CN113432518A - Calibration device, magnetic direct sensor and driving motor - Google Patents
Calibration device, magnetic direct sensor and driving motor Download PDFInfo
- Publication number
- CN113432518A CN113432518A CN202110748486.7A CN202110748486A CN113432518A CN 113432518 A CN113432518 A CN 113432518A CN 202110748486 A CN202110748486 A CN 202110748486A CN 113432518 A CN113432518 A CN 113432518A
- Authority
- CN
- China
- Prior art keywords
- magnetic
- calibration
- grating
- reading head
- ruler
- 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
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- 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
- G01B21/02—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 length, width, or thickness
- G01B21/04—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 length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
-
- 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
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention discloses a calibration device, a magnetic direct sensor and a driving motor. The calibration device comprises a calibration frame, a grating reading head and a grating ruler, wherein a calibration station for placing the magnetic direct sensor is arranged on the calibration frame; the grating ruler is arranged on the calibration frame and is parallel to the magnetic grating ruler of the magnetic direct sensor; the grating reading head is movably arranged on the calibration frame and fixedly connected with the magnetic grating reading head of the magnetic direct sensor so as to move together on the calibration frame; the moving direction of the grating reading head is parallel to the length direction of the grating ruler. The calibration frame is provided with a grating reading head and a grating ruler, the grating reading head drives the magnetic grating reading head to move on the calibration frame, the grating reading head reads the grating ruler, the position information of the grating reading head is used as a reference value and is differenced with the position information of the magnetic direct sensor to obtain a position precision deviation value of the magnetic direct sensor, and finally the precision calibration of the magnetic direct sensor is realized by means of calling and the like.
Description
Technical Field
The invention belongs to the technical field of position sensors, and particularly relates to a calibration device, a magnetic direct sensor and a driving motor.
Background
The magnetic direct sensor is widely applied to the automation industry, is usually arranged on a linear motor or a high-precision linear motion sliding table and is mainly used as a position sensor. The magnetic straight sensor generally comprises a magnetic grid reading head and a magnetic grid ruler, wherein the magnetic grid ruler is easy to have errors during magnetizing, and installation errors also exist during installation of the magnetic grid reading head and the magnetic grid ruler, if the magnetic straight sensor is not accurately calibrated before installation, the position accuracy fed back by the magnetic straight sensor is easy to be low, the problem of poor absolute positioning accuracy is caused, and finally, when a driver uses the position information fed back by the magnetic straight sensor to perform full closed-loop control, the speed stability of a linear motor or a high-precision linear motion sliding table is poor.
Disclosure of Invention
The embodiment of the invention mainly aims to provide a calibration device, a magnetic direct sensor and a driving motor, aiming at overcoming the defect that the traditional magnetic direct sensor cannot be calibrated accurately.
The technical scheme for solving the technical problems is that the invention provides a calibration device for calibrating a magnetic direct sensor, wherein the magnetic direct sensor comprises a magnetic grid reading head and a magnetic grid ruler; the calibration device comprises a calibration frame, a grating reading head and a grating ruler, wherein a calibration station for placing the magnetic direct sensor is arranged on the calibration frame; the grating ruler is arranged on the calibration frame and is parallel to the magnetic grating ruler; the grating reading head is movably arranged on the calibration frame and is connected with the magnetic grating reading head so as to move together on the calibration frame; the moving direction of the grating reading head is parallel to the length direction of the grating ruler.
Furthermore, a connecting piece is arranged on the calibration frame, one end of the connecting piece is detachably connected to the grating reading head, and the other end of the connecting piece is detachably connected to the magnetic grating reading head.
Furthermore, the calibration frame comprises a calibration table, a first stator and a first rotor, and the calibration station and the grating ruler are arranged on the calibration table; the first stator is arranged on the calibration platform and is positioned on one side, away from the calibration station, of the grating ruler; the first rotor is movably arranged on the first stator, the grating reading head is arranged on the first rotor and faces the grating ruler, and one end of the connecting piece is detachably connected to the first rotor.
Furthermore, a driving member is disposed on the first mover and used for driving the first mover to move on the first stator.
Furthermore, a plurality of fixing pieces are arranged on the calibration platform, and the fixing pieces are connected to the first stator and fixed on the calibration platform.
Furthermore, a stone scale is arranged on the calibration table and is arranged between the first stator and the calibration station; the grating ruler is arranged on the side surface of the stone ruler facing the first stator; the stone staff gauge is made of marble.
Furthermore, the calibration device further comprises a data processing module, and the data processing module is respectively electrically connected with the magnetic grating reading head and the grating reading head.
Furthermore, the calibration device is used for calibrating a magnetic direct sensor on a driving motor, the driving motor comprises a second stator and a second rotor movably arranged on the second stator, the magnetic grid ruler is arranged on the second stator, and the magnetic grid reading head is arranged on the second rotor; the calibration station of the calibration frame is used for fixing the second stator; one end of the connecting piece is detachably connected to the second rotor, and the other end of the connecting piece is connected to the first rotor, so that the magnetic grating reading head on the second rotor and the grating reading head move synchronously.
The invention also provides a magnetic direct sensor which comprises the magnetic grid reading head and the magnetic grid ruler calibrated by the calibrating device; the magnetic grid ruler and the magnetic grid reading head can be relatively movably arranged.
Further, the magnetic scale comprises: the magnetic circuit comprises a plurality of first magnetic blocks and a plurality of second magnetic blocks, wherein the plurality of second magnetic blocks are respectively and alternately arranged with the plurality of first magnetic blocks, and the lengths of the first magnetic blocks and the second magnetic blocks are the same; the first magnetic block and the second magnetic block are made of chargeable magnetic materials.
The invention also provides a driving motor, which comprises a first stator, a second rotor and a magnetic direct sensor, wherein the second rotor is movably arranged on the first stator; the magnetic grid reading head is arranged on the second rotor, and the magnetic grid ruler is arranged on the side surface, facing the magnetic grid reading head, of the first stator.
The embodiment of the invention provides a calibration device, a magnetic direct sensor and a driving motor. Fixing a magnetic grid ruler of a magnetic straight sensor on a calibration station, arranging a grating reading head and a grating ruler on a calibration frame, driving the magnetic grid reading head of the magnetic straight sensor to move on the calibration frame by the grating reading head, reading the grating ruler by the grating reading head, taking the position information of the grating reading head as a reference value, and subtracting the position information of the magnetic straight sensor to obtain a position precision deviation value of the magnetic straight sensor, and finally realizing precision calibration of the magnetic straight sensor by means of calling and the like.
Drawings
FIG. 1 is a schematic structural diagram of a calibration device used in cooperation with a magnetic direct sensor according to the present invention;
FIG. 2 is a schematic structural diagram of the calibration apparatus according to the present invention;
FIG. 3 is a schematic structural view of a magnetic scale according to the present invention;
FIG. 4 is a graph comparing a theoretical position curve of a magnetic grating read head with an actual settled position curve according to the present invention;
FIG. 5 is a graph of the raw signal output of the magnetic grating read head of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
30 | |
| 10 | |
41 | |
| 11 | Calibration table | 42 | Magnetic |
| 12 | |
43 | |
| 13 | |
44 | |
| 14 | |
411 | First |
| 15 | |
412 | Second |
| 16 | |
50 | |
| 20 | Grating |
60 | Connecting piece |
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1 and fig. 2, the present invention provides a calibration apparatus for calibrating a magnetic direct sensor, where the magnetic direct sensor includes a magnetic grating reading head 42 and a magnetic grating ruler 41, and the calibration apparatus 100 includes a calibration frame 10, a grating reading head 20, and a grating ruler 30. A calibration station 16 for placing the magnetic direct sensor is arranged on the calibration frame 10, and the magnetic grid ruler 41 is arranged on the calibration station 16; the grating ruler 30 is arranged on the calibration frame 10 and is parallel to the magnetic grating ruler 41; the grating reading head 20 is movably arranged on the calibration frame 10 and fixedly connected with the magnetic grating reading head 42 so as to move together on the calibration frame 10; the moving direction of the grating reading head 20 is parallel to the length direction of the grating scale 30.
Because the magnetic direct sensor needs to be magnetized before being used, certain errors can be generated by magnetic force in the magnetizing process, and finally the problem of inaccurate positioning of the magnetic direct sensor is caused. In addition, there is also a mounting error when mounting the magnetic scale and the magnetic grid reading head. Therefore, the magnetic direct sensor needs to be calibrated. The invention provides a calibration device, which is used for calibrating a magnetic straight sensor, wherein a magnetic grating ruler 41 of the magnetic straight sensor is fixed on a calibration station 16, a grating reading head 20 and a grating ruler 30 are arranged on a calibration frame 10, the grating reading head 20 drives a magnetic grating reading head 42 of the magnetic straight sensor to move on the calibration frame 10, the grating reading head reads the grating ruler 30, the position information of the grating reading head 20 is used as a reference value and is differed with the position information of the magnetic straight sensor to obtain a position precision deviation value of the magnetic straight sensor, and the precision of the magnetic straight sensor is finally more accurate by means of calling and the like.
Specifically, the grating reading head 20 is movably arranged on the calibration frame 10 corresponding to the calibration station 16, and the grating ruler 30 is arranged in parallel on a horizontal line relative to the grating reading head 20, or in parallel in the up-down direction relative to the grating reading head 20; the grating scale 30 is arranged on the calibration frame 10, the length direction of the grating scale 30 is parallel to the movement direction of the grating reading head 20 on the calibration frame 10, the reading direction of the grating reading head 20 faces the grating scale 30, when the grating reading head 20 reciprocates on the calibration frame 10, the movement distance of the magnetic grating reading head 42 which moves along with the grating reading head 20 can be determined by reading the reading on the grating scale 30, and then the magnetic alignment sensor is calibrated according to the distance information.
Further, as shown in fig. 1, a connector 60 is disposed on the calibration frame 10, and one end of the connector 60 is connected to the grating read head 20, and the other end is detachably connected to the magnetic grating read head 42.
It should be noted that, in this embodiment, the calibration frame 10 is provided with a connector 60, one end of the connector 60 is detachably connected to the magnetic grating reading head 42, and the other end of the connector 60 is connected to the grating reading head 20, when the sensor is fixed at the calibration station 16, the magnetic grating reading head 42 and the grating reading head 20 are rigidly connected together through the connector 60, so as to implement the synchronous motion of the magnetic grating reading head 42 and the grating reading head 20.
Further, as shown in fig. 2, the calibration frame 10 includes a calibration table 11, a first stator 12 and a first mover 13, and the calibration station 16 and the grating ruler 30 are disposed on the calibration table 11; the first stator 12 is arranged on the calibration table 11 and is positioned on one side of the grating ruler 20 departing from the calibration station 16; the first mover 13 is movably disposed on the first stator 12, the grating reading head 20 is disposed on the first mover 13 and faces the grating scale 30, and one end of the connecting member 60 is connected to the first mover 13.
In this embodiment, the calibration frame 10 includes a calibration stage 11, a first stator 12, and a first mover 13. The calibration station 16 is arranged on the calibration platform 11; the first stator 12 and the calibration station 16 are arranged on the calibration table 11 at intervals, the first rotor 13 is movably arranged on the first stator 12, the grating reading head 20 is arranged on the first rotor 13, and the grating reading head 20 is driven by the first rotor 13 to move on the calibration table 11; and then the position of the magnetic direct sensor is calibrated. The calibration table 11 can be made of marble materials, the expansion coefficient of the marble is small, and the influence of temperature and humidity changes on the size of the marble is small and stable enough.
Further, a driving member is disposed on the first mover 13, and is used for driving the first mover 13 to move on the first stator 12.
In this embodiment, the first mover 13 is provided with a driving element, the first stator 12 is provided with a slide rail, and the first mover 13 is provided on the slide rail, and the driving element drives the first stator 13 to move on the slide rail, so as to realize the reciprocating motion of the first mover 13 on the calibration table 11. The driving piece can be a rotating motor of a rotating motor and is connected with a ball screw, so that the rotating motion is converted into linear motion, and the first rotor 13 is driven to move on the first stator 12; or the driving part is a linear motor which can directly drive the first rotor 13 to linearly move on the first stator 12.
Further, as shown in fig. 2, a plurality of fixing members 14 are disposed on the calibration table 11, and the fixing members 14 are connected to the first stator 13 and fixed on the calibration table 11.
In this embodiment, a plurality of fixing members 14 are provided on the calibration table 11, and the first stator 13 is fixed to the calibration table 11 by the fixing members 14. The fixing member 14 may be a screw or a snap fastener.
Further, as shown in fig. 2, a stone scale 15 is arranged on the calibration table 11, and the stone scale 15 is arranged between the first stator 12 and the calibration station 16; the grating ruler 30 is arranged on the side surface of the stone ruler 15 facing the first stator 12, and the stone ruler 15 is made of marble.
In this embodiment, the calibration table 11 is provided with a stone scale 15, the grating scale 30 is provided on the stone scale 15, and the stone scale 15 and the first stator 13 are arranged at intervals; therefore, in the process of moving the first stator 13, the grating ruler 30 is not affected, the position of the grating ruler 30 is not changed, and the calibration can be more accurately performed. The material of the stone ruler 15 is marble.
Further, as shown in fig. 1, the calibration apparatus further includes a data processing module 50, and the data processing module 50 is electrically connected to the grating read head 20 and the magnetic grating read head 42, respectively.
In this embodiment, the sensor is disposed on the calibration station 16, the moving distance of the grating reading head 20 on the calibration frame and the position information of the sensor on the calibration station 16 are measured, the position information of the grating reading head 20 and the position information of the sensor are transmitted to the data processing module 50, and the data processing module 50 performs analysis and comparison. The position information of the grating read head 20 is used as a reference value to be differenced with the position information of the magnetic direct sensor, the difference value is the position precision deviation value of the sensor, the difference value information is transmitted to the magnetic grating read head 42 of the magnetic direct sensor through the data processing module 50, and the information of the sensor is adjusted, so that the position relation of a product can be accurately measured when the sensor is used.
Further, the calibration device 100 is used for calibrating the magnetic direct sensor 40 on the driving motor, the driving motor includes a first stator 43 and a second mover 44 movably arranged on the first stator 43, the magnetic grid ruler 41 is arranged on the first stator 43, and the magnetic grid reading head 42 is arranged on the second mover 44; the calibration station 16 of the calibration stand 10 is used for fixing the first stator 43; the coupling 60 has one end detachably coupled to the second mover 44 and the other end coupled to the first mover 13 so that the magnetic grating reading head 20 on the second mover 44 moves in synchronization with the grating reading head 20.
In the present embodiment, when the magnetic sensor 40 is applied to the driving motor, the magnetic grating reading head 20 of the magnetic sensor 40 needs to be fixed to the second mover 44 of the driving motor, and the magnetic grating ruler 41 needs to be provided on the first stator 43; so that the magnetic grid reading head 20 can detect the moving distance of the second mover 44 on the first stator 43, but assembly errors are easily generated at the time of assembly, resulting in that the magnetic grid reading head 20 cannot accurately detect the moving distance of the second mover 44 on the first stator 43; therefore, the invention discloses a calibration device, wherein a first stator 43 is fixed on a calibration station 16 of a calibration frame 10, one end of the first stator is detachably connected to a second rotor 44, and the other end of the first stator is connected to a first rotor 13 through a connecting piece 60, so that a magnetic grid reading head 20 on the second rotor 44 and a grating reading head 20 synchronously move, whether the position of a magnetic grid reading head 42 arranged on the second rotor 44 is deviated or not can be accurately calibrated, and the moving stability of the magnetic grid reading head 42 on a driving motor can also be detected.
Specifically, in calibration, the first stator 43 is disposed on the calibration station 16 of the calibration frame 10, the magnetic scale 41 is disposed on a side of the first stator 43 facing the magnetic scale 30, the second stator 44 is movably disposed on the first stator 43, and the magnetic scale reading head 42 is disposed on the second rotor 44. The moving position relation of the magnetic grating reading head 42 can be determined by directly acting with the magnetic grating ruler 41 in the moving process of the magnetic grating reading head 42. The second mover 44 can move on the first stator 43, and by connecting the magnetic grating reading head 42 and the grating reading head 20 together, the grating reading head 20 drives the magnetic grating reading head 42 and the second mover 44 to move on the first stator 43.
In order to solve the above technical problem, as shown in fig. 2, the present invention further provides a magnetic direct sensor, which includes a magnetic grating ruler 41 and a magnetic grating reading head 42 calibrated by the above calibration apparatus 100; the magnetic scale 41 and the magnetic reading head 42 are movably arranged relatively.
It should be noted that the magnetic grating reading head 42 and the magnetic grating ruler 41 are movably disposed, and through the synchronous motion of the magnetic grating reading head 42 and the grating reading head 20, the grating reading head 20 reads information on the grating ruler 30 to obtain a moving distance of the grating reading head 20, and reads the moving distance on the magnetic grating ruler 41 through the magnetic grating reading head 42, and performs differential analysis on the data to calibrate the magnetic grating reading head 42.
Further, as shown in fig. 3, the magnetic scale 41 includes a plurality of first magnetic blocks 411 and a plurality of second magnetic blocks 412, the plurality of second magnetic blocks 412 are respectively arranged alternately with the plurality of first magnetic blocks 411, and the lengths of the first magnetic blocks 411 and the second magnetic blocks 412 are the same; the first magnetic block 411 and the second magnetic block 412 are made of a magnetizable magnetic material.
In this embodiment, the magnetic scale 41 includes a plurality of first magnetic blocks 411 and a plurality of second magnetic blocks 412. The first magnetic blocks 411 and the second magnetic blocks 412 are alternately arranged, and each first magnetic block 411 is respectively connected with one second magnetic block 412 at two opposite ends, so that the first magnetic blocks 411 and the second magnetic blocks 412 are sequentially and alternately arranged, when the magnetic grid reading head 42 runs through one first magnetic block 411 and one second magnetic block 412, a group of sine and cosine signals are generated, and the phase difference is 90 degrees; the position information of the movement of the magnetic grating reading head 42 is finally calculated by software calculation. The first magnetic block 411 and the second magnetic block 412 are made of a magnetic material capable of being magnetized, the first magnetic block 411 and the second magnetic block 412 can be magnetized before use, the magnetized first magnetic block 411 and the magnetized second magnetic block 412 are connected with the grating reading head 20, the first stator 43 and the second rotor 44, namely the grating reading head 42, and are placed into a calibration device together for calibration, and after the calibration is finished, the whole set of system including the grating ruler 41, the first stator 43 and the second rotor 44, namely the grating reading head 42 is taken out for use. The first magnetic block 411 has the same length as the second magnetic block 412.
The invention also provides a driving motor, which comprises a first stator 43, a second rotor 44 and the magnetic direct sensor 40, wherein the second rotor 44 is movably arranged on the first stator 43; the magnetic scale reading head 20 is provided on the second mover 44, and the magnetic scale 41 is provided on a side surface of the first stator 43 facing the magnetic scale reading head 42.
In this embodiment, the second mover 44 is movably provided on the first stator 43, the magnetic grid reading head 20 is provided on the second mover 44, the magnetic grid ruler 41 is provided on a side surface of the first stator 43 facing the magnetic grid reading head 42, and an electric signal is generated in a magnetic value on the magnetic grid ruler 41 when the magnetic grid reading head 42 moves, thereby determining a movement distance of the magnetic grid reading head 42.
In one embodiment, FIG. 4 is a comparison of the theoretical position curve of the magnetic sensor and the actual position curve for settlement, L1 is the length of the first magnetic block 411 or the second magnetic block 412; l2 is feedback error; s1 is the actually measured position curve of the magnetic grating read head 42; s2 is the position line of the theoretical magnetic grating read head 42.
FIG. 5 is a graph of the raw signal output of the magnetic grating read head 42.
In one embodiment, the principle of the calibration device for calibrating a magnetic direct sensor is as follows:
the magnetic grating reading head 42 is rigidly connected with the grating reading head 20, the grating reading head 20 is driven to move by driving the first rotor 13, and the grating reading head 42 is driven to move while the grating reading head 20 moves. In the moving process, the magnetic grating reading head 42 reads the magnetic grating ruler 41, determines the moving distance information of the magnetic grating reading head 42, and transmits the moving information of the magnetic grating reading head 42 to the data processing module 50. The grating reading head 20 reads the grating ruler 30 and determines the moving distance information of the grating reading head 20; and transmits the movement information of the grating read head 20 to the data processing module 50. Since the magnetic grating head 42 and the grating head 20 are moved in synchronization, the moving distance information of the magnetic grating head 42 and the moving distance information of the grating head 20 are the same in the case where the accuracy of the sensor is accurate. If the moving distance information of the magnetic grid reading head 42 is different from the moving distance information of the grating reading head 20, the accuracy of the sensor is proved to be inaccurate, the difference value between the moving distance information of the magnetic grid reading head 42 and the moving distance information of the grating reading head 20 is calculated through the data processing module 50, the difference value is written into a memory chip in the magnetic grid reading head 42, the compensation quantity can be called subsequently, and the accuracy calibration of the sensor is finally realized.
During debugging, the installation clearance and the declination relation of the magnetic grid reading head 42 and the magnetic grid ruler 41 must meet the installation requirement of the magnetic direct sensor; the parallelism between the motion track of the calibrated magnetic direct sensor and the motion track of the reference grating reading head 20 can be adjusted within a specified precision range by using a dial indicator and an auxiliary tool; after the parallelism adjustment is completed, the first stator 43 is fixed to the calibration stand 11.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (11)
1. A calibration device is used for calibrating a magnetic direct sensor, and the magnetic direct sensor comprises a magnetic grid reading head (42) and a magnetic grid ruler (41); it is characterized in that the calibration device comprises:
the calibration frame (10), wherein a calibration station (16) for placing the magnetic direct sensor is arranged on the calibration frame (10);
the grating ruler (30), the grating ruler (30) is arranged on the calibration frame (10) and is parallel to the magnetic grating ruler (41); and
the grating reading head (20), the grating reading head (20) is movably arranged on the calibration frame (10) and is fixedly connected with the magnetic grating reading head (42) so as to move together on the calibration frame (10); the moving direction of the grating reading head (20) is parallel to the length direction of the grating ruler (30).
2. The calibration device according to claim 1, wherein a connector (60) is provided on the calibration frame (10), and one end of the connector (60) is connected to the grating read head (20) and the other end is detachably connected to the magnetic grating read head (42).
3. Calibration arrangement according to claim 2, characterized in that the calibration frame (10) comprises:
the calibration platform (11), the calibration station (16) and the grating ruler (30) are arranged on the calibration platform (11);
the first stator (12) is arranged on the calibration table (11) and is positioned on one side, away from the calibration station (16), of the grating ruler; and
the first rotor (13), the first rotor (13) is movably arranged on the first stator (12), the grating reading head (20) is arranged on the first rotor (13) and is arranged towards the grating ruler (30), and one end of the connecting piece (60) is connected to the first rotor (13).
4. Calibration arrangement according to claim 3, wherein a drive is provided on the first mover (13) for driving the first mover (13) to move on the first stator (12).
5. Calibration arrangement according to claim 3, wherein a plurality of fixing members (14) are provided on the calibration table (11), and the fixing members (14) are connected to the first stator (12) and fixed on the calibration table (11).
6. Calibration arrangement according to claim 3, characterized in that a stone ruler (15) is arranged on the calibration table (11), the stone ruler (15) being arranged between the first stator (12) and the calibration station (16); the grating ruler (30) is arranged on the side face, facing the first stator (12), of the stone ruler (15), and the stone ruler is made of marble.
7. The calibration device according to claim 1, wherein the calibration apparatus further comprises a data processing module (50), the data processing module (50) being electrically connected to the grating read head (20) and the magnetic grating read head (42), respectively.
8. Calibration apparatus according to claim 3, for calibrating a magnetic direct sensor on a driving motor, the driving motor comprising a second stator (43) and a second mover (44) movably arranged on the second stator (43), the magnetic grid ruler (41) being arranged on the second stator (43), the magnetic grid reading head (42) being arranged on the second mover (44); characterized in that a calibration station (16) of the calibration frame (10) is used for fixing the second stator (43); one end of the connecting piece (60) is detachably connected to the second rotor (44), and the other end of the connecting piece is connected to the first rotor (13), so that the magnetic grating reading head (20) on the second rotor (44) and the grating reading head (20) move synchronously.
9. A magnetic direct sensor, characterized by comprising a magnetic grating reading head (42) and a magnetic grating ruler (41) calibrated by the calibration device according to any one of claims 1 to 8; the magnetic grid ruler (41) and the magnetic grid reading head (42) are arranged in a relatively movable mode.
10. A magnetic direct sensor according to claim 9, characterized in that the magnetic scale (41) comprises:
a plurality of first magnetic blocks (411); and
a plurality of second magnetic blocks (412), wherein the plurality of second magnetic blocks (412) and the plurality of first magnetic blocks (411) are respectively arranged alternately, and the lengths of the first magnetic blocks (411) and the second magnetic blocks (412) are the same;
the first magnetic block (411) and the second magnetic block (412) are made of magnetic materials capable of being magnetized.
11. A drive motor, characterized by comprising:
a first stator (43);
a second mover (44), wherein the second mover (44) is movably arranged on the first stator (43); and
magnetic direct sensor according to any one of claims 9 to 10, the magnetic grating read head (20) being provided on the second mover (44), the magnetic grating ruler (41) being provided on the side of the first stator (43) facing the magnetic grating read head (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110748486.7A CN113432518A (en) | 2021-07-01 | 2021-07-01 | Calibration device, magnetic direct sensor and driving motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110748486.7A CN113432518A (en) | 2021-07-01 | 2021-07-01 | Calibration device, magnetic direct sensor and driving motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113432518A true CN113432518A (en) | 2021-09-24 |
Family
ID=77758670
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110748486.7A Pending CN113432518A (en) | 2021-07-01 | 2021-07-01 | Calibration device, magnetic direct sensor and driving motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113432518A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114362604A (en) * | 2021-12-31 | 2022-04-15 | 苏州汇川控制技术有限公司 | Linear motor position detection method, system and equipment |
| CN117674514A (en) * | 2023-08-24 | 2024-03-08 | 比亚迪股份有限公司 | Linear motor, electromagnetic suspension and vehicle |
| CN118009864A (en) * | 2024-04-09 | 2024-05-10 | 苏州纵苇科技有限公司 | Rotor control method, device, electronic equipment and storage medium |
-
2021
- 2021-07-01 CN CN202110748486.7A patent/CN113432518A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114362604A (en) * | 2021-12-31 | 2022-04-15 | 苏州汇川控制技术有限公司 | Linear motor position detection method, system and equipment |
| CN117674514A (en) * | 2023-08-24 | 2024-03-08 | 比亚迪股份有限公司 | Linear motor, electromagnetic suspension and vehicle |
| CN118009864A (en) * | 2024-04-09 | 2024-05-10 | 苏州纵苇科技有限公司 | Rotor control method, device, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113432518A (en) | Calibration device, magnetic direct sensor and driving motor | |
| US4587622A (en) | Method and apparatus for determining and correcting guidance errors | |
| CN102463462B (en) | Method for increasing mounting precision of linear guide rail | |
| CN102721393B (en) | On-site self-calibration method for measurement system error of precise rotary table | |
| CN111765844B (en) | Method for detecting dynamic error of grating ruler | |
| CN102317737A (en) | Coordinate measuring machine (cmm) and method of compensating errors in a cmm | |
| CN207881664U (en) | A kind of intelligent calibrating device of draw-wire displacement sensor | |
| TWI248850B (en) | Determination of a movable gantry position | |
| CN110530296A (en) | A kind of line laser fix error angle determines method | |
| CN111735393B (en) | Device and method for synchronously measuring linear displacement and straightness of guide rail in situ | |
| CN111678434B (en) | Device and method for simultaneously detecting six-degree-of-freedom errors of machine tool linear shaft operation | |
| CN216115839U (en) | Calibration device, magnetic direct sensor and driving motor | |
| CN211291322U (en) | Detection and calibration system of magnetostrictive displacement sensor | |
| CN101446491B (en) | Error detection device of electronic reading system of digital level and detection method thereof | |
| CN110296718B (en) | Bar code type leveling staff detection system and detection method | |
| CN219319352U (en) | Calibrating device for large-size three-coordinate measuring machine | |
| CN101183049B (en) | Nc milling machine error automatic sizing device | |
| CN103322919A (en) | Grating ruler and method for finding null position of grating ruler quickly | |
| EP0410542A2 (en) | Moveable equipment for the verification of corrected surfaces or in the process of correction | |
| JP2008524576A (en) | Sequential multi-probe method for straightness measurement of straight rulers | |
| JP4043793B2 (en) | Mobile device | |
| CN212082204U (en) | Measuring reference surface positioning device | |
| CN201413125Y (en) | Portable laser linear detector | |
| CN113251907A (en) | Five-degree-of-freedom precision measurement device and control method thereof | |
| CN218584031U (en) | Sensor calibration device |
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 |