CN113029530A - High-precision zero setting device and zero setting method for driving system - Google Patents
High-precision zero setting device and zero setting method for driving system Download PDFInfo
- Publication number
- CN113029530A CN113029530A CN202011629276.8A CN202011629276A CN113029530A CN 113029530 A CN113029530 A CN 113029530A CN 202011629276 A CN202011629276 A CN 202011629276A CN 113029530 A CN113029530 A CN 113029530A
- Authority
- CN
- China
- Prior art keywords
- driving mechanism
- rotor
- air
- optical axis
- working platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
-
- 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
- G01B21/24—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 for testing alignment of axes
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Machine Tool Units (AREA)
Abstract
The invention discloses a high-precision zero setting device and a zero setting method of a driving system, which comprise a zero setting platform, a rotation control mechanism, a measuring mechanism and a driving mechanism, wherein the zero setting platform comprises a supporting frame, an adjustable supporting table, a working platform, mounting vertical frames and positioning blocks, the measuring mechanism is mounted on the two mounting vertical frames of the mounting platform, the rotation control mechanism is mounted on the working platform and arranged between the two mounting vertical frames, the driving mechanism is mounted on the working platform through the positioning blocks, the output end of the rotation control mechanism is connected with the input end of the driving mechanism, the rotation control mechanism is used for controlling the rotation of the driving mechanism and feeding back a rotation angle, and the measuring mechanism is used for measuring the actual deviation of the mechanical zero position of the driving mechanism; the measuring mechanism comprises a linear motion guiding device and a displacement measuring device; 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.
Description
Technical Field
The invention relates to the field of mechanical zero setting, in particular to a high-precision zero setting device of a driving system and a zero setting method thereof.
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 high-precision zero setting method of the driving system 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 problems of low stability, low accuracy and low working efficiency caused by manual measurement and adjustment basically by manpower in the zero setting of the conventional driving mechanism, and provides a high-precision zero setting device and a zero setting method of a driving system.
The invention realizes the purpose through the following technical scheme: a high-precision zero setting device of a driving system comprises a zero setting platform, a rotation control mechanism, a measuring mechanism and a driving mechanism, wherein the zero setting platform comprises a support frame, adjustable support tables, a working platform, an installation vertical frame and a positioning block, the support frame is arranged on the ground, the number of the adjustable support tables is five, the bottoms of the five adjustable support tables are installed on the support frame, and the working platform is horizontally installed at the tops of the five adjustable support tables; the upper surface of the working platform is provided with a square groove, the positioning block is arranged in the square groove on the surface of the working platform, the number of the mounting vertical frames is two, the two mounting vertical frames are vertically fixed on the working platform, and the two mounting vertical frames are symmetrically arranged about the central axis of the square groove;
for the five adjustable supporting platforms, in the process of leveling the working platform, three adjustable supporting platforms distributed in a triangular mode are used as main adjusting supporting points for determining the actual levelness of the working platform, and the other two adjustable supporting platforms are used as auxiliary adjusting supporting pads for sharing supporting force.
The measuring mechanism is arranged on two installation vertical frames of the zero setting platform, the rotation control mechanism is arranged on the working platform and arranged between the two installation vertical frames, the driving mechanism is arranged on the working platform through a positioning block, the output end of the rotation control mechanism is connected with the input end of the driving mechanism, and the rotation control mechanism is used for controlling the rotation of the driving mechanism and feeding back the rotation angle; the measuring mechanism is used for measuring the actual deviation of the mechanical zero position of the driving mechanism;
the rotation control mechanism comprises a servo motor, a speed reducer, a coupler, a main shaft, a brake support, an induction synchronizer, a bearing seat, a universal joint, a bottom plate and a speed reducer support, wherein the output end of the servo motor is connected with the input end of the speed reducer, the servo motor is fixed on a shell of the speed reducer, the speed reducer is fixed on the bottom plate through the speed reducer support, and the bottom plate is installed on a working platform between two installation vertical frames; the output end of the speed reducer is connected with one end of a main shaft through a coupler, the other end of the main shaft penetrates through a bearing seat and then is connected with the input end of a universal joint, and the bearing seat is fixed on a bottom plate; the brake and the induction synchronizer are sleeved on the main shaft, the brake is installed and fixed on the bottom plate through a brake support, the brake is installed on the side face, close to the speed reducer, of the brake support, and the induction synchronizer is fixedly installed on the main shaft; the output end of the universal joint is connected with the input end of the driving mechanism; the output shaft of the servo motor, the reducer, the coupling, the main shaft, the brake, the induction synchronizer and the axis of the input end of the universal joint are on the same straight line; in the zero setting process, the servo motor provides driving force for rotary motion, the moment is amplified and the rotating speed is reduced through the speed reducer, the main shaft is driven to rotate and the universal joint is driven to rotate, and the induction synchronizer provides the actual rotating angle of the universal joint;
the measuring mechanism comprises an air-floating guide rail, a linear motor, an air-floating sliding block, a balance weight, a drag chain track, a supporting frame, a drag chain transfer block, an optical axis seat, a sliding block transfer block, a photoelectric displacement sensor and a photoelectric displacement sensor mounting plate. The linear motor comprises a linear motor stator and a linear motor rotor, the linear motor stator is fixed in a groove on the air-floating guide rail, the air-floating slide block is arranged on the air-floating guide rail, the balance weight is arranged on the air-floating slide block, the side surface of the drag chain transfer block is fixed on one side surface of the air-floating slide block, the slide block transfer block is fixed on the other side surface of the air-floating slide block, one end of the drag chain is connected on the drag chain transfer block, the other end of the drag chain is connected at one end of the drag chain track, the drag chain track is fixed on the two support frames, the side surfaces of the two support frames are respectively fixed on one side surfaces of the two mounting vertical frames, the number of the optical axis seats is three, the optical axis through holes of the two optical axis seats are vertically downward and fixed on the slide block transfer block, and the third optical axis seat is fixed on, the optical axis is arranged in the three optical axis seats, and the photoelectric displacement sensor is fixed on the other surface of the photoelectric displacement sensor mounting plate; in the measuring process, the linear motor rotor drives the air-floating slide block to do linear motion, and the photoelectric displacement sensor moves along with the air-floating slide block;
the driving mechanism comprises a driving mechanism rotor and a driving mechanism stator, wherein 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 notch is formed in the center of the air-floating sliding block, a section of cylinder protrudes from the upper surface of the linear motor rotor and is arranged in the center notch of the air-floating sliding block; in the measuring process, the linear motor rotor drives the air-floatation sliding block to do linear motion, and the cylinder is in line-surface contact with the notch, so that error transmission caused by longitudinal jumping in a transmission link from the linear motor rotor to the air-floatation sliding block is avoided.
Further, the cross section of the optical axis is in a combination of a semicircular shape and a rectangular shape, and is used for limiting the rotational freedom degree of the optical axis.
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.
Furthermore, the two rotor positioning pins are cylindrical, and are horizontally arranged on the side surface of the rotor of the driving mechanism, which is close to the rotary control mechanism.
A high-precision zero setting method for a driving system specifically comprises the following steps:
the method comprises the following steps: adjusting the adjustable bolts in the five adjustable supporting platforms to enable the working platform to be in a horizontal state;
step two: screws used for fixing the optical axis in the two optical axis seats on the sliding block transfer block are unscrewed, so that the optical axis can move longitudinally; adjusting the height of an optical axis until the photoelectric displacement sensor can measure the upper plane of the working platform; then screws used for fixing the optical axis in the two optical axis seats on the sliding block transfer block are screwed down, so that the optical axis cannot move longitudinally;
step three: driving a linear motor on the air-floatation guide rail to enable a rotor of the linear motor to drive an air-floatation sliding block on the air-floatation guide rail to move; the photoelectric displacement sensor moves linearly along with the air-floating slide block; meanwhile, the photoelectric displacement sensor measures and records the longitudinal distance between the photoelectric displacement sensor and the working platform at different positions; calculating the straightness of the plane of the air-floating guide rail relative to the working platform according to data recorded when the photoelectric displacement sensor slides linearly;
step four: 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 five: screws used for fixing the optical axis in the two optical axis seats on the sliding block transfer block are unscrewed, so that the optical axis can 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 screws used for fixing the optical axis in the two optical axis seats on the sliding block transfer block are screwed down, so that the optical axis cannot move longitudinally;
step six: driving a linear motor on the air-floatation guide rail to enable a rotor of the linear motor to drive an air-floatation sliding block on the air-floatation guide rail to move; the photoelectric displacement sensor moves linearly along with the air-floating slide block; meanwhile, the photoelectric displacement sensor measures and records the distance between two rotor positioning pins on a rotor of the driving mechanism and the photoelectric displacement sensor; calculating to obtain an actual angle theta of the rotor of the driving mechanism, which needs to rotate;
step seven: the output end of the servo motor amplifies output torque and reduces output rotating speed through a speed reducer to drive the main shaft to rotate, so that an induction synchronizer 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 the induction synchronizer feeds back the actual rotation angle of the universal joint in real time; when the rotation angle fed back by the induction synchronizer is theta, immediately stopping rotating a servo motor of the control mechanism;
step eight: checking whether the mechanical zero position of the driving mechanism meets the requirement, and repeating the sixth step and 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 fourth 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.
Further, 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, the photoelectric displacement sensor measures and records the longitudinal distance between the photoelectric displacement sensor and the working platform at different positions, and calculates the straightness of the plane of the air floatation guide rail relative to the working platform as delta d, and the straightness measuring direction is from left to right; the longitudinal distances between the rotor positioning pin a and the rotor positioning pin b and the photoelectric displacement sensor are respectively da and db so as to obtain the angle calculation formula that the two rotor positioning pins rotate to the horizontal position and the rotor of the driving mechanism needs to rotate
θ＝arcsin((da-db-Δd)/d)。
Further, when the angle theta is positive, the servo motor rotates clockwise to drive the rotor of the driving mechanism to rotate clockwise; when the angle is negative, the servo motor rotates anticlockwise to drive the rotor of the driving mechanism to rotate anticlockwise.
The invention has the beneficial effects that:
1) five adjustable supporting platforms are added between the working platform and the supporting bracket, and the levelness of the working platform is adjusted by adjusting adjustable bolts of the adjustable supporting platforms, so that the working platform is horizontal;
2) 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;
3) the linear motor is adopted to control the main sliding block to do transverse motion, so that the automation level of the measuring process is improved;
4) the 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;
5) the invention is provided with a notch at the central position of an air-floating slide block, a section of cylinder protrudes out of a rotor of a linear motor and is arranged in the central notch of the air-floating slide block; in the measuring process, the linear motor rotor drives the air-floatation sliding block to do linear motion, and the cylinder is in line-surface contact with the notch, so that error transmission generated by longitudinal jumping in a transmission link from the linear motor rotor to the air-floatation sliding block is avoided, and the measuring precision of the measuring mechanism is improved;
6) according to the invention, the air-floating sliding block is additionally provided with the counter weight to increase the pretightening force, so that the stability of the air-floating sliding block in the moving process is improved, and the measurement precision of the measurement mechanism is ensured;
7) according to the invention, the induction synchronizer is added on the main shaft to feed back the actual rotation angle of the main shaft, so that closed-loop control is realized; when the servo motor of the rotation control mechanism stops driving, the rotation of the main shaft is stopped in time through the brake. The rotation control mechanism can control the rotation angle with high precision;
8) in the measuring process, the longitudinal distance between the photoelectric displacement sensor and the working platform at different positions is measured and recorded by the photoelectric displacement sensor, and the straightness of the plane of the air floatation guide rail relative to the working platform is calculated and used as error compensation data, so that the longitudinal error generated by incomplete parallel of the plane of the linear guide rail and the working platform is reduced, and the actual measuring accuracy of the measuring mechanism is improved;
9) the invention adopts the air-floating motion mode of the air-floating slide block in the measuring process, and has the advantages of long service life, high measuring precision and stable motion compared with the direct contact motion.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a high-precision zeroing device of a driving system.
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 left side view of the measuring mechanism of the present invention.
Fig. 5 is a top view of the measuring mechanism of the present invention.
Fig. 6 is a schematic structural view of the drive mechanism of the present invention.
In the figure: 1-a zeroing stage; 11-a support leg; 12-an adjustable support table; 13-a working platform; 14-installing a vertical frame; 15-positioning blocks; 2-a rotation control mechanism; 21-a servo motor; 22-a reducer; 23-a coupler; 24-a main shaft; 25-a brake; 26-a brake carrier; 27-an induction synchronizer; 28-a bearing seat; 29-universal joint; 210-a backplane; 211-reducer carrier; 3-a measuring mechanism; 31-a measuring stand; 32-a drag chain track; 33-a drag chain; 34-a drag chain transfer block; 35-air-floating slide block; 36-a counterweight; 37-linear motor; 371-linear motor stator; 372-the linear motor mover; 38-a slider transfer block; 39-optical axis seat; 310-optical axis; 311-photoelectric displacement sensor mounting plate; 312-a photoelectric displacement sensor; 313-an air-float guide rail; 4-a drive mechanism; 41-a drive mechanism mover; 410-rotor positioning pins; 42-drive mechanism stator.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1 to 6, a high-precision zeroing device for a driving system comprises a zeroing platform 1, a rotation control mechanism 2, a measuring mechanism 3 and a driving mechanism 4, wherein the zeroing platform 1 comprises a support frame 11, adjustable support tables 12, a working platform 13, an installation stand 14 and a positioning block 15, the support frame 11 is arranged on the ground, the adjustable support tables 12 are provided with five parts, the bottoms of the five adjustable support tables 12 are installed on the support frame 11, and the working platform 13 is horizontally installed at the tops of the five adjustable support tables 12; a square groove is formed in the upper surface of the working platform 13, the positioning block 15 is arranged in the square groove in the surface of the working platform 13, two installation vertical frames 14 are arranged, the two installation vertical frames 14 are vertically fixed on the working platform 13, and the two installation vertical frames 14 are symmetrically arranged around the central axis of the square groove; the measuring mechanism 3 is installed on two installation vertical frames 14 of the zeroing platform 1, the rotation control mechanism 2 is installed on the working platform 13, the rotation control mechanism 2 is arranged between the two installation vertical frames 14, the driving mechanism 4 is installed on the working platform 13 through a positioning block 15, the output end of the rotation control mechanism 2 is connected with the input end of the driving mechanism 4, and the rotation control mechanism 2 is used for controlling the rotation of the driving mechanism 4 and feeding back the rotation angle; the measuring device 3 is used to measure the actual deviation of the mechanical zero position of the drive device 4.
The rotation control mechanism 2 comprises a servo motor 21, a speed reducer 22, a coupler 23, a main shaft 24, a brake 25, a brake support 26, an induction synchronizer 27, a bearing seat 28, a universal joint 29, a bottom plate 210 and a speed reducer support 211, wherein the output end of the servo motor 21 is connected with the input end of the speed reducer 22, the servo motor 21 is fixed on the shell of the speed reducer 22, the speed reducer 22 is fixed on the bottom plate 210 through the speed reducer support 211, and the bottom plate 210 is installed on the working platform 13 between two installation vertical frames 14; the output end of the speed reducer 22 is connected with one end of a main shaft 24 through a coupling 23, the other end of the main shaft 24 penetrates through a bearing seat 28 and then is connected with the input end of a universal joint 29, and the bearing seat 28 is fixed on a bottom plate 210; the brake 25 and the induction synchronizer 27 are sleeved on the main shaft 24, the brake 25 is installed and fixed on the bottom plate 210 through the brake bracket 26, the brake 25 is installed on the side surface of the brake bracket 26 close to the speed reducer 22, and the induction synchronizer 27 is fixedly installed on the main shaft 24; the output end of the universal joint 29 is connected with the input end of the driving mechanism 4; the output shaft of the servo motor 21, the reducer 22, the coupler 23, the main shaft 24, the brake 25, the induction synchronizer 27 and the axis of the input end of the universal joint 29 are on the same straight line; during the zero setting process, the servo motor 21 provides a driving force for rotational motion, the speed reducer 22 amplifies the torque and reduces the rotation speed, the main shaft 24 is driven to rotate and drives the universal joint 29 to rotate, and the induction synchronizer 27 provides an actual rotation angle of the universal joint 29.
The measuring mechanism 3 comprises an air-floating guide rail 313, a linear motor 37, an air-floating slide block 35, a counterweight 36, a drag chain 33, a drag chain track 32, a measuring bracket 31, a drag chain transfer block 34, an optical axis 310, an optical axis seat 39, a slide block transfer block 38, a photoelectric displacement sensor 312 and a photoelectric displacement sensor mounting plate 311; the linear motor 37 comprises a linear motor stator 371 and a linear motor rotor 372, the linear motor stator 371 is fixed in a groove on the air-floating guide rail 313, the air-floating slide block 35 is arranged on the air-floating guide rail 313, the counterweight 36 is arranged on the air-floating slide block 35, the side surface of the drag chain transfer block 34 is fixed on one side surface of the air-floating slide block 35, the slide block transfer block 38 is fixed on the other side surface of the air-floating slide block 35, one end of the drag chain 33 is connected on the drag chain transfer block 34, the other end of the drag chain 33 is connected on one end of the drag chain track 32, the drag chain track 32 is fixed on the two measuring supports 31, the side surfaces of the two measuring supports 31 are respectively fixed on one side surface of the two mounting stands 14, the number of the optical axis seats 39 is three, the through holes of the optical axes 310 of the two optical axis seats 39 are vertically downward and fixed on the slide block transfer block, the third optical axis seat 39 is fixed on one surface of the photoelectric displacement sensor mounting plate 311, the optical axis 310 is installed in the three optical axis seats 39, and the photoelectric displacement sensor 312 is fixed on the other surface of the photoelectric displacement sensor mounting plate 311; in the measurement process, the linear motor rotor 372 drives the air-floating slide block 35 to make a linear motion, and the photoelectric displacement sensor 312 moves along with the air-floating slide block 35.
The driving mechanism 4 comprises a driving mechanism rotor 41 and a driving 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 13; 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.
A notch is formed in the center of the air-floating slide block 35, a section of cylinder protrudes from the linear motor rotor 372, and the linear motor rotor is placed in the center notch of the air-floating slide block 35; in the measuring process, the linear motor rotor 372 drives the air-floating slide block 35 to do linear motion, and the cylinder is in line-surface contact with the notch, so that error transmission caused by longitudinal jumping in a transmission link from the linear motor rotor 372 to the air-floating slide block 35 is avoided.
The cross-sectional shape of the optical axis 310 is a combination of a semicircle and a rectangle.
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.
The two mover positioning pins 410 are both cylindrical in shape, and the two mover positioning pins 410 are horizontally installed on the side surface of the mover of the driving mechanism 4 close to the rotation control mechanism 2.
A high-precision zero setting method for a driving system specifically comprises the following steps:
the method comprises the following steps: adjusting the adjustable bolts in the five adjustable support tables 12 to enable the working platform 13 to be in a horizontal state;
step two: loosening screws used for fixing the optical axis 310 in the two optical axis seats 39 on the sliding block transfer block 38 to enable the optical axis 310 to move longitudinally; adjusting the height of the optical axis 310 until the photoelectric displacement sensor 312 can measure the upper plane of the working platform 13; then screws used for fixing the optical axis 310 in the two optical axis seats 39 on the sliding block transfer block 38 are screwed down, so that the optical axis 310 cannot move longitudinally;
step three: driving a linear motor 37 on the air-floating guide rail 313 to enable a linear motor rotor 372 to drive an air-floating slide block 35 on the air-floating guide rail 313 to move; the photoelectric displacement sensor 312 moves linearly along with the air-bearing slider 35; meanwhile, the photoelectric displacement sensor 312 measures and records the longitudinal distance between the photoelectric displacement sensor 312 and the working platform 13 at different positions; calculating the straightness of the plane of the air-floating guide rail 313 relative to the working platform 13 according to the data recorded when the photoelectric displacement sensor 312 slides linearly;
step four: the driving mechanism 4 is placed on the working platform 13 by relying on 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 a universal joint 29 of the rotary control mechanism 2; fixing the driving mechanism stator 42 on the working platform 13 by using screws;
step five: loosening screws used for fixing the optical axis 310 in the two optical axis seats 39 on the sliding block transfer block 38 to enable the optical axis 310 to move longitudinally; adjusting the height of the optical axis 310 until the photoelectric displacement sensor 312 can measure two mover positioning pins 410 on the driving mechanism mover 41; then screws used for fixing the optical axis 310 in the two optical axis seats 39 on the sliding block transfer block 38 are screwed down, so that the optical axis 310 cannot move longitudinally;
step six: driving a linear motor 37 on the air-floating guide rail 313 to enable a linear motor rotor 372 to drive an air-floating slide block 35 on the air-floating guide rail 313 to move; the photoelectric displacement sensor 312 moves linearly along with the air-bearing slider 35; meanwhile, the photoelectric displacement sensor 312 measures and records the distance between two mover positioning pins 410 on the mover 41 of the driving mechanism and the photoelectric displacement sensor 312; calculating to obtain an actual angle theta of the driving mechanism rotor 41 required to rotate;
step seven: a servo motor 21 for driving the rotation control mechanism 2, wherein the output end of the servo motor 21 amplifies the output torque and reduces the output rotating speed through a speed reducer 22, and drives a main shaft 24 to rotate, thereby driving an induction synchronizer 27 and a universal joint 29 on the main shaft 24 to rotate; the universal joint 29 drives the driving mechanism rotor 41 to rotate, and the induction synchronizer 27 feeds back the actual rotation angle of the universal joint 29 in real time; when the rotation angle fed back by the induction synchronizer 27 is theta, immediately stopping the servo motor 21 of the rotation control mechanism 2;
step eight: checking whether the mechanical zero position of the driving mechanism 4 meets the requirement, and repeating the sixth step and 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 from four 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 central distance between the two rotor positioning pins 410 is d, and the target mechanical zero position of the driving mechanism 4 is that the two rotor positioning pins 410 are in the same horizontal line; let the mover positioning pin 410 located on the left be a, and the mover positioning pin 410 located on the right be b; in the measuring process, the photoelectric displacement sensor 312 measures and records the longitudinal distance between the photoelectric displacement sensor 312 and the working platform 13 at different positions, and calculates the straightness Δ d of the plane of the air floatation guide rail 313 relative to the working platform 13, wherein the straightness measuring direction is from left to right; the longitudinal distances between the mover positioning pins 410a and 410b and the photoelectric displacement sensor 312 are respectively da and db, so as to obtain that the two mover positioning pins 410 rotate to the horizontal position, and the calculation formula of the angle of the driving mechanism mover 41 which needs to rotate is
θ＝arcsin((da-db-Δd)/d)。
When the angle theta is positive, the servo motor 21 rotates clockwise to drive the rotor of the driving mechanism 4 to rotate clockwise; when the angle is negative, the servo motor 21 rotates counterclockwise to drive the rotor of the driving mechanism 4 to rotate 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 (8)
1. The utility model provides a drive system high accuracy zero setting device which characterized in that: the device comprises a zero setting platform (1), a rotation control mechanism (2), a measuring mechanism (3) and a driving mechanism (4), wherein the zero setting platform (1) comprises a support frame (11), adjustable support tables (12), a working platform (13), an installation stand (14) and a positioning block (15), the support frame (11) is arranged on the ground, five adjustable support tables (12) are arranged, the bottoms of the five adjustable support tables (12) are arranged on the support frame (11), and the working platform (13) is horizontally arranged at the tops of the five adjustable support tables (12); a square groove is formed in the upper surface of the working platform (13), the positioning blocks (15) are arranged in the square groove in the surface of the working platform (13), two installation vertical frames (14) are arranged, the two installation vertical frames (14) are vertically fixed on the working platform (13), and the two installation vertical frames (14) are symmetrically arranged around the central axis of the square groove; the measuring mechanism (3) is arranged on two installation vertical frames (14) of the zero setting platform (1), the rotation control mechanism (2) is arranged on the working platform (13) and the rotation control mechanism (2) is arranged between the two installation vertical frames (14), the driving mechanism (4) is arranged on the working platform (13) through a positioning block (15), the output end of the rotation control mechanism (2) is connected with the input end of the driving mechanism (4), and the rotation control mechanism (2) is used for controlling the driving mechanism (4) to rotate and feeding back the rotation angle; 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) comprises a servo motor (21), a speed reducer (22), a coupler (23), a main shaft (24), a brake (25), a brake support (26), an induction synchronizer (27), a bearing seat (28), a universal joint (29), a bottom plate (210) and a speed reducer support (211), wherein the output end of the servo motor (21) is connected with the input end of the speed reducer (22), the servo motor (21) is fixed on a shell of the speed reducer (22), the speed reducer (22) is fixed on the bottom plate (210) through the speed reducer support (211), and the bottom plate (210) is installed on a working platform (13) between two installation vertical frames (14); the output end of the speed reducer (22) is connected with one end of a main shaft (24) through a coupling (23), the other end of the main shaft (24) penetrates through a bearing seat (28) and then is connected with the input end of a universal joint (29), and the bearing seat (28) is fixed on a bottom plate (210); the brake (25) and the induction synchronizer (27) are sleeved on the main shaft (24), the brake (25) is installed and fixed on the bottom plate (210) through a brake support (26), the brake (25) is installed on the side face, close to the speed reducer (22), of the brake support (26), and the induction synchronizer (27) is fixedly installed on the main shaft (24); the output end of the universal joint (29) is connected with the input end of the driving mechanism (4); the output shaft of the servo motor (21), the speed reducer (22), the coupling (23), the main shaft (24), the brake (25), the induction synchronizer (27) and the axis of the input end of the universal joint (29) are on the same straight line; in the zero setting process, the servo motor (21) provides a driving force of rotary motion, the moment is amplified and the rotating speed is reduced through the speed reducer (22), the main shaft (24) is driven to rotate and drives the universal joint (29) to rotate, and the induction synchronizer (27) provides an actual rotating angle of the universal joint (29);
the measuring mechanism (3) comprises an air-floating guide rail (313), a linear motor (37), an air-floating sliding block (35), a balance weight (36), a drag chain (33), a drag chain track (32), a measuring bracket (31), a drag chain transfer block (34), an optical axis (310), an optical axis seat (39), a sliding block transfer block (38), a photoelectric displacement sensor (312) and a photoelectric displacement sensor mounting plate (311); the linear motor (37) comprises a linear motor stator (371) and a linear motor rotor (372), the linear motor stator (371) is fixed in a groove above the air floating guide rail (313), the air floating sliding block (35) is placed above the air floating guide rail (313), the counterweight (36) is placed above the air floating sliding block (35), the side surface of the drag chain transfer block (34) is fixed on one side surface of the air floating sliding block (35), the sliding block transfer block (38) is fixed on the other side surface of the air floating sliding block (35), one end of the drag chain (33) is connected on the drag chain transfer block (34), the other end of the drag chain (33) is connected at one end of the drag chain track (32), the drag chain track (32) is fixed on the two measuring supports (31), the side surfaces of the two measuring supports (31) are respectively fixed on one side surfaces of the two mounting vertical supports (14), the number of the optical axis bases (39) is three, the through holes of the optical axes (310) of the two optical axis bases (39) are vertically downward and fixed on the sliding block transfer block (38), the third optical axis base (39) is fixed on one surface of the photoelectric displacement sensor mounting plate (311), the optical axes (310) are mounted in the three optical axis bases (39), and the photoelectric displacement sensors (312) are fixed on the other surface of the photoelectric displacement sensor mounting plate (311); in the measuring process, the linear motor rotor (372) drives the air-floating slide block (35) to do linear motion, and the photoelectric displacement sensor (312) moves along with the air-floating slide block (35);
the driving mechanism (4) comprises a driving mechanism rotor (41) and a driving 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 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).
2. The high-precision zero setting device of the driving system according to claim 1, characterized in that: a notch is formed in the center of the air-floating sliding block (35), a section of cylinder protrudes out of the linear motor rotor (372), and the linear motor rotor is placed in the center notch of the air-floating sliding block (35); in the measuring process, the linear motor rotor (372) drives the air-floating slide block (35) to do linear motion, and the cylinder is in line-surface contact with the notch, so that error transmission caused by longitudinal jumping in a transmission link from the linear motor rotor (372) to the air-floating slide block (35) is avoided.
3. The high-precision zero setting device of the driving system according to claim 1, characterized in that: the cross section of the optical axis (310) is in a combined shape of a semicircle and a rectangle.
4. The high-precision zero setting device of the driving system according to claim 1, characterized in that: one end of the driving mechanism rotor (41) is provided with two cylindrical rotor positioning pins (410) which are symmetrical to the rotation center of the driving mechanism (4).
5. The high-precision zero setting device of the driving system according to claim 1, characterized in that: the two rotor positioning pins (410) are cylindrical, and the two rotor positioning pins (410) are horizontally arranged on the side surface of the rotor of the driving mechanism (4) close to the rotary control mechanism (2).
6. A high-precision zero setting method for a driving system is characterized by comprising the following steps: the method specifically comprises the following steps:
the method comprises the following steps: adjusting the adjustable bolts in the five adjustable supporting platforms (12) to enable the working platform (13) to be in a horizontal state;
step two: loosening screws used for fixing the optical axis (310) in the two optical axis seats (39) on the sliding block transfer block (38) to enable the optical axis (310) to move longitudinally; adjusting the height of the optical axis (310) until the photoelectric displacement sensor (312) can measure the upper plane of the working platform (13); then screws used for fixing the optical axis (310) in the two optical axis seats (39) on the sliding block transfer block (38) are screwed down, so that the optical axis (310) cannot move longitudinally;
step three: a linear motor (37) on the air-floating guide rail (313) is driven, so that a linear motor rotor (372) drives an air-floating slide block (35) on the air-floating guide rail (313) to move; the photoelectric displacement sensor (312) moves linearly along with the air floatation slide block (35); meanwhile, the photoelectric displacement sensor (312) measures and records the longitudinal distance between the photoelectric displacement sensor (312) and the working platform (13) at different positions; calculating the straightness of the plane of the air-floating guide rail (313) relative to the working platform (13) according to data recorded when the photoelectric displacement sensor (312) slides linearly;
step four: the driving mechanism (4) is placed on the working platform (13) by depending on 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 a universal joint (29) of a rotary control mechanism (2); fixing a driving mechanism stator (42) on the working platform (13) by using screws;
step five: loosening screws used for fixing the optical axis (310) in the two optical axis seats (39) on the sliding block transfer block (38) to enable the optical axis (310) to move longitudinally; adjusting the height of an optical axis (310) until the photoelectric displacement sensor (312) can measure two rotor positioning pins (410) on a rotor (41) of the driving mechanism; then screws used for fixing the optical axis (310) in the two optical axis seats (39) on the sliding block transfer block (38) are screwed down, so that the optical axis (310) cannot move longitudinally;
step six: a linear motor (37) on the air-floating guide rail (313) is driven, so that a linear motor rotor (372) drives an air-floating slide block (35) on the air-floating guide rail (313) to move; the photoelectric displacement sensor (312) moves linearly along with the air floatation slide block (35); meanwhile, the photoelectric displacement sensor (312) measures and records the distance between two mover positioning pins (410) on the mover (41) of the driving mechanism and the photoelectric displacement sensor (312); calculating to obtain an actual angle theta of the driving mechanism rotor (41) needing to rotate;
step seven: the servo motor (21) drives the rotation control mechanism (2), the output end of the servo motor (21) amplifies the output torque and reduces the output rotating speed through the speed reducer (22), and the main shaft (24) is driven to rotate, so that the induction synchronizer (27) and the universal joint (29) on the main shaft (24) are driven to rotate; the universal joint (29) drives the driving mechanism rotor (41) to rotate, and the induction synchronizer (27) feeds back the actual rotation angle of the universal joint (29) in real time; when the rotation angle fed back by the induction synchronizer (27) is theta, immediately stopping the servo motor (21) of the rotation control mechanism (2);
step eight: checking whether the mechanical zero position of the driving mechanism (4) meets the requirement, and repeating the sixth step and 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 subjected to mechanical zero setting, and repeating the fourth step to the eighth step on the driving mechanisms (4) which are subjected to mechanical zero setting until all the driving mechanisms (4) are subjected to mechanical zero setting;
step ten: all objects are either zeroed or zeroed.
7. The high-precision zeroing method for the driving system according to claim 6, wherein: before the measurement process, the central distance between the two rotor positioning pins (410) is d, and the target mechanical zero position of the driving mechanism (4) is that the two rotor positioning pins (410) are positioned on the same horizontal line; let the mover positioning pin (410) located at the left side be a, and the mover positioning pin (410) located at the right side be b; in the measuring process, the photoelectric displacement sensor (312) measures and records the longitudinal distance between the photoelectric displacement sensor (312) and the working platform (13) at different positions, the straightness delta d of the plane of the air floatation guide rail (313) relative to the working platform (13) is calculated, and the straightness measuring direction is from left to right; the longitudinal distances between the rotor positioning pins (410) a and (410) b and the photoelectric displacement sensor (312) are respectively da and db, so that the fact that the two rotor positioning pins (410) rotate to the horizontal position is obtained, and the calculation formula of the angle of the driving mechanism rotor (41) needing to rotate is theta ═ arcsin ((d)a-db-Δd)/d)。
8. The high-precision zeroing method for the driving system according to claim 7, wherein: when the angle theta is positive, the servo motor (21) rotates clockwise to drive the rotor of the driving mechanism (4) to rotate clockwise; when the angle is negative, the servo motor (21) rotates anticlockwise to drive the rotor of the driving mechanism (4) to rotate anticlockwise.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011629276.8A CN113029530A (en) | 2020-12-30 | 2020-12-30 | High-precision zero setting device and zero setting method for driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011629276.8A CN113029530A (en) | 2020-12-30 | 2020-12-30 | High-precision zero setting device and zero setting method for driving system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113029530A true CN113029530A (en) | 2021-06-25 |
Family
ID=76459147
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011629276.8A Pending CN113029530A (en) | 2020-12-30 | 2020-12-30 | High-precision zero setting device and zero setting method for driving system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113029530A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115425873A (en) * | 2022-08-30 | 2022-12-02 | 上海衡拓液压控制技术有限公司 | Zero position adjusting control device of direct-acting linear force motor |
-
2020
- 2020-12-30 CN CN202011629276.8A patent/CN113029530A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115425873A (en) * | 2022-08-30 | 2022-12-02 | 上海衡拓液压控制技术有限公司 | Zero position adjusting control device of direct-acting linear force motor |
| CN115425873B (en) * | 2022-08-30 | 2024-04-05 | 上海衡拓液压控制技术有限公司 | Zero position adjusting and controlling device of direct-acting linear force motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106989699B (en) | Laser centering instrument calibration equipment and method for measuring indication error of laser centering instrument through laser centering instrument calibration equipment | |
| CN112762832A (en) | Driving mechanism mechanical zero setting device with auxiliary measuring device and method | |
| CN112710334B (en) | Zero position adjusting device and method for driving mechanism based on photoelectric displacement sensor | |
| CN112747783B (en) | Zero setting device and zero setting method for driving mechanism | |
| CN108827192B (en) | Measuring device and method for measuring coaxiality by adopting laser sensor | |
| CN212505664U (en) | A fine-tuning robot for construction of III type track boards of CRTS | |
| CN110132307A (en) | A kind of straight line dynamic calibration apparatus | |
| CN113029530A (en) | High-precision zero setting device and zero setting method for driving system | |
| CN111441198A (en) | A fine-tuning robot for construction of III type track boards of CRTS | |
| CN110539185B (en) | Long shaft clamping automatic leveling device and leveling method | |
| CN214502491U (en) | Zero adjusting device of driving mechanism based on photoelectric displacement sensor | |
| CN214502851U (en) | High-precision zero setting device of driving system | |
| CN214045344U (en) | Device for measuring mechanical zero position of driving mechanism and mechanically zeroing | |
| CN213748528U (en) | Zero setting device of driving mechanism | |
| CN214502360U (en) | Driving mechanism mechanical zero setting device with auxiliary measuring device | |
| CN214502359U (en) | Driving mechanism zero setting device using grating ruler to assist measurement | |
| CN112284311A (en) | Measuring device for measuring large bearing sealing groove | |
| CN112762833A (en) | Driving mechanism zero setting device and method using grating ruler to assist measurement | |
| CN117091517A (en) | Wall thickness measuring device and method for small-inner-diameter large-length cylinder structure | |
| CN110900305A (en) | Method for measuring positioning error of machine tool workbench | |
| CN113037017B (en) | Device and method for measuring mechanical zero position of driving mechanism and performing mechanical zero setting | |
| CN114061618A (en) | Batch testing device for fiber-optic gyroscopes | |
| CN220139405U (en) | Self-compensating linear motor for precision measurement platform | |
| CN217513442U (en) | X-direction, Y-direction and Z-direction clamping system | |
| CN218765216U (en) | Automatic change rail and examine dolly calibration stand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |