and record the distances from the two mover positioning pins 410 to the photoelectric displacement sensors 3314, and calculate the angle theta required to rotate when the driving mechanism 4 is set to zero; the first servo motor 21 of the rotation control mechanism 2 is driven, and when the rotation angle fed back by the first angle encoder 26 is theta, the first servo motor 21 of the rotation control mechanism 2 is immediately stopped;
step eight: checking whether the mechanical zero position of the driving mechanism 4 meets the requirement, driving a second servo motor 332 of the measuring mechanism 3 to enable the two photoelectric displacement sensors 3314 to rotate 180 degrees along with the optical axis 3313, and repeating the seventh step until the mechanical zero position of the driving mechanism 4 meets the requirement;
step nine: unloading the driving mechanisms 4 which are mechanically zeroed, and repeating the steps three to eight on the driving mechanisms 4 which are to be mechanically zeroed until all the driving mechanisms 4 are mechanically zeroed;
step ten: all objects are either zeroed or zeroed.
Before the measurement process, the center distance between the two mover positioning pins 410 is d, and the target mechanical zero position of the driving mechanism 4 is that the two mover positioning pins 410 are located on the same horizontal line. For convenience of explanation and calculation, a is set as the mover positioning pin 410 located on the left side, and b is set as the mover positioning pin 410 located on the right side. In the measurement process, because the position data provided by the linear scale slider 322 and the measurement data of the photoelectric displacement sensor 3314 are both related to time, it can be indirectly determined that the absolute positions of the linear scale slider 322 on the linear scale guide rail 321 are Xa and Xb respectively when the photoelectric displacement sensor 3314 measures the two mover positioning pins 410, and it is determined that the position of the linear scale slider 322 is X when the photoelectric displacement sensor 3314 detects that the light spot moves to the center position of the driving mechanism 4o＝(Xa-Xb)/2. The two photoelectric displacement sensors 3314 measure and record the longitudinal distance between the photoelectric displacement sensor 3314 and the working platform 12 at different positions as a database for error compensation; in addition, two photoelectric displacement sensors 3314 respectively measure and record two mover positioning pins on the mover 41 of the driving mechanism410, and the photoelectric displacement sensor 3314. The longitudinal distances between the rotor positioning pin a and the rotor positioning pin b and the photoelectric displacement sensor 3314 are da and db respectively. Because the position data provided by the sliding of the linear scale slider 322 on the linear scale guide rail 321 and the measurement data of the photoelectric displacement sensor 3314 are both related to time, the absolute position of the linear scale slider on the linear scale guide rail 321 when the photoelectric displacement sensor 3314 measures the two mover positioning pins 410 can be indirectly determined. And setting the positions of the rotor positioning pin a and the rotor positioning pin b to be detected as Ya and Yb respectively. Based on the Ya, Yb lookup error compensated database, the longitudinal distance between the displacement sensor 3314 and the work platform 12 is determined to be da ', db' for the displacement sensor 3314 at these two positions. It can be found that when the two mover positioning pins 410 rotate to the horizontal position, the angle θ that the driving mechanism mover 41 needs to rotate is arcsin ((d)a-db-(d′a-d′b) D)) 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 intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.
Claims (7)
1. The utility model provides a actuating mechanism machinery zero set device with auxiliary measuring device which characterized in that: the device comprises an equipment mounting platform, a rotation control mechanism, a measuring mechanism and a driving mechanism, wherein the measuring mechanism is mounted above the equipment mounting platform and used for measuring the actual deviation of the mechanical zero position of the driving mechanism;
the equipment mounting platform comprises a support bracket, a working platform, a mounting vertical frame and a positioning block; the supporting bracket is stably erected on a ground plane, the working platform is placed on the supporting bracket, a square groove is formed in the working platform, the positioning block is placed in the square groove of the working platform, the number of the installation vertical frames is two, and the two installation vertical frames are symmetrically fixed on two sides of a transverse central axis on the working platform respectively;
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 transfer block, a universal joint, a torsion spring, a bottom plate and a first speed reducer support; the first servo motor output end is connected with the input end of the first speed reducer, the first speed reducer is fixedly installed on the side face of the first speed reducer support, the bottom face of the first speed reducer support is installed on the bottom 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 switching block through expansion, the brake is installed 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 bottom plate, the first angle encoder is installed at one end of the encoder switching 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 switching block, the torsion spring is installed 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 the bottom plate is installed on the working platform; in the zero setting process, the first servo motor provides driving force for rotary motion, the moment is amplified and the rotating 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 the actual rotating angle of the universal joint;
the measuring mechanism comprises a linear motion guiding device, an auxiliary measuring device and a displacement measuring device; the linear motion guiding device comprises a supporting beam, a linear guide rail, a linear module main body, a linear module supporting frame, a linear module sliding block, a linear module servo motor, a deflector rod and a linear guide rail sliding block; the linear module main body is fixed on the two linear module support frames, the side surfaces of the linear module support frames are fixed on one side surface of the support cross beam, the deflector rod is installed on the linear module sliding block, the linear guide rail is fixed on the support cross beam, the linear guide rail sliding block is installed on the linear guide rail, and the linear module servo motor is installed at one end of the linear module main body; in the measuring process, the supporting cross beam is fixed on the two mounting vertical frames; the linear module servo motor provides power for the transverse motion of the measuring mechanism, the linear module sliding block drives the shifting rod to move, and the linear guide rail provides guide for the transverse motion of the measuring mechanism;
the auxiliary measuring device comprises a grating ruler guide rail, a grating ruler slide block and a grating ruler support frame; the grating scale guide rail is arranged on the grating scale support frame, the grating scale sliding block is arranged on the grating scale guide rail, one end of the grating scale sliding block is fixedly connected with one side of the main sliding block, and the grating scale support frame is fixed on the support cross beam; in the measurement engineering, along with the movement of the grating ruler slide block, the working position of the measurement mechanism can be positioned in real time;
the displacement measuring device comprises a main sliding block, a counterweight frame, a counterweight, a second servo motor, a coupler, a rotating shaft, a linear bearing seat, a second speed reducer, a mounting bracket, a second angle encoder flange, an optical axis seat, a photoelectric displacement sensor and a photoelectric displacement sensor mounting plate; the second servo motor is fixed on one side surface of the mounting bracket, the output end of the second servo motor 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 to be fixedly connected with the input end of the second speed reducer, the second speed reducer is fixed on the other side surface of the mounting bracket, the bottom surface of the mounting bracket is fixed on the main sliding block, the bottom surface of the linear bearing seat is fixed on the mounting bracket, the second angle encoder is fixed on the second angle encoder flange, the second angle encoder flange is fixed on the output end of the second speed reducer, one end of the optical axis is fixedly connected with the output end of the second speed reducer, and the optical axis penetrates through the second angle encoder to be mounted on the two optical axis seats, the two optical axis seat through holes are vertically and downwards fixed at the vertical central line position of one side surface of the photoelectric displacement sensor mounting plate, and the two photoelectric displacement sensors are respectively fixed at the other side surface of the photoelectric displacement sensor mounting plate in a manner of being symmetrical to the vertical central line; in the detection process, the driving lever drives the main sliding block to do linear motion, and the photoelectric displacement sensor follows the main sliding block to do linear motion; the second servo motor provides driving force for rotary motion, torque is amplified and rotating speed is reduced through the rotating shaft and the second speed reducer, the optical axis is driven to rotate, the photoelectric displacement sensor rotates along with the rotating shaft, and the second angle encoder provides the actual rotating angle of the optical axis;
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 zero setting process, when the universal joint drives the driving mechanism rotor to rotate, the rotor positioning pin moves along with the driving mechanism rotor.
2. The mechanical zero setting device of a driving mechanism with an auxiliary measuring device as claimed in claim 1, characterized in that: the universal joint is provided with a torsional spring, one end of the torsional spring is connected with the input end of the universal joint, the other end of the torsional spring is connected with the output end of the universal joint, and the transmission backlash of the input end and the output end of the universal joint is eliminated.
3. The mechanical zero setting device of a driving mechanism with an auxiliary measuring device as claimed in claim 1, characterized in that: the cross section of the longitudinal optical axis is in a combination shape of a semicircle and a rectangle and is used for limiting the rotational freedom degree of the mounting plate of the photoelectric displacement sensor.
4. The mechanical zero setting device of a driving mechanism with an auxiliary measuring device as claimed in claim 1, characterized in that: one side of the main sliding block is provided with a square notch, and one end of the driving lever is spherical and is arranged in the square notch of the main sliding block.
5. The mechanical zero setting device of a driving mechanism with an auxiliary measuring device as claimed in claim 1, characterized in that: one end of the driving mechanism rotor is provided with two cylindrical rotor positioning pins symmetrically to the rotation center of the driving mechanism.
6. A mechanical zero setting method for a driving mechanism with an auxiliary measuring device is characterized in that: the method specifically comprises the following steps:
the method comprises the following steps: loosening screws used for fixing the optical axes on the two optical axis bases to enable the photoelectric displacement sensor mounting plate to move longitudinally; adjusting the height of an optical axis until the photoelectric displacement sensor can measure the upper plane of the working platform; screws used for fixing the optical axes on the two optical axis seats are screwed down, so that the photoelectric displacement sensor mounting plate cannot move longitudinally;
step two: a linear module servo motor of the linear module is driven to drive a linear module sliding block to drive a main sliding block on the linear guide rail to move; the two photoelectric displacement sensors do linear motion along with the main sliding block on the linear guide rail; meanwhile, the two photoelectric displacement sensors respectively measure and record the longitudinal distance between the photoelectric displacement sensors and the working platform at different positions; according to position data generated by the movement of the sliding block of the grating ruler and measurement data of the photoelectric displacement sensor, the position data and the measurement data serve as reference data of error compensation;
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 rotor of the driving mechanism with the output end of a universal joint of the rotary control mechanism; fixing the stator of the driving mechanism on the working platform by using screws;
step four: loosening screws used for fixing the optical axes on the two optical axis bases to enable the photoelectric displacement sensor mounting plate to move longitudinally; adjusting the height of an optical axis until the photoelectric displacement sensor can measure two rotor positioning pins on a rotor of the driving mechanism; then, a screw used for fixing the optical axis on the optical axis seat is screwed down, so that the mounting plate of the photoelectric displacement sensor cannot move longitudinally;
step five: driving a linear module servo motor to enable a linear module sliding block to drive a main sliding block on a linear guide rail to move; the photoelectric displacement sensor makes linear motion along with a main sliding block on the linear guide rail; meanwhile, recording the positions of the grating ruler slide blocks when one photoelectric displacement sensor detects two rotor positioning pins on the rotor of the driving mechanism according to the grating ruler guide rail; calculating to obtain the actual central position of the driving mechanism, and moving the optical axis to be right above the central position of the driving mechanism;
step six: the output end of the first servo motor amplifies output torque and reduces output rotating speed through a first speed reducer to drive the 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 a rotor of the driving mechanism to rotate, and meanwhile, a first angle encoder feeds back an actual rotation angle of the universal joint in real time; stopping rotating the first servo motor of the control mechanism until the two photoelectric displacement sensors can detect the two rotor positioning pins respectively;
step seven: the two photoelectric displacement sensors respectively measure and record the distances from the two rotor positioning pins to the photoelectric displacement sensors, and the required rotation angle theta of the driving mechanism during zero adjustment is calculated; the first servo motor drives the rotation control mechanism, and when the rotation angle fed back by the first angle encoder is theta, the first servo motor of the rotation control mechanism is immediately stopped;
step eight: checking whether the mechanical zero position of the driving mechanism meets the requirement, driving a second servo motor of the measuring mechanism to enable the two photoelectric displacement sensors to rotate 180 degrees along with the optical axis, and repeating the seventh step until the mechanical zero position of the driving mechanism meets the requirement;
step nine: unloading the driving mechanisms which are subjected to mechanical zero setting, and repeating the third step to the eighth step until all the driving mechanisms are subjected to mechanical zero setting;
step ten: all objects are either zeroed or zeroed.
7. The mechanical zero setting method of the driving mechanism with the auxiliary measuring device as claimed in claim 6, characterized in that: the method for calculating the angle theta required by zero setting of the driving mechanism in the seventh step comprises the following steps: before the measurement process, the central distance between the two rotor positioning pins is d, and the target mechanical zero position of the driving mechanism is that the two rotor positioning pins are positioned on the same horizontal line; a rotor positioning pin positioned on the left side is a, and a rotor positioning pin positioned on the right side is b; in the measuring process, because the position data provided by the grating ruler slide block and the measuring data of the photoelectric displacement sensor are related to time, the absolute positions of the grating ruler slide block on the grating ruler guide rail are Xa and Xb respectively when the photoelectric displacement sensor measures the two rotor positioning pins, and the position of the grating ruler slide block is X when the detection light spot of the photoelectric displacement sensor moves to the central position of the driving mechanismo＝(Xa-Xb) 2; the two photoelectric displacement sensors measure and record longitudinal distances between the photoelectric displacement sensors and the working platform at different positions to serve as a database for error compensation; in addition, the two photoelectric displacement sensors respectively measure and record the distances between two mover positioning pins on the mover of the driving mechanism and the photoelectric displacement sensors; longitudinal distances between the rotor positioning pin a and the rotor positioning pin b and the photoelectric displacement sensor are respectively da and db; because the position data provided by the sliding of the grating scale slide block on the grating scale guide rail and the measurement data of the photoelectric displacement sensor are both related to time, the absolute position of the grating scale slide block on the grating scale guide rail when the photoelectric displacement sensor measures the two rotor positioning pins can be indirectly determined; setting the positions of the rotor positioning pin a and the rotor positioning pin b as Ya and Yb respectively; searching an error compensation database according to Ya and Yb, and determining that the longitudinal distances between the photoelectric displacement sensor and the working platform are da 'and db' when the photoelectric displacement sensor is at the two positions; the angle theta (Arcsin) that the two rotor positioning pins rotate to the horizontal position and the rotor of the driving mechanism needs to rotate can be obtained (d)a-db-(d′a-d′b) D)) when the angle is positive,clockwise rotating the rotor of the driving mechanism; and when the angle is negative, the rotor of the driving mechanism is rotated anticlockwise.
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