CN203824522U - High-speed high-precision high-redundancy reading-head apparatus used for absolute grating ruler - Google Patents
High-speed high-precision high-redundancy reading-head apparatus used for absolute grating ruler Download PDFInfo
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- CN203824522U CN203824522U CN201420054358.8U CN201420054358U CN203824522U CN 203824522 U CN203824522 U CN 203824522U CN 201420054358 U CN201420054358 U CN 201420054358U CN 203824522 U CN203824522 U CN 203824522U
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- grating
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Abstract
The utility model relates to a high-speed high-precision high-redundancy reading-head apparatus used for an absolute grating ruler, comprising a tackle body (1), a raster glass (3), an absolute code track (4), an increment code track (5), an absolute code track acquisition head (6), a first indication raster (7) and a second indication raster (8), wherein the raster glass (3) is mounted at the lower part of the tackle body (1). Two code tracks are engraved in parallel in the raster glass (3), one is the absolute code track (4), and the other is the increment code track (5). The first indication raster (7) and the second indication raster (8) are disposed in parallel along a moving direction of the tackle body (1) and over the increment code track (5). The absolute code track acquisition head (6) for acquiring whether the reading-head gets to an absolute position is also mounted on the tackle body (1) and arranged over the absolute code track (4). According to the reading-head apparatus provided by the utility model, under a high-speed and high-precision working condition of the grating ruler, reading reliability is ensured, and functions of displacement calculation and multiple limit of the grating ruler are also provided.
Description
Technical field
The utility model is a kind of high-speed, high precision highly redundant absolute grating ruler reading head device, belongs to the innovative technology of high-speed, high precision highly redundant absolute grating ruler reading head device.
Background technology
At modern machine, add in industry, mostly adopt grating sensor to carry out position feedback device.Because grating scale can be carried out closed-loop control to system, reduce the error that the reasons such as ball-screw thermal deformation cause, improve machining precision, so current medium-to-high grade digital control system adopts grating scale as displacement of the lines feedback element more and more
[1].Its high precision and high resolving power, in conjunction with relatively low price, make it not only in machine tool field, and are widely used in coordinate measuring machine, Robotics, each position and velocity survey and position and motion control application
[2].
Grating scale can be divided into increment grating scale and absolute grating ruler.Increment type grating scale principle of work is: light forms Moire fringe by the grating of two relative motions, after Moire fringe is counted, segmented, obtains displacement variable; Absolute grating scale principle of work is: on scale grating, delineate one with the code channel of absolute position encoder, read head obtains absolute position by reading the coding of current location.
Increment type grating scale is owing to being to Moire fringe counting, output pulse signal, thus can reach very high movement velocity at work, but its precision is in general not as absolute grating scale, can not meet more high-precision process requirements; Thereby absolute grating scale utilizes camera, by magnifier, absolute code channel is carried out to image acquisition and decodes current absolute position, although but this reading code mode precision can reach very high, but when speed surpasses certain threshold value, will produce smear or take the phenomenons such as time delay, so do not reach the object of operate at high speeds, cause working (machining) efficiency lower.
In addition, traditional grating scale only relies on a code channel to read positional information, and reliability is lower, especially contaminated after, the bit error rate is high; If grating scale breaks down, can not normally use immediately; Limit function mode is single, if stop means lost efficacy, grating scale is vulnerable to strong shock and scraps.
Summary of the invention
The purpose of this utility model is to consider the problems referred to above and the high-speed, high precision highly redundant absolute grating ruler reading head device of a kind of high-speed, high precision, highly redundant is provided.The utility model can improve rate of reading, reading accuracy and reading certainty, and the utility model, under grating scale high-speed, high precision condition of work, has guaranteed the reliability of reading, and the multiple limit function of displacement calculation and grating scale self is provided.
The technical solution of the utility model is: high-speed, high precision highly redundant absolute grating ruler reading head device of the present utility model, include coaster vehicle body, Grating glass, absolute code channel, increment code channel, absolute code channel collection head, the first indication grating, the second indication grating, wherein Grating glass is arranged on the below of coaster vehicle body, on Grating glass, be carved with side by side two kinds of code channels, a kind of is absolute code channel, another kind is increment code channel, the first indication grating and the second indication grating are installed side by side along the direction of motion of coaster vehicle body, and directly over increment code channel, for gathering read head, whether go to the absolute code channel collection head of absolute position and be also arranged on coaster vehicle body, and directly over absolute code channel.
Above-mentioned the first indication grating and the upper surface of the second indication grating and the upper surface of Grating glass are parallel; The upper surface of above-mentioned absolute code channel collection head is also parallel with the upper surface of Grating glass.
The side in the same way of above-mentioned coaster vehicle body is provided with the roller that several sizes are identical, and their geometric center is not on same straight line, the upper surface that roller is close to Grating glass rolls, and guarantees that absolute code channel collection head, the first indication grating and the second indication grating and Grating glass keep opposing parallel and reduce friction and vibration.
The utility model is compared with other prior aries, and tool has the following advantages:
1) the utility model utilizes grand micro-complex technique thought, and indication grating, as the necessary device high-speed motion of increment type grating scale, improves grating scale operating rate, when moving to target proximity, suitably slow down, now definitely code channel collection head work, strengthen image data amount, reach high-precision object.
2) the utility model utilizes redundancy thought, the positional information of the increment type that two indication gratings obtain provides reference for error code correction, thereby improved the reliability of absolute grating ruler coding and decoding, made the final absolute location information of grating scale read more reliable.
3) adding of two indication gratings of the utility model, make grating scale direction determining accuracy more increase one deck guarantee.
4) adding of two indication gratings of the utility model, has increased the standby limit function of grating scale self, the impact damage of bringing to grating scale while avoiding better linear electric motors limit function to lose efficacy.
5) adding of two indication gratings of the utility model, when definitely code channel collection head lost efficacy, can be used as backup survey instrument, and the increment that two kinds of different accuracies are provided is to measure, and nonserviceables to guarantee that grating scale has certain measurement function down.
In the movement velocity of the utility model when improving absolute grating ruler work, reading code precision, increased the reliability of its reading, and possess the computing function that direction determining that grating scale moves and displacement increase or reduce, the standby limit function of double grating scale self is also additionally provided.The utility model is a kind of high-speed, high precision highly redundant absolute grating ruler reading head device with high speed, high precision, highly redundant.
Accompanying drawing explanation
Fig. 1 is the stereographic map of the utility model read head structure.
Fig. 2 is the vertical view of the utility model read head structure.
In figure: 1, coaster vehicle body 2, roller 3, Grating glass 4, absolute code channel 5, increment code channel 6, absolute code channel collection head 7, the first indication grating 8, the second indication grating.
Embodiment
Embodiment:
Structural representation of the present utility model is as Fig. 1, shown in 2, high-speed, high precision highly redundant absolute grating ruler reading head device of the present utility model, include coaster vehicle body 1, Grating glass 3, absolute code channel 4, increment code channel 5, absolute code channel collection head 6, the first indication grating 7, the second indication grating 8, wherein Grating glass 3 is arranged on the below of coaster vehicle body 1, on Grating glass 3, be carved with side by side two kinds of code channels, a kind of is absolute code channel 4, another kind is increment code channel 5, the first indication grating 7 and the second indication grating 8 are installed side by side along the direction of motion of coaster vehicle body 1, and directly over increment code channel 5, recording increment code channel Moire fringe quantity, for gathering read head, whether go to the absolute code channel collection head 6 of absolute position and be also arranged on coaster vehicle body 1, and directly over absolute code channel 4, for recording the absolute position of grating scale.
The upper surface of above-mentioned the first indication grating 7 and the second indication grating 8 is parallel with the upper surface of Grating glass 3; The upper surface of above-mentioned absolute code channel collection head 6 is also parallel with the upper surface of Grating glass 3.
The side in the same way of above-mentioned coaster vehicle body 1 is provided with the roller 2 that several sizes are identical, and their geometric center is not on same straight line, during work, the upper surface that roller 2 is close to Grating glass rolls, to guarantee the relative level of coaster and Grating glass 3, also guarantee absolute code channel collection head 6, the first indication grating 7 and the second indication grating 8 keep opposing parallel with Grating glass 3, and reduce absolute code channel collection head 6, friction and the vibration of the first indication grating 7 and the second indication grating 8 and Grating glass 3, in addition, the lower end of above-mentioned coaster vehicle body 1 is provided with the roller 2 that several sizes are identical, during work, roller 2 along the side of Grating glass 3 along with coaster moves and rolls, guarantee that coaster vehicle body 1 and the direction of relative movement of Grating glass 3 do not change.
In the present embodiment, the side in the same way of above-mentioned coaster vehicle body 1 is provided with the geometric center of 2, three rollers 2 of roller that 3 sizes are identical not on same straight line.The lower end of above-mentioned coaster vehicle body 1 is provided with 2 rollers 2 that size is identical.
In the present embodiment, above-mentioned the first indication grating 7 is identical with the size of the second indication grating 8, thickness is identical, unique different be that the first indication grating 7 is different with respect to the grating slope angle on the increment code channel 5 on Grating glass 3 from the grating on the second indication grating 8, the Moire fringe width that the first indication grating 7 modulates from increment code channel 5 with indication grating on the second indication grating 8 is different, thereby the position signalling precision that the first indication grating 7 is produced with indication grating on the second indication grating 8 is different.
In the present embodiment, the mode that above-mentioned Grating glass 3 connects with glue is fixed on the chi shell inside of grating scale, therefore can think that Grating glass 3 is fixed, does not draw the chi shell of grating scale in schematic diagram.
During positional information that above-mentioned absolute code channel collection head 6 gathers on absolute code channel 4, what adopt is the mode of camera exposure, which has quite high precision, but also there is certain speed limitation simultaneously, when coaster speed surpasses certain threshold value, the image gathering just can produce smear, and take time delay factor and can produce larger error under high-speed motion, so when coaster speed is in this threshold value, positional information is gathered by absolute code channel collection head 6, so just has high-precision serviceability.
In the present embodiment, the first indication grating 7 and the second indication grating 8 and 5 relative motions of increment code channel, form Moire fringe, acquisition system is counted Moire fringe, output pulse signal, thus can reach very high movement velocity at work, but its precision is in general not as absolute grating scale.Therefore, when coaster vehicle body 1 is that movement velocity is while surpassing the threshold value of above-mentioned absolute code channel collection head 6, system stops absolute reading code, then gather increment reading code, and changing sigma-delta information in reading code mode last absolute location information of moment, while waiting until the fast arrival of absolute code channel collection head 6 target location, coaster slows down, when speed, reduce to above-mentioned threshold value when following, restart absolute reading code, so just can reach the performance of grating scale operate at high speeds.
In said process, coaster vehicle body 1 reaches target location when static, now system can obtain three position datas, it is the absolute location information that absolute code channel collection head 6 obtains, the first indication grating 7 adds the resulting final position of incremental process information information from starting point absolute position, the second indication grating 8 adds the resulting final position of incremental process information information from starting point absolute position.The lower accuracy positional information that the first indication grating 7 and the second indication grating 8 obtain contrasts with the absolute location information that definitely code channel collection head 6 gathers, if error in the reasonable scope, thinks that the resulting absolute position of absolute code channel collection head 6 is credible; If after contrast, definitely any positional information comparison in code channel collection head 6 and the first indication grating 7 or the second indication grating 8, error exceeds allowed band, and the first indication grating 7 and both positional informations of the second indication grating 8 are within permissible error scope, think now the absolute location information decoding error that definitely code channel collection head 6 obtains, again the reading images information contrast of decoding, new absolute location information is within the scope of permissible error, think that this absolute location information is credible and export it, otherwise, export fault alarm information.
Above-mentioned the first indication grating 7 and the second indication grating 8 are owing to being all fixed on coaster vehicle body 1, both positions are relatively static, both resulting low precision position information equate in theory, but owing to there being error, position difference between the two should be in a very little fixed range, if during work, the difference of the first indication grating 7 and both positional informations of the second indication grating 8 is not within allowed band, definitely the obtained absolute location information of code channel collection head 6 is incredible, now system output grating scale failure message.
When above-mentioned the first indication grating 7 and the second indication grating 8 work, there is direction identification function, therefore increased the reliability of the direction determining of absolute grating ruler.
When the low precision position information obtaining when above-mentioned the first indication grating 7 and the second indication grating 8 is gone to the early warning position at increment code channel 5 two ends; automatically stop mobile; as the standby limit function of absolute grating ruler, better protect absolute grating ruler to exempt from unexpected shock and damage.
Adding of above-mentioned the first indication grating 7 and the second indication grating 8, when definitely code channel collection head 6 lost efficacy, can be as two backup survey instruments, nonserviceabling guarantees that grating scale has certain measurement function down.
Principle of work of the present utility model is:
When grating scale carries out displacement measurement, coaster can drive absolute code channel collection head 6, the first indication grating 7 along Grating glass 3, to slide together with the second indication grating 8.In absolute grating ruler reading head moving process, the absolute position that might as well establish starting point is P
0, after sliding and stopping, the distance of the first indication grating 7 walkings is L
1, the distance of the second indication grating 8 walkings is L
2(forward moves and gets positive sign, and negative sense moves gets negative sign), the absolute position that now the first indication grating 7 and the second indication grating 8 obtain is:
P
1=P
0+L
1
P
2=P
0+L
2
Now definitely code channel collection head 6 to obtain absolute position be P
3, P in theory
1=P
2=P
3, but owing to there is error in actual measurement, these three numerical value are not necessarily equated, but this does not affect absolute grating ruler and finally exports measurement result.Now system is first by P
1with P
2contrast, because the first indication grating 7 modulates the increment type grating scale that precision is different, so L with increment code channel 5 respectively from the second indication grating 8
1with L
2more just have certain error, cause P
1with P
2more also can produce corresponding error.Because the first indication grating 7 is relative static with the second indication grating 8 installation sites, if this error not in allowed band, grating scale output fault alarm information; If this error is in allowed band, system continues P
1(or P
2also can because P now
1p
2almost equal) and P
3contrast, if error now, within allowed band, illustrates absolute position P
3credible, system output absolute position P
3if error now exceeds outside allowed band, definitely code channel collection head 6 again gathers immediately image and obtains absolute position P
4, new absolute position P
4again with P
1contrast, if error within allowed band, absolute position P
4credible and export it, if still exceed error allowed band, export grating scale fault alarm information.
In sum, the utility model comprises a kind of redundancy based on grand micro-compound thought, in movement velocity when improving absolute grating ruler work, reading code precision, increased the reliability of its reading, and possess the computing function that direction determining that grating scale moves and displacement increase or reduce, the standby limit function of double grating scale self is also additionally provided.The utility model is a kind of absolute grating ruler reading head device with high speed, high precision, highly redundant.
Claims (7)
1. a high-speed, high precision highly redundant absolute grating ruler reading head device, it is characterized in that including coaster vehicle body (1), Grating glass (3), absolute code channel (4), increment code channel (5), absolute code channel collection head (6), the first indication grating (7), the second indication grating (8), wherein Grating glass (3) is arranged on the below of coaster vehicle body (1), on Grating glass (3), be carved with side by side two kinds of code channels, a kind of is absolute code channel (4), another kind is increment code channel (5), the first indication grating (7) and the second indication grating (8) are installed side by side along the direction of motion of coaster vehicle body (1), and directly over increment code channel (5), for gathering read head, whether go to the absolute code channel collection head (6) of absolute position and be also arranged on coaster vehicle body (1), and directly over absolute code channel (4).
2. the device of high-speed, high precision highly redundant absolute grating ruler reading head according to claim 1, is characterized in that the upper surface of above-mentioned the first indication grating (7) and the second indication grating (8) is parallel with the upper surface of Grating glass (3); The upper surface of above-mentioned absolute code channel collection head (6) is also parallel with the upper surface of Grating glass (3).
3. the device of high-speed, high precision highly redundant absolute grating ruler reading head according to claim 1, the side in the same way that it is characterized in that above-mentioned coaster vehicle body (1) is provided with the roller (2) that several sizes are identical, and their geometric center is not on same straight line, and the upper surface that roller (2) is close to Grating glass (3) rolls.
4. the device of high-speed, high precision highly redundant absolute grating ruler reading head according to claim 1, the lower end that it is characterized in that above-mentioned coaster vehicle body (1) is provided with the roller (2) that several sizes are identical, and roller (2) rolls along the side of Grating glass (3).
5. the device of high-speed, high precision highly redundant absolute grating ruler reading head according to claim 4, the side in the same way that it is characterized in that above-mentioned coaster vehicle body (1) is provided with 3 rollers (2) that size is identical, and the lower end of above-mentioned coaster vehicle body (1) is provided with 2 rollers (2) that size is identical.
6. according to the high-speed, high precision highly redundant absolute grating ruler reading head device described in claim 1 to 5 any one, it is characterized in that above-mentioned the first indication grating (7) is different with respect to the grating slope angle on increment code channel (5) with the grating on the second indication grating (8), the first indication grating (7) is different from the Moire fringe width that increment code channel (5) modulates with the indication grating on the second indication grating (8).
7. high-speed, high precision highly redundant absolute grating ruler reading head device according to claim 6, is characterized in that above-mentioned Grating glass (3) is fixed on the chi shell inside of grating scale in glue mode even.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420054358.8U CN203824522U (en) | 2014-01-28 | 2014-01-28 | High-speed high-precision high-redundancy reading-head apparatus used for absolute grating ruler |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420054358.8U CN203824522U (en) | 2014-01-28 | 2014-01-28 | High-speed high-precision high-redundancy reading-head apparatus used for absolute grating ruler |
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| Publication Number | Publication Date |
|---|---|
| CN203824522U true CN203824522U (en) | 2014-09-10 |
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ID=51480007
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|---|---|---|---|
| CN201420054358.8U Expired - Fee Related CN203824522U (en) | 2014-01-28 | 2014-01-28 | High-speed high-precision high-redundancy reading-head apparatus used for absolute grating ruler |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103776374A (en) * | 2014-01-28 | 2014-05-07 | 广东工业大学 | High-speed, high-accuracy and high-redundancy absolute grating ruler reading head device |
| CN108827351A (en) * | 2018-06-28 | 2018-11-16 | 广东工业大学 | A kind of rotary encoder and its measurement method |
-
2014
- 2014-01-28 CN CN201420054358.8U patent/CN203824522U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103776374A (en) * | 2014-01-28 | 2014-05-07 | 广东工业大学 | High-speed, high-accuracy and high-redundancy absolute grating ruler reading head device |
| CN108827351A (en) * | 2018-06-28 | 2018-11-16 | 广东工业大学 | A kind of rotary encoder and its measurement method |
| CN108827351B (en) * | 2018-06-28 | 2021-07-06 | 广东工业大学 | Rotary encoder and measuring method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140910 Termination date: 20170128 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |