CN209857935U - Detection device for detecting precision of photoelectric encoder - Google Patents
Detection device for detecting precision of photoelectric encoder Download PDFInfo
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- CN209857935U CN209857935U CN201920613350.3U CN201920613350U CN209857935U CN 209857935 U CN209857935 U CN 209857935U CN 201920613350 U CN201920613350 U CN 201920613350U CN 209857935 U CN209857935 U CN 209857935U
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Abstract
The utility model relates to a detection device for detecting the precision of a photoelectric encoder, which comprises a bracket, a reference encoder, a permanent magnet synchronous motor, a motor driver and a control device; the photoelectric encoder to be detected is fixedly arranged on the upper plane of the bracket; the reference encoder is fixedly arranged on the lower plane of the bracket, a transmission shaft penetrates through the middle of the reference encoder, one end of the transmission shaft is coaxially connected with a shaft on the photoelectric encoder to be detected through a coupling, and the other end of the transmission shaft is provided with a first synchronizing wheel; the permanent magnet synchronous motor is arranged on the lower plane of the bracket, a second synchronous wheel is arranged on an output shaft of the permanent magnet synchronous motor, and the second synchronous wheel is connected with the first synchronous wheel through a synchronous belt; the motor driver is electrically connected with the permanent magnet synchronous motor; the control equipment is electrically connected with the reference encoder, the photoelectric encoder to be detected and the permanent magnet synchronous motor. The device can realize the automated measurement of photoelectric encoder precision, avoids the problem that artifical testing process is loaded down with trivial details, inefficiency.
Description
Technical Field
The utility model relates to a photoelectric encoder technical field, in particular to a detection device for be used for detecting photoelectric encoder precision.
Background
The photoelectric encoder is a digital angular displacement sensor integrating light, machine and electricity into a whole. The device has the advantages of high precision, wide measurement range, small volume, light weight, reliable use, easy maintenance and the like, and is widely applied to the fields of precision measurement, automatic detection, industrial control and the like of photoelectric theodolite, numerical control machine tools, high-precision closed-loop speed regulating systems and the like.
The precision of the photoelectric encoder is one of important technical indexes of the photoelectric encoder, and the precision of the photoelectric encoder needs to be detected for many times in the development and production processes of the photoelectric encoder. The conventional methods for detecting the precision of the photoelectric encoder include a polyhedral prism-autocollimator method and a multi-tooth dividing table method. The polygon-autocollimator method is characterized in that a polygon is coaxially connected with a photoelectric encoder to be detected, the photoelectric encoder to be detected and the polygon are driven to rotate to a position to be detected through a fine adjustment device, and then the rotation angle of the polygon is measured through an autocollimator to realize the calibration of the precision of the photoelectric encoder to be detected. The multi-tooth dividing table method is characterized in that a multi-tooth dividing disc and a photoelectric encoder to be detected are fixed on a support, a coupling is coaxially connected, the photoelectric encoder to be detected and the multi-tooth dividing table are rotated to a position to be detected, the number of readings of the multi-tooth dividing table is read, and the precision of the photoelectric encoder to be detected is calculated. However, the two conventional detection methods need manual operation, are complicated in process, low in efficiency, easy to introduce manual reading errors, and have a large influence on the detection result, and the production and detection efficiency of the photoelectric encoder is limited to a certain extent, so that the research on the automatic detection of the accuracy of the photoelectric encoder is urgent.
Disclosure of Invention
An object of the utility model is to provide a detection device for detecting photoelectric encoder precision to this automatic measurement who realizes the photoelectric encoder precision avoids traditional artifical testing process loaded down with trivial details, inefficiency, introduces artifical reading error easily, and the not accurate technical problem of testing result inadequately.
In order to achieve the purpose, the utility model is realized by the following technical scheme:
a detection device for detecting the precision of a photoelectric encoder comprises a bracket, a reference encoder, a permanent magnet synchronous motor, a motor driver and control equipment; the upper plane and the lower plane of the bracket are arranged in parallel, and the photoelectric encoder to be tested is installed and fixed on the upper plane of the bracket; the reference encoder is fixedly arranged on the lower plane of the bracket, a transmission shaft penetrates through the middle of the reference encoder, one end of the transmission shaft is coaxially connected with a shaft on the photoelectric encoder to be detected through a coupling, the other end of the transmission shaft penetrates through the lower plane of the bracket and extends to the outer side of the bracket, and a first synchronizing wheel is arranged on the transmission shaft; the permanent magnet synchronous motor is arranged on the lower plane of the bracket, an output shaft of the permanent magnet synchronous motor penetrates through the lower plane of the bracket and extends to the outer side of the bracket, a second synchronous wheel is arranged on the output shaft, and the second synchronous wheel is connected with the first synchronous wheel through a synchronous belt; the motor driver is electrically connected with the permanent magnet synchronous motor and is used for controlling the permanent magnet synchronous motor to rotate; the control equipment is electrically connected with the reference encoder, the photoelectric encoder to be detected and the permanent magnet synchronous motor and is used for sending a control instruction of the permanent magnet synchronous motor, receiving data of the reference encoder and the photoelectric encoder to be detected and processing the collected data to obtain the precision of the photoelectric encoder to be detected.
As the utility model discloses an prefer, for realizing intelligent control detection device, this detection device still includes integrated touch-sensitive screen, computer, controlgear with integrated touch-sensitive screen, computer electricity are connected for with integrated touch-sensitive screen communication, control gear is controlled through integrated touch-sensitive screen, the testing result of controlgear output is transmitted to integrated touch-sensitive screen and is shown; and meanwhile, uploading the detection data and the detection result of the photoelectric encoder to be detected, which are obtained by calculation, to a computer for storage.
As the utility model discloses a further preferred, the support includes support upper flat surface, support lower flat surface, four support columns link firmly through bolt and support upper flat surface, support lower flat surface respectively, utilize the elasticity degree adjustment support column of bolt for support upper flat surface is parallel with support lower flat surface.
As a further preferred, the photoelectric encoder that awaits measuring utilizes closing device to fix on the support upper plane.
As a further preferred aspect of the present invention, the resolution of the reference encoder is more than 3 times of the resolution of the photoelectric encoder to be measured; the axes of the reference encoder and the photoelectric encoder to be detected are located on the same straight line, and the axes of the permanent magnet synchronous motor, the axes of the reference encoder and the photoelectric encoder to be detected are not located on the same straight line.
As a still further preferred aspect of the present invention, the control apparatus includes: the device comprises a microprocessor, a motor control circuit, a computer communication circuit, a reference encoder data acquisition circuit, a photoelectric encoder data acquisition circuit to be detected and an integrated touch screen communication circuit; the microprocessor is electrically connected with the motor control circuit, the computer communication circuit, the reference encoder data acquisition circuit, the photoelectric encoder data acquisition circuit to be detected and the integrated touch screen communication circuit and is used for sending a permanent magnet synchronous motor control instruction, transmitting detection data through communication with the computer, receiving data of the reference encoder and the photoelectric encoder to be detected, communicating with the integrated touch screen, transmitting the control instruction and processing the acquired data to obtain the precision of the photoelectric encoder to be detected;
the motor control circuit is connected with the motor driver and the microprocessor, and sends a control signal to the motor driver according to a motor control instruction of the microprocessor so as to control the rotation of the permanent magnet synchronous motor;
the computer communication circuit is connected with the computer and the microprocessor, and uploads the detection data and the detection result of the photoelectric encoder to be detected, which are obtained by the calculation of the microprocessor, to the computer, the computer communication circuit is in serial port communication with the microprocessor, and the computer communication circuit is in Ethernet communication with the computer;
the data acquisition circuit of the reference encoder is connected with the reference encoder and the microprocessor and is used for acquiring digital quantity output by the reference encoder;
the data acquisition circuit of the photoelectric encoder to be tested is connected with the photoelectric encoder to be tested and the microprocessor and is used for acquiring digital quantity output by the photoelectric encoder to be tested;
the integrated touch screen communication circuit is connected with the integrated touch screen and the microprocessor and used for transmitting an integrated touch screen instruction to the microprocessor and transmitting a detection result output by the microprocessor to the integrated touch screen for displaying.
The utility model has the advantages and beneficial effects that:
(1) the utility model provides a detection device utilizes controlgear control permanent magnet synchronous machine's motion, makes permanent magnet synchronous machine drive photoelectric encoder and the reference encoder synchronous revolution that awaits measuring through synchronizing wheel-synchronous belt drive mechanism, gathers photoelectric encoder and reference encoder data that awaits measuring simultaneously, handles the precision data that obtains the photoelectric encoder that awaits measuring to the data of gathering, compares the manual precision detection system of current photoelectric encoder and utilizes the artifical photoelectric encoder precision detection method of autocollimator-polyhedron, the utility model discloses an automatic detection to photoelectric encoder precision utilizes drive mechanism to realize detection device's structural optimization, has reduced detection device's volume, improves the detection efficiency of photoelectric encoder precision greatly.
(2) The utility model discloses a positional control and shaft coupling angular displacement transmission error to PMSM revise, effectively improved the detection precision of the photoelectric encoder that awaits measuring.
Drawings
Fig. 1 is a schematic structural diagram of the detection device of the present invention.
Fig. 2 is a block diagram of the control device of the present invention.
Fig. 3 is the data acquisition circuit diagram of the photoelectric encoder and the reference encoder to be measured.
Fig. 4 is a circuit diagram of the motor control circuit of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The embodiment of the utility model discloses detection device for detecting photoelectric encoder precision realizes measuring the photoelectric encoder precision automation that awaits measuring, through the position control of motor and to the correction of the shaft coupling angular displacement transmission error in the testing result, improved the detection precision.
Embodiment 1 detecting device for detecting accuracy of photoelectric encoder
Referring to fig. 1, a detection device for detecting the accuracy of a photoelectric encoder comprises a photoelectric encoder 1 to be detected, a support upper plane 2, a coupling 3, a support column 4, a support lower plane 5, a reference encoder 6, a first synchronous wheel 7, a synchronous belt 8, a second synchronous wheel 9, a permanent magnet synchronous motor 10, a pressing device 11, a bolt 12, a motor driver 13, a control device 14, an integrated touch screen 15 and a computer 16;
the upper support plane 2, the lower support plane 5, the bolts 12 and the four support columns 4 form a support, and the support columns 4 are adjusted by the tightness degree of the bolts 12, so that the upper support plane 2 is parallel to the lower support plane 5;
the photoelectric encoder 1 to be detected is fixed on the upper plane 2 of the bracket by using a pressing device 11; the reference encoder 6 and the flange of the permanent magnet synchronous motor 10 are fixed on the lower plane 5 of the bracket, the resolution of the reference encoder 6 is more than 3 times of the resolution of the photoelectric encoder 1 to be detected, a transmission shaft penetrates through the middle of the reference encoder 6, one end of the transmission shaft is coaxially connected with a shaft on the photoelectric encoder 1 to be detected through a coupling 3, so that the axes of the reference encoder 6 and the photoelectric encoder 1 to be detected are positioned on the same straight line, the other end of the transmission shaft of the reference encoder penetrates through the lower plane 5 of the bracket and extends to the outer side of the bracket, and a first synchronizing wheel 7 is installed on the transmission; an output shaft of the permanent magnet synchronous motor 10 penetrates through the lower plane 5 of the support and extends to the outer side of the support, a second synchronous wheel 9 is mounted on the output shaft, the second synchronous wheel 9 is connected with the first synchronous wheel 7 through a synchronous belt 8, and the axis of the permanent magnet synchronous motor, the axis of the reference encoder and the axis of the photoelectric encoder to be detected are not located on the same straight line; the motor driver 13 is electrically connected with the permanent magnet synchronous motor 10 and is used for controlling the permanent magnet synchronous motor to rotate; the control device 14 is connected with the photoelectric encoder 1 to be tested, the reference encoder 6, the motor driver 13, the integrated touch screen 15 and the computer 16.
Further, the coupling 3 is a parallel line type coupling, and the motor driver is a standing grain X3E type motor driver; integrated touch-sensitive screen is the integrated touch-sensitive screen of HMI intelligence, the utility model discloses an all parts all can adopt current part to realize.
Referring to fig. 2, the control device 14 includes: the system comprises a microprocessor 141(STM32F103 low-power-consumption chip), a motor control circuit 142 based on AM26LS31, a computer communication circuit 143 based on DM9051, a reference encoder data acquisition circuit 144 based on MAX490, a photoelectric encoder data acquisition circuit 145 to be tested based on MAX490, and an integrated touch screen communication circuit 146; the microprocessor 141 is electrically connected with the motor control circuit 142, the computer communication circuit 143, the reference encoder data acquisition circuit 144, the photoelectric encoder data acquisition circuit 145 to be detected and the integrated touch screen communication circuit 146, and is used for sending a permanent magnet synchronous motor control instruction, communicating with the computer to transmit detection data, receiving data of the reference encoder and the photoelectric encoder to be detected, communicating with the integrated touch screen, transmitting the control instruction and processing the acquired data to obtain the precision of the photoelectric encoder to be detected;
the AM26LS 31-based motor control circuit 142 is connected with the motor driver 13 and the microprocessor 141, and sends a control signal to the motor driver according to a motor control instruction of the microprocessor so as to control the rotation of the permanent magnet synchronous motor 10, the AM26LS31 differential signal driving chip is selected in the patent, a single-ended control signal of an STM32F103 microprocessor is converted into a differential signal, and the permanent magnet synchronous motor is controlled, the circuit diagram of the circuit is shown in FIG. 4, PULS and SIGN interfaces in FIG. 4 are connected with the microprocessor, and PLS and DIR interfaces are connected with the motor driver; the circuit can also adopt the existing motor control circuit;
the computer communication circuit 143 based on the DM9051 is connected with the computer 16 and the microprocessor 141, and uploads the detection data and the detection result of the photoelectric encoder to be detected, which are obtained by calculation of the microprocessor 141, to the computer, the computer communication circuit is in serial port communication with the microprocessor, and the computer communication circuit is in Ethernet communication with the computer; the circuit can be realized by adopting the existing computer communication circuit;
the MAX 490-based reference encoder data acquisition circuit 144 is connected with the reference encoder 6 and the microprocessor 141, and is configured to acquire a digital quantity output by the reference encoder 1; RXD, TXD in FIG. 3 are the receive and transmit interfaces of the microprocessor, and the A, B, Z, Y interface is used for connection with the reference encoder;
the MAX 490-based data acquisition circuit 145 of the photoelectric encoder to be tested is connected with the photoelectric encoder 1 to be tested and the microprocessor 141, and is used for acquiring digital quantity output by the photoelectric encoder 1 to be tested; in fig. 3, RXD and TXD are receiving and transmitting interfaces of the microprocessor, and an A, B, Z, Y interface is used for connecting with the photoelectric encoder to be tested; the circuit can be realized by adopting the data acquisition circuit of the existing photoelectric encoder;
the integrated touch screen communication circuit 146 is connected to the integrated touch screen 45 and the microprocessor 141, and is configured to transmit an instruction of the integrated touch screen 15 to the microprocessor 141, and transmit a detection result output by the microprocessor 141 to the integrated touch screen 15 for displaying.
Embodiment 2 method for detecting accuracy of photoelectric encoder by using detection device
The utility model provides a detection method, concrete process is as follows:
step S1, inputting communication parameters and control parameters of the photoelectric encoder to be detected, such as baud rate, presence or absence of parity bits, data frame format, movement speed, movement direction and the like, on the integrated touch screen 15, sending a movement control instruction to a motor driver by the control equipment after the setting is completed, controlling the permanent magnet synchronous motor 10 to start to move, driving the reference encoder 6 to rotate through the second synchronous wheel 9, the synchronous belt 8 and the first synchronous wheel 7, and driving the photoelectric encoder 1 to be detected to rotate through the coupling 3 by the reference encoder 6;
step S2, n detecting points are arranged in the measuring range of the photoelectric encoder to be detected, and the digital quantity output by the corresponding photoelectric encoder to be detected is D1...DnThe control device 14 controls the permanent magnet synchronous motor at a specified speed V1Operation (V)1The speed of the detection device is only required to be satisfied, the detection device can operate normally and stably, and no special requirement exists), and meanwhile, the data of the photoelectric encoder to be detected are collected; when the position D to be measured is collectednPrevious resolution data D ofn-1In time, the control device controls to change the rotation speed of the permanent magnet synchronous motor to a specified speed V2Movement of wherein V2<V1(V2The speed of the detection device is required to meet the requirement of normal and stable operation of the detection device), and when the control equipment acquires data D1...DnWhile reference encoder data J is also being acquired1...Jn；
Step S3, carrying out data D on n groups of photoelectric encoders to be tested1...DnAnd reference encoder data J1...JnIn taking income formula (1), obtain n photoelectric encoder angular error values that await measuring, save in controlgear, formula (1) is:
Wy(n)＝(Jn-J1)-(Dn-D1) (1)
in the formula (1), J1Reference encoder data for the first measurement point, JnReference encoder data for the nth measurement point, D1Photoelectric encoder data to be measured at first detection point, DnThe data of the photoelectric encoder to be detected of the nth detection point is obtained;
step S4, measuring the angle error value W of the photoelectric encodery(n) can be developed into a form of multiple harmonic superposition, and thus formula (1) Wy(n) may also be represented by formula (2):
in the formula (2), r is a harmonic waveThe degree, R is the highest degree of harmonic n/2, TsFor controlling the sampling period of the apparatus 2 pi/n, the number of n measurement points, f0At a fundamental frequency of 1/2 pi, alpha0Is the fundamental amplitude, αrIs the amplitude of the r-th harmonic wave, phirFor the phase corresponding to the r-th harmonic, the angular error value W of the photoelectric encoder to be measured is calculatedy(n) performing Fast Fourier Transform (FFT) calculation to obtain the amplitude a of the second harmonic2And phase phi2And the angular displacement transmission error correction formula (3) is substituted:
Wx(n)＝Wy(n)-a2sin(4πrf0TS+φ2) (3)
step S5, data W after correcting coupling angular displacement transmission errorx(n) the precision of the photoelectric encoder to be measured is obtained by taking the signal to the formula (4), wherein the formula (4) is as follows:
in the formula (4), Wx(n)maxIs a sequence Wx(n) maximum value, Wx(n)minIs a sequence Wx(n) a minimum value;
and step S6, displaying the data processing result on the integrated touch screen, and uploading the detection parameters, the detection data and the detection result to a computer for management and storage.
Claims (6)
1. A detection device for detecting the precision of a photoelectric encoder is characterized by comprising a bracket, a reference encoder, a permanent magnet synchronous motor, a motor driver and control equipment; the upper plane and the lower plane of the bracket are arranged in parallel, and the photoelectric encoder to be tested is installed and fixed on the upper plane of the bracket; the reference encoder is fixedly arranged on the lower plane of the bracket, a transmission shaft penetrates through the middle of the reference encoder, one end of the transmission shaft is coaxially connected with a shaft on the photoelectric encoder to be detected through a coupling, the other end of the transmission shaft penetrates through the lower plane of the bracket and extends to the outer side of the bracket, and a first synchronizing wheel is arranged on the transmission shaft; the permanent magnet synchronous motor is arranged on the lower plane of the bracket, an output shaft of the permanent magnet synchronous motor penetrates through the lower plane of the bracket and extends to the outer side of the bracket, a second synchronous wheel is arranged on the output shaft, and the second synchronous wheel is connected with the first synchronous wheel through a synchronous belt; the motor driver is electrically connected with the permanent magnet synchronous motor and is used for controlling the permanent magnet synchronous motor to rotate; the control equipment is electrically connected with the reference encoder, the photoelectric encoder to be detected and the permanent magnet synchronous motor and is used for sending a control instruction of the permanent magnet synchronous motor, receiving data of the reference encoder and the photoelectric encoder to be detected and processing the collected data to obtain the precision of the photoelectric encoder to be detected.
2. The detection device for detecting the accuracy of the photoelectric encoder as claimed in claim 1, further comprising an integrated touch screen and a computer, wherein the control device is electrically connected to the integrated touch screen and the computer for communicating with the integrated touch screen, and the control device is operated by the integrated touch screen, so that the detection result output by the control device is transmitted to the integrated touch screen for displaying; and meanwhile, uploading the detection data and the detection result of the photoelectric encoder to be detected, which are obtained by calculation, to a computer for storage.
3. The device of claim 1 or 2, wherein the support comprises an upper support plane, a lower support plane, and four support columns, the four support columns are respectively and fixedly connected with the upper support plane and the lower support plane through bolts, and the support columns are adjusted by tightness of the bolts, so that the upper support plane is parallel to the lower support plane.
4. The detecting device for detecting the accuracy of the photoelectric encoder as claimed in claim 1 or 2, wherein the photoelectric encoder to be detected is fixed on the upper plane of the support by a pressing device.
5. A device for detecting the accuracy of an optical encoder as claimed in claim 1 or 2, wherein the resolution of the reference encoder is more than 3 times the resolution of the optical encoder to be detected.
6. A detecting device for detecting the accuracy of an optical encoder according to claim 2, wherein said control apparatus comprises: the device comprises a microprocessor, a motor control circuit, a computer communication circuit, a reference encoder data acquisition circuit, a photoelectric encoder data acquisition circuit to be detected and an integrated touch screen communication circuit; the microprocessor is electrically connected with the motor control circuit, the computer communication circuit, the reference encoder data acquisition circuit, the photoelectric encoder data acquisition circuit to be detected and the integrated touch screen communication circuit and is used for sending a permanent magnet synchronous motor control instruction, transmitting detection data through communication with the computer, receiving data of the reference encoder and the photoelectric encoder to be detected, communicating with the integrated touch screen, transmitting the control instruction and processing the acquired data to obtain the precision of the photoelectric encoder to be detected;
the motor control circuit is connected with the motor driver and the microprocessor, and sends a control signal to the motor driver according to a motor control instruction of the microprocessor so as to control the rotation of the permanent magnet synchronous motor;
the computer communication circuit is connected with the computer and the microprocessor, and uploads the detection data and the detection result of the photoelectric encoder to be detected, which are obtained by the calculation of the microprocessor, to the computer, the computer communication circuit is in serial port communication with the microprocessor, and the computer communication circuit is in Ethernet communication with the computer;
the data acquisition circuit of the reference encoder is connected with the reference encoder and the microprocessor and is used for acquiring digital quantity output by the reference encoder;
the data acquisition circuit of the photoelectric encoder to be tested is connected with the photoelectric encoder to be tested and the microprocessor and is used for acquiring digital quantity output by the photoelectric encoder to be tested;
the integrated touch screen communication circuit is connected with the integrated touch screen and the microprocessor and used for transmitting an integrated touch screen instruction to the microprocessor and transmitting a detection result output by the microprocessor to the integrated touch screen for displaying.
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| CN201920613350.3U CN209857935U (en) | 2019-04-29 | 2019-04-29 | Detection device for detecting precision of photoelectric encoder |
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| CN201920613350.3U CN209857935U (en) | 2019-04-29 | 2019-04-29 | Detection device for detecting precision of photoelectric encoder |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109990823A (en) * | 2019-04-29 | 2019-07-09 | 吉林大学 | For detecting the detection device and detection method of photoelectric encoder precision |
| CN114485762A (en) * | 2022-02-11 | 2022-05-13 | 靖江市宇其光电科技有限公司 | Manual-automatic encoder precision detection device |
-
2019
- 2019-04-29 CN CN201920613350.3U patent/CN209857935U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109990823A (en) * | 2019-04-29 | 2019-07-09 | 吉林大学 | For detecting the detection device and detection method of photoelectric encoder precision |
| CN114485762A (en) * | 2022-02-11 | 2022-05-13 | 靖江市宇其光电科技有限公司 | Manual-automatic encoder precision detection device |
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