CN113037017B - Device and method for measuring mechanical zero position of driving mechanism and performing mechanical zero setting - Google Patents
Device and method for measuring mechanical zero position of driving mechanism and performing mechanical zero setting Download PDFInfo
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- CN113037017B CN113037017B CN202011629286.1A CN202011629286A CN113037017B CN 113037017 B CN113037017 B CN 113037017B CN 202011629286 A CN202011629286 A CN 202011629286A CN 113037017 B CN113037017 B CN 113037017B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/22—Optical devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
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Abstract
The invention discloses a device and a zeroing method for measuring a mechanical zero position of a driving mechanism and carrying out mechanical zeroing, wherein the device comprises a mounting platform, a rotation control mechanism, a measuring mechanism and a driving mechanism, the mounting platform comprises a supporting frame, a working platform, mounting uprights and positioning blocks, the measuring mechanism is arranged on the two mounting uprights of the mounting platform, the rotation control mechanism is arranged on the working platform and is arranged between the two mounting uprights, the driving mechanism is arranged 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, and the rotation control mechanism is used for controlling the driving mechanism to rotate and feeding back a rotation angle; the measuring mechanism is used for measuring the actual deviation of the mechanical zero position of the driving mechanism; the invention can make the mechanical zero position meet the index requirement by debugging the mechanical zero position of the driving mechanism in the production process of the driving mechanism.
Description
Technical Field
The invention relates to the field of mechanical zeroing, in particular to a device and a zeroing method for measuring a mechanical zero position of a driving mechanism and carrying out mechanical zeroing.
Background
The driving mechanism is provided with two zero identifiers, namely a mechanical zero identifier and an electrical zero identifier. In the production process of the driving mechanism, the deviation between the mechanical zero position and the electrical zero position of the driving mechanism is required to be debugged, so that the deviation between the mechanical zero position and the electrical zero position meets the index requirement.
The electrical zero position detection is mainly used for detecting the installation position and performance parameters of a zero position sensor installed in the driving mechanism, and zero position signals measured by an electrical measurement element are utilized. In practice, this null is an artificially defined position relative to the null of the machine. The mechanical zero position is a machine reference zero point marked by an instrument such as a scale on equipment, other equipment is installed, the operation takes the point as a reference position, and the mechanical zero point mainly used is generally the initial position for marking the shutdown state of the machine.
The zeroing method of the driving mechanism comprises the following steps: the measuring element corresponding to the mechanical zero position is measured by the number '0' to fix the measuring element, so that the mechanical zero position and the electrical zero position are at the same point position, namely, the mechanical zero position and the electrical zero position are coincident. However, in practice, the zero position of the mechanical encoder is difficult to coincide with the zero position of the measured value of the electric encoder, the data measured by the corresponding measuring element of the zero position of the mechanical encoder is in a range, and deviation exists. The deviation is generally shortened by two methods, one is to improve the performance and the mounting position accuracy of the zero position sensor in the driving mechanism; and the other is to measure the actual deviation and perform high-precision mechanical zeroing on the driving mechanism under the condition that the installation position and the performance of the zero position sensor in the driving mechanism are determined. The current practice of zeroing the drive mechanism is generally manual measurement and adjustment by manpower, and the main defects are that: firstly, the stability of manual measurement is not high, and the measurement accuracy is affected; secondly, because the difference between the mechanical zero position and the electrical zero position is smaller, manual adjustment is quite laborious; thirdly, high-precision zeroing of the driving mechanism is difficult to achieve through manual measurement and adjustment; fourth, the efficiency of the measurement and adjustment is quite low.
Disclosure of Invention
The invention aims to solve the problems of low stability, low accuracy and low working efficiency caused by manual measurement and adjustment basically adopted by the zeroing of the existing driving mechanism, and provides a device and a zeroing method for measuring the mechanical zero position of the driving mechanism and carrying out mechanical zeroing.
The invention realizes the above purpose through the following technical scheme: the device for measuring the mechanical zero position of the driving mechanism and carrying out mechanical zero setting comprises a mounting platform, a rotation control mechanism, a measuring mechanism and a driving mechanism,
The installation platform comprises a support frame, a working platform, installation uprights and positioning blocks, wherein the support frame is arranged on the ground, the working platform is horizontally installed on the support frame, square grooves are formed in the upper surface of the working platform, the positioning blocks are arranged in the square grooves in the surface of the working platform, two installation uprights are arranged, and the two installation uprights are vertically fixed on the working platform;
the measuring mechanism is arranged on two mounting uprights of the mounting platform, the rotation control mechanism is arranged on the working platform and arranged between the two mounting uprights, 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 driving mechanism to rotate 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 rotary control mechanism comprises a servo motor, a speed reducer, a main shaft, a brake bracket, an angle coding disc, an expansion sleeve, an encoder adapter block, a universal joint, a bottom plate and a speed reducer bracket, 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 bracket, and the bottom plate is arranged on a working platform between two mounting stand frames; the output end of the speed reducer is connected with one end of the main shaft, and the other end of the main shaft passes through the brake bracket and then is connected with the encoder adapter block through the expansion sleeve; the brake and the angle coding disc are sleeved on the main shaft, the brake is mounted on the bottom plate through a brake bracket, the brake is mounted on the side surface of the brake bracket, which is close to the speed reducer, and the angle coding disc is fixed on the encoder adapter block; one end of the universal joint is fixedly connected with the encoder adapter, and the other end of the universal joint is connected with the input end of the driving mechanism; the output shaft of the servo motor, the speed reducer, the main shaft, the brake, the angle coding disc, the expansion sleeve, the encoder adapter block and the axis of the input end of the universal joint are on the same straight line;
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, linear module sliding blocks, a linear module servo motor, a deflector rod and linear guide rail sliding blocks, wherein the supporting beam is horizontally arranged on two mounting vertical frames;
The displacement measuring device comprises a main sliding block, a transverse optical axis supporting seat, a counterweight frame, a counterweight, a transverse optical axis, an optical axis conversion block, a longitudinal optical axis supporting seat, a photoelectric displacement sensor mounting plate and a photoelectric displacement sensor, wherein the main sliding block is fixed on a linear guide rail sliding block, the counterweight frame is arranged on the main sliding block, and the counterweight is arranged on the counterweight frame; the main sliding block is also provided with a transverse optical axis supporting seat, one end of the transverse optical axis is fixed on the transverse optical axis supporting seat, and the other end of the transverse optical axis is connected with an optical axis conversion block; the longitudinal optical axis is vertically arranged on the optical axis conversion block, and the longitudinal optical axis supporting seat is fixed at the lower end of the longitudinal optical axis; the photoelectric displacement sensor mounting plate is fixedly connected with the longitudinal optical axis supporting seat, the photoelectric displacement sensor is vertically arranged on the photoelectric displacement sensor mounting plate, and a probe of the photoelectric displacement sensor is vertically arranged downwards; a square notch is formed in one side, close to the linear module sliding block, of the main sliding block, one spherical end of the deflector rod extends into the square notch of the main sliding block, and when the linear module servo motor drives the linear module sliding block to move, the deflector rod drives the whole body formed by the displacement measuring device and the linear guide rail sliding block to move along a straight line;
The auxiliary measuring device comprises a grating ruler guide rail, a grating ruler sliding block and a grating ruler supporting frame, wherein the grating ruler guide rail is fixed on the side surface of the supporting beam through the grating ruler supporting frame, the grating ruler guide rail is arranged parallel to the linear guide rail, the grating ruler sliding block is sleeved on the grating ruler guide rail, and the grating ruler sliding block is fixedly connected with one side, far away from the linear module sliding block, of the main sliding block;
The driving mechanism is provided with two rotor positioning pins, the rotor positioning pins are arranged on the rotor of the driving mechanism, and the two rotor positioning pins are symmetrically arranged relative to the axis of the input end of the driving mechanism.
Further, a torsion spring is sleeved on the universal joint, one end of the torsion spring is connected with the input end of the universal joint, and the other end of the torsion spring is connected with the output end of the universal joint. The torsion spring is used for eliminating transmission backlash of the input end and the output end of the universal joint.
Further, the deflector rod moves linearly under the drive of the linear module sliding block, and then the whole body formed by the displacement measuring device and the linear guide rail sliding block is stirred to move along the linear direction, and the deflector rod is in point-to-surface contact with the square groove opening of the main sliding block in the measuring process, so that the error generated by longitudinal jumping from the deflector rod to the main sliding block is eliminated.
Further, the driving mechanism comprises a rotor and a stator, the stator comprises a shell of a driving motor, the bottom of the stator is fixed on the working platform through a positioning block, and the rotor is arranged inside the stator.
Further, the connection between the longitudinal optical axis and the transverse optical axis and the optical axis adapter block is a bolt connection, and the position of the longitudinal optical axis and the transverse optical axis on the optical axis adapter block can be adjusted by unscrewing the bolts of the optical axis adapter block.
Further, the cross section of the longitudinal optical axis is a combination of a semicircle and a rectangle. The combined longitudinal optical axis can limit the rotational freedom of the longitudinal optical axis.
The method for measuring the mechanical zero position of the driving mechanism and carrying out mechanical zero setting comprises the following steps:
Step one: unscrewing a bolt used for fixing the longitudinal optical axis on the optical axis conversion block, so that the longitudinal optical axis can move in the vertical direction; the height of the longitudinal optical axis is regulated until a photoelectric displacement sensor fixedly connected with the longitudinal optical axis can measure the upper surface of the working platform; tightening a bolt used for fixing the longitudinal optical axis on the optical axis conversion block to ensure that the longitudinal optical axis cannot longitudinally move;
Step two: the linear module servo motor of the linear motion guide device is driven to enable the linear module sliding block to slide along the linear module main body, and the driving rod drives the main sliding block to move along the linear guide rail when the linear module sliding block moves, so that the photoelectric displacement sensor is driven to linearly move in the horizontal direction; meanwhile, the photoelectric displacement sensor measures and records the longitudinal distance between the photoelectric displacement sensor and the working platform at different positions; according to the position data generated by the movement of the grating ruler slide block and the measurement data of the photoelectric displacement sensor, the position data and the measurement data are used as reference data for error compensation;
step three: the driving mechanism is arranged on the working platform through a positioning block, and a rotor of the driving mechanism is fixedly connected with the output end of a universal joint of the rotation control mechanism; fixing a stator of the driving mechanism on a working platform by using screws;
step four: unscrewing a bolt used for fixing a transverse optical axis on the optical axis conversion block, moving the optical axis conversion block on the transverse optical axis, and adjusting the position of the transverse optical axis until the photoelectric displacement sensor can measure two rotor positioning pins on a rotor of the driving mechanism; tightening a bolt used for fixing a transverse optical axis on the optical axis conversion block to ensure that the optical axis conversion block cannot longitudinally move;
Step five: the linear module servo motor is driven to enable the linear module sliding block to slide along the linear module main body, and the driving rod drives the main sliding block to move along the linear guide rail when the linear module sliding block moves, so that the photoelectric displacement sensor is driven to linearly move in the horizontal direction; meanwhile, the photoelectric displacement sensor measures and records the distance between two rotor positioning pins on the rotor of the driving mechanism and the photoelectric displacement sensor; calculating an actual angle theta required to be rotated when the driving mechanism rotor rotates to a mechanical zero position;
Step six: the servo motor of the driving rotation control mechanism works, and the output end of the servo motor amplifies the output torque through the speed reducer and drives the main shaft to rotate after the output rotating speed is reduced, so that the angle coding disc and the universal joint on the main shaft are driven to rotate; the rotor of the driving mechanism rotates along with the universal joint, and meanwhile, the angle coding disc feeds back the actual rotation angle of the universal joint in real time; when the rotating angle fed back by the angle coding disc is theta, immediately stopping the servo motor of the rotation control mechanism;
step seven: checking whether the mechanical zero position of the driving mechanism meets the requirement or not, and repeating the step five and the step six until the mechanical zero position of the driving mechanism meets the requirement;
Step eight: and (3) detaching the driving mechanism with the mechanical zeroing completed, and repeating the steps three to seven for the next driving mechanism with the mechanical zeroing waiting until all the driving mechanisms complete the mechanical zeroing.
Further, assuming that two rotor positioning pins on a stator of the driving mechanism are a first positioning pin a and a second positioning pin b respectively, longitudinal distances between the first positioning pin a, the second positioning pin b and the photoelectric displacement sensor are da and db respectively, a center distance between the first positioning pin a and the second positioning pin b is d, a rotating angle fed back by the angle coding disc is an angle theta which is required to rotate by a rotor of the driving motor, and a calculation formula is as follows:
θ＝arcsin((da-db-(d'a-d'b))/d)。
the working principle of the invention is as follows:
Before the measurement process, the center distance of 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. For convenience of explanation and calculation, the mover positioning pin positioned at the left side is a first positioning pin a, and the mover positioning pin positioned at the right side is a second positioning pin 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 the longitudinal distance is used as an error compensation database; in addition, the photoelectric displacement sensor measures and records the distance between two rotor locating pins on the rotor of the driving mechanism and the photoelectric displacement sensor. The longitudinal distances between the first locating pin a, the second locating pin b and the photoelectric displacement sensor are respectively da and db. Because the position data provided by the sliding of the grating ruler slide block on the grating ruler guide rail and the measurement data of the photoelectric displacement sensor are related to time, the absolute position of the grating ruler slide block on the grating ruler guide rail can be indirectly determined when the photoelectric displacement sensor measures two rotor positioning pins. The positions of the first positioning pin a and the second positioning pin b are Xa and Xb respectively. And searching an error compensation database according to Xa and Xb, 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 two rotor positioning pins can be obtained to rotate to the horizontal position, the angle theta=arcsin ((d a-db-(d'a-d'b))/d of the driving mechanism rotor needs to rotate, and when the angle is positive, the driving mechanism rotor is rotated clockwise; when the angle is negative, the driving mechanism mover is rotated counterclockwise.
The invention has the beneficial effects that:
1. According to the invention, the connection part of the longitudinal optical axis and the optical axis adapter block is in enclasping connection, and tightness is realized in a screw locking mode, so that the measurement height of the measuring mechanism can be freely adjusted.
2. The invention adopts the linear module to control the main sliding block to do transverse movement, thereby improving the automation level of the measuring process.
3. The invention adopts the servo motor of the rotation control mechanism to control the rotation movement of the driving mechanism, thereby improving the automation level of the zeroing process.
4. Compared with the mode that the linear module sliding block is directly and rigidly connected with the main sliding block, the invention adopts the contact mode that the spherical end of the deflector rod on the linear module sliding block is in point-surface contact with the square groove opening of the main sliding block, eliminates errors generated by longitudinal displacement of the main sliding block due to jumping when the linear module sliding block moves, and improves the measurement precision of the measurement mechanism.
5. According to the invention, the counterweight frame is added on the main sliding block, and the counterweight is added on the counterweight frame to increase the pretightening force, 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 angle coding disc is added on the main shaft to feed back the actual rotation angle of the main shaft, so that closed-loop control is realized; a torsion spring is added on the universal joint to eliminate the rotation clearance of the universal joint; in addition, when the servo motor of the rotation control mechanism stops driving, the rotation of the main shaft is stopped in time through the brake, so that the rotation angle of the rotation control mechanism is controlled with high precision.
7. The invention adopts the grating ruler to absolutely position the main sliding block in the transverse movement process, and records the longitudinal distances between the photoelectric displacement sensor and the working platform at different positions in the measurement process, and the longitudinal distances are used as an error compensation database; when the distance between two positioning pins and the photoelectric displacement sensor on the rotor of the driving mechanism is measured, the absolute position of the photoelectric displacement sensor on the grating ruler when the two positioning pins are measured is indirectly determined through the position data provided by the grating ruler and the measurement data of the photoelectric displacement sensor, and error values are obtained and calculated by searching an error-compensated database, so that the longitudinal errors generated by incomplete parallelism between the plane of the linear guide rail and the working platform are eliminated, and the accuracy of the actual measurement of the measuring mechanism is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of an apparatus for measuring the mechanical zero position of a drive mechanism and performing mechanical zero setting in accordance with the present invention.
FIG. 2 is a schematic structural view of the mounting platform of the present invention.
Fig. 3 is a left side view of the rotary 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 plan view of the linear motion guide device of the present invention.
Fig. 6 is a schematic structural view of the auxiliary measuring device of the present invention.
Fig. 7 is a left side view of the displacement measuring device of the present invention.
Fig. 8 is a schematic structural view of the driving mechanism of the present invention.
In the figure: 1-mounting platform, 11-supporting frame, 12-working platform, 13-mounting vertical frame, 14-positioning block, 2-rotation control mechanism, 21-servo motor, 22-speed reducer, 23-main shaft, 24-brake, 25-brake bracket, 26-angle coding disc, 27-expansion sleeve, 28-encoder adapter block, 29-universal joint, 210-torsion spring, 211-bottom plate, 212-speed reducer bracket, 3-measuring mechanism, 31-linear motion guiding device, 311-supporting beam, 312-linear guide rail, 313-linear module main body, 314-linear module supporting 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-transverse optical axis support seat, 333-counterweight frame, 334-counterweight, 335-transverse optical axis, 336-optical axis conversion block, 337-longitudinal optical axis, 338-longitudinal optical axis support seat, 339-photoelectric displacement sensor mounting plate, 3310-photoelectric displacement sensor, 4-driving mechanism, 41-rotor, 410-rotor locating pin and 42-stator.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1 to 8, a device for measuring the mechanical zero position of a driving mechanism and performing mechanical zero setting comprises a mounting platform 1, a rotation control mechanism 2, a measuring mechanism 3 and a driving mechanism 4.
The installation platform 1 comprises a support frame 11, a working platform 12, two installation vertical frames 13 and a positioning block 14, wherein the support frame 11 is arranged on the ground, the working platform 12 is horizontally installed on the support frame 11, a square groove is formed in the upper surface of the working platform 12, the positioning block 14 is arranged in the square groove on the surface of the working platform 12, the two installation vertical frames 13 are arranged, and the two installation vertical frames 13 are vertically fixed on the working platform 12. The mounting uprights 13 are symmetrically arranged about a central axis of the work platform 12, while the central axis of the square groove coincides with the central axis of the work platform 12. The positioning block 14 can ensure that the driving mechanism 4 is mounted in an accurate position every time.
The measuring mechanism 3 is arranged on two mounting uprights 13 of the mounting platform 1, the rotation control mechanism 2 is arranged on the working platform 12, the rotation control mechanism 2 is arranged between the two mounting uprights 13, the driving mechanism 4 is arranged on the working platform 12 through a positioning block 14, 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 means 3 are used to measure the actual deviation of the mechanical zero position of the drive means 4.
The rotation control mechanism 2 comprises a servo motor 21, a speed reducer 22, a main shaft 23, a brake 24, a brake bracket 25, an angle coding disc 26, an expansion sleeve 27, an encoder adapter block 28, a universal joint 29, a bottom plate 211 and a speed reducer bracket 212, 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 211 through the speed reducer bracket 212, and the bottom plate 211 is arranged on the working platform 12 between two mounting uprights 13; the output end of the speed reducer 22 is connected with one end of a main shaft 23, and the other end of the main shaft 23 passes through a brake bracket 25 and then is connected with an encoder adapter block 28 through an expansion sleeve 27; the brake 24 and the angle coding disc 26 are both sleeved on the main shaft 23, the brake 24 is mounted on the bottom plate 211 through the brake bracket 25, the brake 24 is mounted on the side surface of the brake bracket 25, which is close to the speed reducer 22, and the angle coding disc 26 is fixed on the encoder adapter block 28; one end of the universal joint 29 is fixedly connected with the encoder adapter 28, and the other 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 main shaft 23, the brake 24, the angle coding disc 26, the expansion sleeve 27, the encoder adapter 28 and the axis of the input end of the universal joint 29 are on the same straight line.
The structure of the expansion sleeve 27 is in a shaft shape, one end of the expansion sleeve 27 is a shaft hole matched with the main shaft 23, the main shaft 23 is fixedly connected with one end of the expansion sleeve 27, the encoder adapter block 28 is in a flange shape, the encoder adapter block 28 is provided with a shaft hole matched with the expansion sleeve 27, and the expansion end of the expansion sleeve 27 is in interference fit with the shaft hole on the encoder adapter block 28. The angle coding disc 26 is fixedly connected with the encoder adapter block 28 through bolts, and the angle coding disc 26 rotates synchronously with the expansion sleeve 27 and the encoder adapter block 28.
The universal joint 29 is sleeved with a torsion spring 210, one end of the torsion spring 210 is connected with the input end of the universal joint 29, and the other end of the torsion spring 210 is connected with the output end of the universal joint 29.
The measuring mechanism 3 includes a linear motion guide 31, an auxiliary measuring device 32, and a displacement measuring device 33.
The linear motion guiding device 31 comprises a supporting beam 311, a linear guide rail 312, a linear module main body 313, a linear module supporting frame 314, a linear module sliding block 315, a linear module servo motor 316, a deflector rod 317 and a linear guide rail sliding block 318, wherein the supporting beam 311 is horizontally arranged on the two mounting uprights 13, the linear module main body 313 is fixed on the supporting beam 311 through the linear module supporting frame 314, the linear guide rail 312 is fixedly arranged on the supporting beam 311 and the linear guide rail 312 is parallel to the linear module main body 313, the linear guide rail sliding block 318 is sheathed on the linear guide rail 312, the linear module servo motor 316 is connected with the input end of the linear module main body 313 and drives the linear module sliding block 315 on the linear module main body 313 to perform linear motion, one end of the deflector rod 317 is fixedly connected with the linear module sliding block 315, and the other end of the deflector rod 317 is spherical.
The displacement measuring device 33 comprises a main sliding block 331, a transverse optical axis supporting seat 332, a counterweight frame 333, a counterweight 334, a transverse optical axis 335, an optical axis conversion block 336, a longitudinal optical axis 337, a longitudinal optical axis supporting seat 338, a photoelectric displacement sensor mounting plate 339 and a photoelectric displacement sensor 3310, wherein the main sliding block 331 is fixed on a linear guide sliding block 318, the counterweight frame 333 is mounted on the main sliding block 331, and the counterweight 334 is placed on the counterweight frame 333; the main sliding block 331 is further provided with a transverse optical axis supporting seat 332, one end of a transverse optical axis 335 is fixed on the transverse optical axis supporting seat 332, and the other end of the transverse optical axis 335 is connected with an optical axis adapter block 336; the longitudinal optical axis 337 is vertically mounted on the optical axis adapter block 336, and the longitudinal optical axis support seat 338 is fixed at the lower end of the longitudinal optical axis 337; the photoelectric displacement sensor mounting plate 339 is fixedly connected with the longitudinal optical axis supporting seat 338, the photoelectric displacement sensor 3310 is vertically arranged on the photoelectric displacement sensor mounting plate 339, and a probe of the photoelectric displacement sensor 3310 is vertically arranged downwards; the main slider 331 is provided with the square notch near the one side of sharp module slider 315, and the spherical one end of driving lever 317 stretches into the square notch of main slider 331, and the whole that constitutes along the rectilinear motion of driving lever 317 drive displacement measuring device 33 and linear guide slider 318 when sharp module slider 315 is driven to the linear module servo motor 316 motion.
The longitudinal optical axis 337 has a cross-sectional shape of a combination of a semicircle and a rectangle.
The auxiliary measuring device 32 comprises a grating ruler guide rail 321, a grating ruler sliding block 322 and a grating ruler supporting frame 323, the grating ruler guide rail 321 is fixed on the side face of the supporting beam 311 through the grating ruler supporting frame 323, the grating ruler guide rail 321 is parallel to the linear guide rail 312, the grating ruler sliding block 322 is sleeved on the grating ruler guide rail 321, and the grating ruler sliding block 322 is fixedly connected with one side, far away from the linear module sliding block 315, of the main sliding block 331.
The driving mechanism 4 is provided with two mover positioning pins 410, the mover positioning pins 410 are arranged on the mover 41 of the driving mechanism 4, and the two mover positioning pins 410 are symmetrically arranged about the axis of the input end of the driving mechanism 4. The driving mechanism 4 comprises a rotor 41 and a stator 42, the stator 42 comprises a shell of a driving motor, the bottom of the stator 42 is fixed on the working platform 12 through the positioning block 14, and the rotor 41 is arranged inside the stator 42.
The invention relates to a method for measuring the mechanical zero position of a driving mechanism 4 and carrying out mechanical zero setting, which specifically comprises the following steps:
Step one: unscrewing the bolt for fixing the longitudinal optical axis 337 on the optical axis transferring block 336, so that the longitudinal optical axis 337 can move in the vertical direction; the height of the longitudinal optical axis 337 is adjusted until the photoelectric displacement sensor 3310 fixedly connected with the longitudinal optical axis 337 can measure the upper surface of the work platform 12; tightening the bolt for fixing the longitudinal optical axis 337 on the optical axis transferring block 336 so that the longitudinal optical axis 337 is not longitudinally movable;
Step two: the linear module servo motor 316 of the linear motion guiding device 31 is driven to enable the linear module sliding block 315 to slide along the linear module main body 313, and when the linear module sliding block 315 moves, the driving rod 317 drives the main sliding block 331 to move along the linear guide rail 312, so as to drive the photoelectric displacement sensor 3310 to move linearly in the horizontal direction; meanwhile, the photoelectric displacement sensor 3310 measures and records the longitudinal distance between the photoelectric displacement sensor 3310 and the work platform 12 at different positions; position data generated according to the movement of the grating ruler slider 322 and measurement data of the photoelectric displacement sensor 3310 are used as reference data for error compensation;
Step three: the driving mechanism 4 is arranged on the working platform 12 through a positioning block 14, and a rotor 41 of the driving mechanism 4 is fixedly connected with the output end of a universal joint 29 of the rotation control mechanism 2; fixing the stator 42 of the driving mechanism 4 on the working platform 12 by using screws;
Step four: unscrewing the bolt on the optical axis conversion block 336 for fixing the transverse optical axis 335, moving the optical axis conversion block 336 on the transverse optical axis 335, and adjusting the position of the transverse optical axis 335 until the photoelectric displacement sensor 3310 can measure the two mover positioning pins 410 on the mover 41 of the driving mechanism 4; tightening the bolt for fixing the transverse optical axis 335 on the optical axis transfer block 336 again, so that the optical axis transfer block 336 is not longitudinally movable;
Step five: the linear module servo motor 316 is driven to enable the linear module sliding block 315 to slide along the linear module main body 313, and when the linear module sliding block 315 moves, the driving rod 317 drives the main sliding block 331 to move along the linear guide rail 312, so as to drive the photoelectric displacement sensor 3310 to move linearly in the horizontal direction; meanwhile, the photoelectric displacement sensor 3310 measures and records the distance between the two mover positioning pins 410 on the mover 41 of the driving mechanism 4 and the photoelectric displacement sensor 3310; calculating the actual angle theta of the driving mechanism 4 that the rotor 41 needs to rotate when rotating to the mechanical zero position;
Step six: the servo motor 21 of the rotation control mechanism 2 is driven to work, and the output end of the servo motor 21 amplifies the output torque through the speed reducer 22 and reduces the output rotating speed to drive the main shaft 23 to rotate, so that the angle coding disc 26 and the universal joint 29 on the main shaft 23 are driven to rotate; the rotor 41 of the driving mechanism 4 rotates along with the universal joint 29, and meanwhile, the angle coding disc 26 feeds back the actual rotation angle of the universal joint 29 in real time; when the rotation angle fed back by the angle coding disc 26 is theta, the servo motor 21 of the rotation control mechanism 2 is immediately stopped;
Step seven: checking whether the mechanical zero position of the driving mechanism 4 meets the requirement or not, and repeating the step five and the step six until the mechanical zero position of the driving mechanism 4 meets the requirement;
Step eight: and (3) detaching the driving mechanism 4 with the mechanical zeroing completed, and repeating the steps three to seven for the driving mechanism 4 with the next mechanical zeroing waiting until all the driving mechanisms 4 complete the mechanical zeroing.
The above embodiments are only preferred embodiments of the present invention, and are not limiting to the technical solutions of the present invention, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present invention.
Claims (4)
1. A device for measuring the mechanical zero position of a driving mechanism and carrying out mechanical zero setting, which is characterized in that: comprises a mounting platform (1), a rotation control mechanism (2), a measuring mechanism (3) and a driving mechanism (4),
The mounting platform (1) comprises a supporting frame (11), a working platform (12), mounting uprights (13) and positioning blocks (14), wherein the supporting frame (11) is arranged on the ground, the working platform (12) is horizontally arranged on the supporting frame (11), square grooves are formed in the upper surface of the working platform (12), the positioning blocks (14) are arranged in the square grooves in the surface of the working platform (12), the two mounting uprights (13) are arranged, and the two mounting uprights (13) are vertically fixed on the working platform (12);
The measuring mechanism (3) is arranged on two mounting uprights (13) of the mounting platform (1), the rotation control mechanism (2) is arranged on the working platform (12) and the rotation control mechanism (2) is arranged between the two mounting uprights (13), the driving mechanism (4) is arranged on the working platform (12) through a positioning block (14), 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 rotary control mechanism (2) comprises a servo motor (21), a speed reducer (22), a main shaft (23), a brake (24), a brake bracket (25), an angle coding disc (26), an expansion sleeve (27), an encoder adapter block (28), a universal joint (29), a bottom plate (211) and a speed reducer bracket (212), 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 (211) through the speed reducer bracket (212), and the bottom plate (211) is arranged on a working platform (12) between two mounting uprights (13); the output end of the speed reducer (22) is connected with one end of the main shaft (23), and the other end of the main shaft (23) passes through the brake bracket (25) and then is connected with the encoder adapter block (28) through the expansion sleeve (27); the brake (24) and the angle coding disc (26) are sleeved on the main shaft (23), the brake (24) is installed on the bottom plate (211) through the brake bracket (25), the brake (24) is installed on the side surface, close to the speed reducer (22), of the brake bracket (25), and the angle coding disc (26) is fixed on the encoder adapter (28); one end of the universal joint (29) is fixedly connected with the encoder adapter (28), and the other 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 main shaft (23), the brake (24), the angle coding disc (26), the expansion sleeve (27), the encoder adapter (28) and the axis of the input end of the universal joint (29) are on the same straight line;
The measuring mechanism (3) comprises a linear motion guiding device (31), an auxiliary measuring device (32) and a displacement measuring device (33),
The linear motion guiding device (31) comprises a supporting beam (311), a linear guide rail (312), a linear module main body (313), a linear module supporting frame (314), a linear module sliding block (315), a linear module servo motor (316), a deflector rod (317) and a linear guide rail sliding block (318), wherein the supporting beam (311) is horizontally arranged on two mounting vertical frames (13), the linear module main body (313) is fixed on the supporting beam (311) through the linear module supporting frame ((314)), the linear guide rail (312) is fixedly arranged on the supporting beam (311) and is parallel to the linear module main body (313), the linear guide rail sliding block (318) is sleeved on the linear guide rail (312), the linear module servo motor (316) is connected with the input end of the linear module main body (313) and drives the linear module sliding block (315) on the linear module main body (313) to conduct linear motion, one end of the deflector rod (317) is fixedly connected with the linear module sliding block (315), and the other end of the deflector rod (317) is spherical;
The displacement measuring device (33) comprises a main sliding block (331), a transverse optical axis supporting seat (332), a counterweight frame (333), a counterweight (334), a transverse optical axis (335), an optical axis adapter block (336), a longitudinal optical axis (337), a longitudinal optical axis supporting seat (338), a photoelectric displacement sensor mounting plate (339) and a photoelectric displacement sensor (3310), wherein the main sliding block (331) is fixed on a linear guide rail sliding block (318), the counterweight frame (333) is arranged on the main sliding block (331), and the counterweight (334) is arranged on the counterweight frame (333); a transverse optical axis supporting seat (332) is further arranged on the main sliding block (331), one end of a transverse optical axis (335) is fixed on the transverse optical axis supporting seat (332), and the other end of the transverse optical axis (335) is connected with an optical axis adapter block (336); the longitudinal optical axis (337) is vertically arranged on the optical axis conversion block (336), and the longitudinal optical axis supporting seat (338) is fixed at the lower end of the longitudinal optical axis (337); the photoelectric displacement sensor mounting plate (339) is fixedly connected with the longitudinal optical axis supporting seat (338), the photoelectric displacement sensor (3310) is vertically arranged on the photoelectric displacement sensor mounting plate (339), and a probe of the photoelectric displacement sensor (3310) is vertically arranged downwards; a square notch is formed in one side, close to the linear module sliding block (315), of the main sliding block (331), one spherical end of a deflector rod (317) extends into the square notch of the main sliding block (331), and when the linear module sliding block (315) is driven to move by the linear module servo motor (316), the whole body formed by the displacement measuring device (33) and the linear guide rail sliding block (318) is driven to move along a straight line by the deflector rod (317);
The auxiliary measuring device (32) comprises a grating ruler guide rail (321), a grating ruler sliding block (322) and a grating ruler supporting frame (323), wherein the grating ruler guide rail (321) is fixed on the side face of the supporting beam (311) through the grating ruler supporting frame (323), the grating ruler guide rail (321) is parallel to the linear guide rail (312), the grating ruler sliding block (322) is sleeved on the grating ruler guide rail (321), and the grating ruler sliding block (322) is fixedly connected with one side, far away from the linear module sliding block (315), of the main sliding block (331);
Two rotor positioning pins (410) are arranged on the driving mechanism (4), the rotor positioning pins (410) are arranged on the rotor (41) of the driving mechanism (4), and the two rotor positioning pins (410) are symmetrically arranged about the axis of the input end of the driving mechanism (4);
A torsion spring (210) is sleeved on the universal joint (29), one end of the torsion spring (210) is connected with the input end of the universal joint (29), and the other end of the torsion spring (210) is connected with the output end of the universal joint (29);
the driving mechanism (4) comprises a rotor (41) and a stator (42), the stator (42) comprises a shell of a driving motor, the bottom of the stator (42) is fixed on the working platform (12) through a positioning block (14), and the rotor (41) is arranged inside the stator (42).
2. A device for measuring and mechanically zeroing a mechanical zero position of a drive mechanism according to claim 1, wherein: the longitudinal optical axis (337) has a cross-sectional shape that is a combination of semi-circular and rectangular.
3. A method for measuring the mechanical zero position of a driving mechanism and performing mechanical zero setting, which is characterized in that: the method specifically comprises the following steps:
step one: the driving mechanism to be zeroed is arranged on the working platform through a positioning block, and a rotor of the driving mechanism is fixedly connected with the output end of a universal joint of the rotation control mechanism; fixing a stator of the driving mechanism on a working platform by using screws;
Step two: unscrewing a bolt used for fixing the longitudinal optical axis on the optical axis conversion block, so that the longitudinal optical axis can move in the vertical direction; adjusting the position of the transverse optical axis until the photoelectric displacement sensor can measure two rotor positioning pins on the rotor of the driving mechanism; tightening a bolt used for fixing the longitudinal optical axis on the optical axis conversion block to ensure that the longitudinal optical axis cannot longitudinally move;
Step three: the linear module servo motor of the linear motion guide device is driven to enable the linear module sliding block to slide along the linear module main body, and the driving rod drives the main sliding block to move along the linear guide rail when the linear module sliding block moves, so that the photoelectric displacement sensor is driven to linearly move in the horizontal direction; when the photoelectric displacement sensor detects a rotor positioning pin on the driving mechanism, the linear module servo motor is stopped immediately, and the distance d a between the photoelectric displacement sensor and the rotor positioning pin is measured and recorded by the photoelectric displacement sensor;
Step four: the servo motor of the rotation control mechanism is driven to move, the output end of the servo motor amplifies the output torque through the speed reducer and reduces the output rotating speed to drive the main shaft to rotate, so that the angle coding disc and the universal joint on the main shaft are driven to rotate; the rotor of the driving mechanism rotates along with the universal joint until the photoelectricity of the photoelectricity displacement sensor hits the working platform, meanwhile, the angle encoder records the rotation angle theta a, and the photoelectricity displacement sensor records the distance D a from the photoelectricity displacement sensor to the working platform;
Step five: the servo motor of the rotation control mechanism is driven to move, so that the universal joint of the rotation control mechanism drives the active cell of the driving mechanism to reversely rotate by an angle theta a, and the driving mechanism returns to an initial state before zeroing;
Step six: the linear module servo motor is driven to enable the linear module sliding block to slide along the linear module main body, and the driving rod drives the main sliding block to move along the linear guide rail when the linear module sliding block moves, so that the photoelectric displacement sensor is driven to linearly move in the horizontal direction; when the photoelectric displacement sensor detects another positioning pin on the driving mechanism, the linear module servo motor is stopped immediately, and the distance d b between the photoelectric displacement sensor and the rotor positioning pin is measured and recorded by the photoelectric displacement sensor;
Step seven: the servo motor of the rotation control mechanism is driven to move, and the main shaft is driven to rotate through speed reduction, so that the angle coding disc and the universal joint on the main shaft are driven to rotate; the rotor of the driving mechanism rotates along with the universal joint until the photoelectricity of the photoelectricity displacement sensor hits the working platform, meanwhile, the angle encoder records the rotation angle theta b, and the photoelectricity displacement sensor records the distance D b from the photoelectricity displacement sensor to the working platform;
Step eight: calculating an actual angle theta of the driving mechanism rotor to be rotated; the calculation formula of theta is as follows:
; wherein d is the center distance of the two rotor positioning pins;
The servo motor drives the rotor of the driving mechanism to rotate after passing through the speed reducer, the main shaft and the universal joint; the driving mechanism rotor rotates along with the universal joint, and meanwhile, the angle encoder feeds back the actual rotation angle of the universal joint in real time; when the rotating angle fed back by the angle encoder is theta, immediately stopping the servo motor of the rotation control mechanism;
Step nine: checking whether the mechanical zero position of the driving mechanism meets the requirement, if so, performing step ten, and if not, repeating the steps three to eight until the mechanical zero position of the driving mechanism meets the requirement;
step ten: and (3) detaching the driving mechanism with the mechanical zeroing completed, and repeating the steps three to seven for the next driving mechanism with the mechanical zeroing waiting until all the driving mechanisms complete the mechanical zeroing.
4. A method of measuring and mechanically zeroing a mechanical zero position of a drive mechanism according to claim 3, wherein: 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.
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