CN208026215U - A kind of position measuring system based on grating scale and encoder - Google Patents
A kind of position measuring system based on grating scale and encoder Download PDFInfo
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- CN208026215U CN208026215U CN201820259277.XU CN201820259277U CN208026215U CN 208026215 U CN208026215 U CN 208026215U CN 201820259277 U CN201820259277 U CN 201820259277U CN 208026215 U CN208026215 U CN 208026215U
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- encoder
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- grating scale
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- 239000012636 effector Substances 0.000 claims abstract description 23
- 241000239290 Araneae Species 0.000 claims description 14
- 229910000746 Structural steel Inorganic materials 0.000 claims description 11
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- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 238000005259 measurement Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 6
- 239000011159 matrix material Substances 0.000 description 6
- 238000000691 measurement method Methods 0.000 description 6
- 230000009466 transformation Effects 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
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- 230000004048 modification Effects 0.000 description 2
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Abstract
A kind of position measuring system based on grating scale and encoder, belongs to field of measuring technique.It is made of data acquisition device, magnetic connector, numerical control device and terminal.The measuring device is with rotary encoder and grating scale for main measurement device, when numerical control device moves, so that grating scale is rotated centered on rotary encoder, obtain the data of rotary encoder and grating scale in real time by data collecting card and terminal, the relative coordinate of numerical control device end effector is obtained by calculation again, realize that real time position when numerical control device moves in fixed pan measures, measurement process is easy to operate, the data precision of measurement is higher, using magnetic connector, the safety and reliability of device is improved.
Description
Technical field
The present invention relates to a kind of position measuring system based on grating scale and encoder, specifically a kind of robot,
The mechanized equipments terminal position real-time measurement system such as lathe, belongs to field of measuring technique.
Background technology
With the development of science and technology, have to the size of mechanical equipment accurate positionin during exercise, speed and acceleration
Strict requirements, in Practical Project, it is often necessary to measure position, speed and the acceleration of equipment end or actuating station in real time.
Main measurement method includes at present：The methods of laser tracker, more laser displacement measurement methods and camera shooting tracking.Laser tracker
It is of high cost, ease for use is poor, and the other methods including more laser displacement measurement methods are by space there is easily being limited, scene
Poor practicability realizes the problems such as difficulty is big.
Invention content
In view of the above-mentioned deficiencies, the present invention provides a kind of position measuring system based on grating scale and encoder, is one
Kind has the features such as at low cost, easy to use using the real-time measurement system and measurement method of grating scale and rotary encoder.
The present invention is achieved by the following technical solutions：
A kind of position measuring system based on grating scale and encoder, is by data acquisition device, magnetic connector, number
Control device and terminal composition, the magnetic connector is divided into two link blocks, respectively with the numerical control
The end effector of device is connected with data acquisition device, and the data acquisition device passes through data line and the computer
Terminal connects.
The data acquisition device is by device pedestal, encoder mounting seat, rotary encoder, two bearings, two
What a bearing spider, flange coupling, L-type connecting angle iron, data collecting card and grating scale formed, the encoder installs bottom
Seat is fixed on the device pedestal, and the rotary encoder is bolted with the encoder mounting seat,
Two bearing spiders are fixed on the side of the encoder mounting seat, and the bearing is mounted on the axis
It holds on bearing so that the shaft of two bearing spiders and the rotary encoder is coaxially connected, flange connection
Axis device and the side of the L-type connecting angle iron are bolted, the flange coupling and the L-type connecting angle iron
Positioning center hole and the rotary encoder shaft coaxial placement, and among two bearing spiders, institute
The other side for the L-type angle bar stated is connect with one end of the grating scale main scale, the rotary encoder and grating scale reading
The data line of head is all connected on the data collecting card.
The magnetic connector is made of two link blocks, each link block be by attachment device fixed seat,
What ball groove bar and magnetic ball formed, the attachment device fixed seat of two link blocks is executed with the end of the numerical control device respectively
Device is connected with the grating ruler reading head of data acquisition device, passes through magnetic between two link blocks of the magnetic connector
Ball connects, and ensures that the end effector of the numerical control device and data acquisition device are that point connects.
The magnetic ball of two link blocks of the magnetic connector answers magnetic attraction of a size suitable, has both ensured institute
The end effector for the numerical control device stated is in proper motion, in the state being reliably connected, ensures again slide calliper rule occur existing
As when, can timely separate, to protect grating scale.
A kind of location measurement method based on grating scale and encoder, is as follows：
A. data acquisition device is placed at the rational position for not influencing its work around numerical control device, magnetism is connected
One of device link block is connect with grating ruler reading head, by another link block of magnetic connector and numerical control
The end effector of device connects, then the magnetic ball of two link blocks of magnetic connector is inhaled together, passes through data line
Data acquisition device is connect with terminal；
B. manipulation numerical control device moves to a determining position, measures the coordinate of the point under numerical control device basis coordinates system
Value, and the data of rotary encoder and grating scale at this time are set as zero by terminal, i.e., using the point as data
The origin for the coordinate system that harvester determines；
C. manipulation numerical control device moves to another position determined in same plane, is measured again in numerical control device base
The coordinate value of the position under coordinate system, while by data acquisition device by the number of rotary encoder and grating scale at the position
According to being sent to terminal；
D. handled by terminal rotary encoder and grating scale data can obtain corresponding rotation angle and
The distance moved on the angle direction, you can to find out coordinate of the position under the coordinate system that data acquisition device determines
Value；
E. two fixing points can be obtained by step a-d to determine in the base coordinate system and data acquisition device of numerical control device
Coordinate system under coordinate value, then calculate data acquisition device determination coordinate system and numerical control device basis coordinates system between
Transformation matrix；
F. numerical control device is manipulated in above-mentioned move in plane, and rotary encoder and light are acquired by data acquisition device in real time
The data of grid ruler calculate coordinate of the end effector under the coordinate system that data acquisition device determines by terminal
Value；
G. the transformation matrix obtained using step e acquires end effector in numerical control device pedestal by terminal
Coordinate value under mark system.
The usefulness of the invention is that the measuring device, for main measurement device, is passed through with rotary encoder and grating scale
Data acquisition device is connect by magnetic connector with numerical control device, when numerical control device moves so that grating scale is with rotary coding
Rotated centered on device, by data collecting card and terminal obtain in real time the data of rotary encoder and grating scale to get
The angle and the distance on the angle direction turned over to the end effector of numerical control device, then numerical control device is obtained by calculation
The relative coordinate of end effector realizes that real time position when numerical control device moves in fixed pan measures, and in use, right
It is not strict with the placement position of data acquisition device so that measurement process is easy to operate, using high-precision rotary coding
As measurement device, the data precision of measurement is higher for device and grating scale, using magnetic connector, utilizes the suction of strong magnetic ball
It is attached, not only ensure that connection precision, and effectively prevent causing showing for grating scale damage because of reasons such as slide calliper rule
As improving the safety and reliability of device.
Description of the drawings
Attached drawing 1 is the instrumentation plan of the present invention, and attached drawing 2 is the structural schematic diagram of data acquisition device, and attached drawing 3 is data
Enlarged drawing of the harvester at L-type connecting angle iron, attached drawing 4 are the structural schematic diagram of magnetic connector, and attached drawing 5 is to establish to sit
Mark system calculates end effector position view.
In figure, 1, data acquisition device, 1.1, device pedestal, 1.2, encoder mounting seat, 1.3, flange coupling,
1.4, bearing spider, 1.5, bearing, 1.6, L-type connecting angle iron, 1.7, grating scale, 1.7.1, grating scale main scale, 1.7.2, grating
Ruler reading head, 1.8, data collecting card, 1.9, rotary encoder, 2, magnetic connector, 2.1, attachment device fixed seat, 2.2,
Ball groove bar, 2.3, magnetic ball, 3, numerical control device, 4, terminal.
Specific implementation mode
A kind of position measuring system based on grating scale and encoder, be by data acquisition device 1, magnetic connector 2,
What numerical control device 3 and terminal 4 formed, the magnetic connector 2 is divided to for two link blocks, respectively with it is described
The end effector and data acquisition device 1 of numerical control device 3 connect, the data acquisition device 1 by data line with it is described
Terminal 4 connect.
The data acquisition device 1 is by device pedestal 1.1, encoder mounting seat 1.2, rotary encoder 1.9, two
1.5, two bearing spiders 1.4 of a bearing, flange coupling 1.3, L-type connecting angle iron 1.6, data collecting card 1.8 and grating scale
1.7 compositions, the encoder mounting seat 1.2 is fixed on the device pedestal 1.1, the rotary encoder
1.9 are bolted with the encoder mounting seat 1.2, and described two bearing spiders 1.4 are fixed to the volume
On the side of code device mounting seat 1.2, the bearing 1.5 is mounted on the bearing spider 1.4 so that described two
Bearing spider 1.4 and the shaft of the rotary encoder 1.9 are coaxially connected, the flange coupling 1.3 and the L-type
The side of connecting angle iron 1.6 is bolted, and the flange coupling 1.3 and the L-type connecting angle iron 1.6 are determined
The shaft coaxial placement of position centre bore and the rotary encoder 1.9, and among two bearing spiders 1.4,
The other side of the L-type angle bar 1.6 is connect with one end of the grating scale main scale 1.7.1, the rotary encoder 1.9
It is all connected to the data line of grating ruler reading head 1.7.2 on the data collecting card 1.8.
The magnetic connector 2 is made of two link blocks, and each link block is by attachment device fixed seat
2.1, ball groove bar 2.2 and magnetic ball 2.3 form, the attachment device fixed seats 2.1 of two link blocks respectively with the numerical control
The end effector of device 3 is connected with the grating ruler reading head 1.7.2 of data acquisition device 1, the magnetic connector 2
Two link blocks between connected by magnetic ball 2.3, ensure the end effector and data acquisition dress of the numerical control device 3
1 is set as point connection.
The magnetic ball 2.3 of two link blocks of the magnetic connector 2 answers magnetic attraction of a size suitable, both really
The end effector of the numerical control device 3 is protected in proper motion, in the state being reliably connected, is ensured again in card
It when ruler phenomenon, can timely separate, to protect grating scale 1.7.
A kind of location measurement method based on grating scale and encoder, is as follows：
A. data acquisition device 1 is placed at the rational position for not influencing its work around numerical control device 3, even by magnetism
One of connection device 2 link block is connect with grating ruler reading head 1.7.2, another by magnetic connector 2 connects
Module is connect with the end effector of numerical control device 3, then the magnetic ball 2.3 of two link blocks of magnetic connector 2 is inhaled
Together, data acquisition device 1 is connect with terminal 4 by data line；
B. manipulation numerical control device 3 moves to a determining position, measures the point at 3 basis coordinates system XOY of numerical control device
Coordinate value, and the data of rotary encoder 1.9 and grating scale 1.7 at this time are set as by zero, i.e. handle by terminal 4
The coordinate system X that the point is determined as data acquisition device 1jOjYjOrigin Oj；
C. manipulation numerical control device 3 moves to another position determined in same plane, is measured again in numerical control device 3
The coordinate value of the position under basis coordinates system XOY, while by data acquisition device 1 by 1.9 He of rotary encoder at the position
The data of grating scale 1.7 are sent to terminal 4；
D. the data that rotary encoder 1.9 and grating scale 1.7 are handled by terminal 4 can be rotated accordingly
The angle delta θ and distance L moved on the angle direction1, you can to find out the coordinate that the position is determined in data acquisition device
It is XjOjYjUnder coordinate value；
E. by step a-d can obtain two fixing points numerical control device 3 base coordinate system XOY and data acquisition device
The 1 coordinate system X determinedjOjYjUnder coordinate value, then calculate data acquisition device 1 determination coordinate system XjOjYjIt is filled with numerical control
Set the transformation matrix between 3 basis coordinates system XOY；
F. numerical control device 3 is manipulated in above-mentioned move in plane, and rotary encoder is acquired by data acquisition device 1 in real time
1.9 and grating scale 1.7 data, the end effector of numerical control device 3 is calculated in data acquisition device by terminal 4
The 1 coordinate system X determinedjOjYjUnder coordinate value；
G. the transformation matrix obtained using step e acquires the end effector of numerical control device 3 in number by terminal
Control the coordinate value under 3 base coordinate system XOY of device.
Actually measure when, obtain corresponding rotation angle Δ θ according to step a-d and moved on the angle direction away from
From L1Afterwards, the coordinate system X that second determining position is determined in data acquisition device 1 can be obtainedjOjYjUnder abscissa value Xj1For：
Xj1=L1·COSΔθ (1)
The ordinate Y of corresponding points is calculated by Pythagorean theorem againj1Value, the then end effector of numerical control device 3 at this time
In the coordinate system X that data acquisition device 1 determinesjOjYjUnder coordinate value found out, then the Two coordinate system obtained by step e
Between transformation matrix.
It after completing above step, then manipulates numerical control device 3 and moves in the same plane, terminal 4 is in real time according to number
The data sent according to harvester 1 calculate the coordinate system X determined in data acquisition device 1jOjYjUnder numerical control device 3 end
Hold the coordinate value of actuator, then the transformation matrix obtained by step e that can find out the end effector of numerical control device 3 in numerical control
Coordinate value under 3 base coordinate system XOY of device, that is, complete the real-time measurement to numerical control device terminal position.
For the ordinary skill in the art, introduction according to the present invention, do not depart from the principle of the present invention with
In the case of spirit, changes, modifications, replacement and modification that embodiment is carried out still fall within protection scope of the present invention it
It is interior.
Claims (4)
1. a kind of position measuring system based on grating scale and encoder, is by data acquisition device, magnetic connector, numerical control
What device and terminal formed, it is characterised in that：The magnetic connector is divided into two link blocks, respectively with institute
The end effector for the numerical control device stated is connected with data acquisition device, and the data acquisition device passes through data line and calculating
Machine terminal connects.
2. a kind of position measuring system based on grating scale and encoder as described in claim 1, it is characterised in that：Described
Data acquisition device is by device pedestal, encoder mounting seat, rotary encoder, two bearings, two bearing spiders, flanges
What shaft coupling, L-type connecting angle iron, data collecting card and grating scale formed, the encoder mounting seat is fixed to described
On device pedestal, the rotary encoder is bolted with the encoder mounting seat, described two bearings
Bearing is fixed on the side of the encoder mounting seat, and the bearing is mounted on the bearing spider so that
The shaft of two bearing spiders and the rotary encoder is coaxially connected, the flange coupling and the L
The side of type connecting angle iron is bolted, the positioning center hole of the flange coupling and the L-type connecting angle iron
With the shaft coaxial placement of the rotary encoder, and among two bearing spiders, the L-type angle bar
The other side is connect with one end of the grating scale main scale, and the data line of the rotary encoder and grating ruler reading head all connects
It is connected on the data collecting card.
3. a kind of position measuring system based on grating scale and encoder as described in claim 1, it is characterised in that：Described
Magnetic connector is made of two link blocks, and each link block is by attachment device fixed seat, ball groove bar and magnetic ball group
At, the attachment device fixed seat of two link blocks is filled with the end effector of the numerical control device and data acquisition respectively
The grating ruler reading head set connects, and is connected by strong magnetic ball between two link blocks of the magnetic connector, protects
The end effector and data acquisition device of the card numerical control device are that point connects.
4. a kind of position measuring system based on grating scale and encoder as described in claim 1, it is characterised in that：Described
The magnetic ball of two link blocks of magnetic connector answers magnetic attraction of a size suitable, that is, ensures the numerical control device
End effector is in proper motion, in the state being reliably connected, ensures again when there is slide calliper rule phenomenon, can be timely
It separates, to protect grating scale.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820259277.XU CN208026215U (en) | 2018-02-14 | 2018-02-14 | A kind of position measuring system based on grating scale and encoder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820259277.XU CN208026215U (en) | 2018-02-14 | 2018-02-14 | A kind of position measuring system based on grating scale and encoder |
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| CN208026215U true CN208026215U (en) | 2018-10-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108088370A (en) * | 2018-02-14 | 2018-05-29 | 山东建筑大学 | A kind of position measuring system and measuring method based on grating scale and encoder |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108088370A (en) * | 2018-02-14 | 2018-05-29 | 山东建筑大学 | A kind of position measuring system and measuring method based on grating scale and encoder |
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