CN213411920U - Double-encoder type dynamic angle generation rotary table - Google Patents
Double-encoder type dynamic angle generation rotary table Download PDFInfo
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- CN213411920U CN213411920U CN202022407263.8U CN202022407263U CN213411920U CN 213411920 U CN213411920 U CN 213411920U CN 202022407263 U CN202022407263 U CN 202022407263U CN 213411920 U CN213411920 U CN 213411920U
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Abstract
The utility model discloses a revolving stage takes place for two encoder formula developments angle, its technical scheme main points are: comprises a base, a motor base, a shell, a reading head base and a workbench which are coaxially arranged; the internal cavities of the motor base, the shell and the reading head base are rotatably connected with a mandrel, the top end of the mandrel is fixedly connected with the workbench, the bottom end of the mandrel is coaxially provided with a direct drive motor, the direct drive motor comprises a motor rotor and a motor stator, the motor rotor is fixedly sleeved with the bottom end of the mandrel, and the motor stator is fixedly installed in the motor base; the bottom end of the mandrel is provided with an auxiliary encoder; the top of dabber is equipped with main encoder. The main encoder is arranged on the main encoder, the measuring encoder and the control encoder are separated, the dynamic angle measurement precision is high, the large angle rigidity design enables the main encoder to have strong anti-overturning moment, angles, angular velocities, angular accelerations and the like can be generated dynamically with high precision, and the main encoder is suitable for angle measurement or calibration occasions such as gyroscopes, circular gratings and angle measurement rotary tables and has wide application value.
Description
Technical Field
The utility model relates to an ultra-precision motion, ultra-precision measurement technical field, more specifically say, it relates to a revolving stage takes place for two encoder formula dynamic angle.
Background
The angle is one of the most basic geometric quantities, is applied to almost all scientific and technical fields, and is widely applied to the industries of manufacturing, measurement, military, aerospace and the like as a physical reference of the angle. With the emergence of dynamic angle performance requirements, the traditional angular generation devices such as polygon, multi-tooth table, dividing disc and the like can not meet the requirements of development of modern science and technology industry for a long time.
The high-precision angle generating turntable is a novel angle generating device which is formed by compounding advanced technologies of multiple disciplines such as optics, machinery, electronics, computers and the like which are developed in recent years. At present, a conventional turntable is based on a single encoder and a driving motor, the same encoder is adopted for driving feedback and measurement, the mounting distance of the driving motor and the encoder is short, encoder signals are easily interfered, and a dynamic angle with high precision cannot be generated. In addition, the conventional turntable cannot realize follow-up power supply and signal acquisition, the inclined use condition is not considered in the structure, the rigidity of the anti-overturning angle is low, and the requirements of dynamic angles such as a gyroscope and the like cannot be met.
Therefore, how to research and design a double-encoder type dynamic angle generation rotary table is a problem which is urgently needed to be solved at present.
SUMMERY OF THE UTILITY MODEL
For overcoming the deficiencies in the prior art, the utility model aims at providing a revolving stage takes place for two encoder formula dynamic angle.
The above technical purpose of the present invention can be achieved by the following technical solutions:
a double-encoder type dynamic angle generation turntable comprises a base, a motor base, a shell, a reading head base and a workbench, wherein the base, the motor base, the shell, the reading head base and the workbench are coaxially arranged from bottom to top in sequence; the internal cavities of the motor base, the shell and the reading head base are rotatably connected with a mandrel, the top end of the mandrel is fixedly connected with the workbench, the bottom end of the mandrel is coaxially provided with a direct drive motor, the direct drive motor comprises a motor rotor and a motor stator, the motor rotor is fixedly sleeved with the bottom end of the mandrel, and the motor stator is fixedly installed in the motor base; the bottom end of the mandrel is provided with an auxiliary encoder electrically connected with the direct drive motor, the auxiliary encoder comprises an auxiliary grating disc and an auxiliary reading head, the auxiliary grating disc is coaxially arranged at the bottom end of the mandrel, and the auxiliary reading head is fixed on the inner surface of the base; the top of dabber is equipped with main encoder, and main encoder includes main grating disc, main reading head, and the coaxial setting of main grating disc is on the top of dabber, and main reading head fixed mounting is at reading headstock.
By adopting the technical scheme, the main encoder and the auxiliary encoder are independently arranged at two ends of the mandrel, the auxiliary encoder and the direct drive motor form a control unit for driving the mandrel to rotate, the rotation of the rotary table can be accurately controlled, the distance between the main encoder and the workbench is shortened, the situation that the measured dynamic angle measurement signal error is large due to the fact that the rotation conditions of the two ends are inconsistent when the mandrel oscillates is avoided, the main encoder outputs a high-precision dynamic angle measurement signal, and therefore the calibration error is small compared with the rotation data output by a measured object; in addition, the dynamic angle generation rotary table can be obliquely placed for use as required, the use scene is not limited, and the environmental suitability is high.
The utility model discloses further set up to: a slip ring is arranged between the mandrel and the base; the fixed part of the slip ring is fixedly connected with the base and movably connected with the mandrel; a rotating part in the fixed part in the slip ring is fixedly connected with the mandrel, and the rotating part and the fixed part can rotate relatively to the circumference; the working table is fixedly provided with two follow-up interfaces, the interior of the mandrel is arranged in a hollow mode along the axis direction of the mandrel, and the follow-up interfaces are connected with the rotating part of the slip ring after penetrating through the mandrel through cables; one of the follow-up interfaces is a power supply port for supplying power to the tested object, and the other follow-up interface is a signal interface for transmitting signals to the tested object. The follow-up interface, the cable and the rotating part of the slip ring connected with the cable all move synchronously with the workbench, so that the rotary table can work at a full circumferential angle.
The utility model discloses further set up to: the outer wall of the mandrel is sleeved with a supporting structure positioned in the shell. The support structure limits relative oscillation between the mandrel and the housing, and enhances the stability of the turntable, thereby improving the accuracy of use of the turntable.
The utility model discloses further set up to: the supporting structure is a gas static pressure bearing or a combined structure of a radial bearing and an axial bearing. When the support structure adopts a gas hydrostatic bearing, dynamic rotation precision superior to 50nm can be obtained.
The utility model discloses further set up to: the support structure has an aspect ratio of 1.8 to 2.2 and a relatively high angular stiffness.
The utility model discloses further set up to: the direct drive motor is a torque motor with low cogging. In order to obtain good slewing accuracy and speed stability.
The utility model discloses further set up to: the follow-up interface is a 9-pin aviation plug.
The utility model discloses further set up to: the main encoder and the auxiliary encoder respectively adopt at least two reading heads which are uniformly distributed along the circumferential direction of the corresponding grating disk, and signals of the plurality of reading heads are averaged and then used as dynamic angle measuring signals. The mounting errors of the main encoder and the auxiliary encoder and the scribing errors of the grating disk can be reduced, and the dynamic angle generation precision and the rotary table angle motion control precision are improved.
The utility model discloses further set up to: the main encoder adopts a main grating disk with 36 ten thousand lines, and obtains the resolution of 0.0009' through 4096 times of digital subdivision; the sub-encoder uses a sub-grating disk of 18 ten thousand lines, and obtains a control resolution of 0.0018' through 4096 times of digital subdivision. The dynamic angle resolution and small angle measurement capability of the turntable can be improved.
Compared with the prior art, the utility model discloses following beneficial effect has:
the utility model discloses a low tooth's socket effect directly drive motor and high subdivision's photoelectric encoder, with the main encoder overhead, separated measurement encoder and control encoder, dynamic angle measurement precision is high, and big angular rigidity design makes it have stronger antidumping moment, and dynamic generation angle, angular velocity, angular acceleration etc. that can the high accuracy are applicable to angular surveying or calibration occasions such as gyroscope, circular grating, angle measurement revolving stage, have extensive using value.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic view of the overall structure in the embodiment of the present invention.
Reference numbers and corresponding part names in the drawings:
1. a base; 2. a motor base; 3. a mandrel; 4. a housing; 5. a support structure; 6. a reading head seat; 7. a work table; 8. a main grating disk; 9. a main reading head; 10. a follow-up interface; 11. a cable; 12. a slip ring; 13. a motor rotor; 14. a motor stator; 15. a secondary grating disk; 16. and a secondary read head.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following examples and drawings, and the exemplary embodiments and descriptions thereof of the present invention are only used for explaining the present invention, and are not intended as limitations of the present invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used 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 one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Example (b): a double-encoder type dynamic angle generation rotary table is shown in figure 1 and comprises a base 1, a motor base 2, a shell 4, a reading head seat 6 and a workbench 7 for fixedly mounting a measured object, wherein the base 1, the motor base 2, the shell 4 and the reading head seat 6 are coaxially arranged from bottom to top in sequence, the coaxiality is better than 5 micrometers, and the base 1, the motor base 2, the shell 4 and the reading head seat 6 are fixedly connected in sequence. The inside cavity of motor cabinet 2, shell 4, reading headstock 6 rotates and is connected with dabber 3, the top and the 7 fixed connection of workstation of dabber 3, the coaxial direct drive motor that is provided with in bottom of dabber 3, and direct drive motor includes motor rotor 13 and motor stator 14, and motor rotor 13 is fixed cup jointing with 3 bottom ends of dabber, and motor stator 14 fixed mounting is in motor cabinet 2. The bottom of dabber 3 is equipped with and directly drives motor electric connection's vice encoder, and vice encoder includes vice grating disk 15, vice reading head 16, and the coaxial setting of vice grating disk 15 is in the bottom of dabber 3, and vice reading head 16 is fixed at the internal surface of base 1. The top of dabber 3 is equipped with main encoder, and main encoder includes main grating disc 8, main reading head 9, and the coaxial setting of main grating disc 8 is on the top of dabber 3, and main reading head 9 fixed mounting is in reading headstock 6. The main encoder and the auxiliary encoder are independently arranged at two ends of the mandrel 3, the auxiliary encoder and the direct drive motor form a control unit for driving the mandrel 3 to rotate, the rotation of the rotary table can be accurately controlled, meanwhile, the distance between the main encoder and the workbench 7 is shortened, the situation that the measured dynamic angle measuring signal error is large due to the fact that the rotation situations of the two ends are inconsistent when the mandrel 3 oscillates is avoided, the main encoder outputs a high-precision dynamic angle measuring signal, and therefore the calibration error is small in comparison with the rotation data output by a measured object; in addition, the dynamic angle generation rotary table can be obliquely placed for use as required, the use scene is not limited, and the environmental suitability is high.
A slip ring 12 is arranged between the mandrel 3 and the base 1. The fixed part of the slip ring 12 is fixedly connected with the base 1 and movably connected with the mandrel 3. The rotating part of the slip ring 12, which is positioned in the fixed part, is fixedly connected with the mandrel 3, and the rotating part and the fixed part can rotate relatively to the circumference. Two follow-up interfaces 10 are fixedly mounted on the workbench 7, the mandrel 3 is hollow along the axis direction, and the follow-up interfaces 10 are connected with a rotating part of the slip ring 12 after penetrating through the mandrel 3 through a cable 11. One of the follow-up interfaces 10 is a power port for supplying power to the object to be tested, and the other follow-up interface 10 is a signal interface for transmitting signals to the object to be tested. The follow-up interface 10, the cable 11 and the rotating part of the slip ring 12 connected with the cable 11 all move synchronously with the workbench 7, so that the rotary table can realize the full-circle angle work.
The outer wall of the mandrel 3 is sleeved with a supporting structure 5 positioned in the shell 4. The support structure 5 limits relative oscillation between the mandrel 3 and the housing 4, enhancing the stability of the turntable and thus improving the accuracy of its use. The support structure 5 is a aerostatic bearing or a combination of radial and axial bearings. When the support structure 5 employs a aerostatic bearing, a dynamic slew accuracy of better than 50nm can be obtained. Wherein the support structure 5 has an aspect ratio of 1.8-2.2 and a high angular stiffness. In this embodiment, the support structure 5 has an aspect ratio of 2.
In the embodiment, the direct drive motor adopts a torque motor with low cogging. In order to obtain good slewing accuracy and speed stability.
In this embodiment, the follower interface 10 is a 9-pin aircraft plug.
The main encoder and the auxiliary encoder respectively adopt at least two reading heads which are uniformly distributed along the circumferential direction of the corresponding grating disk, and a plurality of reading head signals are averaged and then used as dynamic angle measuring signals. The mounting errors of the main encoder and the auxiliary encoder and the scribing errors of the grating disk can be reduced, and the dynamic angle generation precision and the rotary table angle motion control precision are improved. In this embodiment, the primary encoder uses 4 primary readheads 9 and the secondary encoder uses 2 secondary readheads 16.
In this embodiment, the main encoder uses a main grating disk 8 with 36 ten thousand lines, and obtains a resolution of 0.0009 ″ through 4096 times of digital subdivision; the sub-encoder uses a 18 ten thousand ruled sub-grating disk 15, and obtains a control resolution of 0.0018' through 4096 times of digital subdivision. The dynamic angle resolution and small angle measurement capability of the turntable can be improved.
The using method specifically comprises the following steps:
s101: the object to be tested is fixedly arranged on the workbench 7, and the power supply and signal interface of the object to be tested are connected with the follow-up interface 10 according to the requirement;
s102: setting the rotation angle, angular velocity and angular acceleration of the rotary table according to requirements, and driving the rotary table to rotate by the direct drive motor according to set parameters;
s103: the auxiliary encoder measures the bottom rotation data of the mandrel 3 and feeds back the bottom rotation data to the direct drive motor to realize the adjustment and control of the rotation adaptability of the rotary table;
s104: the main encoder measures the top rotation data of the mandrel 3, and the measured object outputs self rotation parameters in the process of being rotated so as to be compared and analyzed with the top rotation data.
The working principle is as follows: the main encoder is arranged on the main encoder, the measuring encoder and the control encoder are separated, the dynamic angle measurement precision is high, the large angle rigidity design enables the main encoder to have strong anti-overturning moment, angles, angular velocities, angular accelerations and the like can be generated dynamically with high precision, and the main encoder is suitable for angle measurement or calibration occasions such as gyroscopes, circular gratings and angle measurement rotary tables and has wide application value.
The above embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A double-encoder type dynamic angle generation turntable is characterized by comprising a base (1), a motor base (2), a shell (4), a reading head seat (6) and a workbench (7) for fixedly mounting a measured object, wherein the base (1), the motor base (2), the shell (4) and the reading head seat (6) are sequentially and coaxially arranged from bottom to top; the inner cavities of the motor base (2), the shell (4) and the reading head base (6) are rotatably connected with the mandrel (3), the top end of the mandrel (3) is fixedly connected with the workbench (7), the bottom end of the mandrel (3) is coaxially provided with a direct drive motor, the direct drive motor comprises a motor rotor (13) and a motor stator (14), the motor rotor (13) is fixedly sleeved with the bottom end of the mandrel (3), and the motor stator (14) is fixedly installed in the motor base (2); the bottom end of the mandrel (3) is provided with an auxiliary encoder electrically connected with the direct drive motor, the auxiliary encoder comprises an auxiliary grating disc (15) and an auxiliary reading head (16), the auxiliary grating disc (15) is coaxially arranged at the bottom end of the mandrel (3), and the auxiliary reading head (16) is fixed on the inner surface of the base (1); the top of dabber (3) is equipped with main encoder, and main encoder includes main grating disc (8), main reading head (9), and main grating disc (8) coaxial setting is on the top of dabber (3), and main reading head (9) fixed mounting is in reading headstock (6).
2. A dual encoder type dynamic angle generating turret according to claim 1, characterized in that a slip ring (12) is provided between the spindle (3) and the base (1); the fixed part of the slip ring (12) is fixedly connected with the base (1) and movably connected with the mandrel (3); a rotating part in the fixed part in the slip ring (12) is fixedly connected with the mandrel (3), and the rotating part and the fixed part can rotate relatively to the circumference; the workbench (7) is fixedly provided with two follow-up interfaces (10), the inside of the mandrel (3) is arranged in a hollow mode along the axis direction of the mandrel, and the follow-up interfaces (10) penetrate through the mandrel (3) through cables (11) and then are connected with a rotating part of the sliding ring (12); one of the follow-up interfaces (10) is a power supply port for supplying power to the tested object, and the other follow-up interface (10) is a signal interface for transmitting signals by the tested object.
3. A dual encoder type dynamic angle generating turret according to claim 1, characterized in that the outer wall of the spindle (3) is sleeved with a support structure (5) inside the housing (4).
4. A dual encoder type dynamic angle generating turret according to claim 3, characterized in that the support structure (5) is a aerostatic bearing or a combination of radial and axial bearings.
5. A dual encoder type dynamic angle generating turret according to claim 3, characterized in that the length/diameter ratio of said supporting structure (5) is comprised between 1.8 and 2.2.
6. The dual encoder type dynamic angle generating turntable of claim 1, wherein said direct drive motor is a low cogging torque motor.
7. A dual encoder type dynamic angle generating turret according to claim 2, characterized in that the follower interface (10) is a 9-pin aircraft plug.
8. The dual-encoder type dynamic angle generation turntable as claimed in claim 1, wherein the primary encoder and the secondary encoder each employ at least two reading heads uniformly distributed along a circumferential direction of the corresponding grating disk, and a plurality of reading head signals are averaged to be used as dynamic angle measurement signals.
9. A dual encoder type dynamic angle generating turret according to claim 1, characterized in that the main encoder uses a main grating disk (8) of 36 ten thousand lines, with a resolution of 0.0009 "obtained by 4096 times digital subdivision; the sub-encoder uses a 18 ten thousand line sub-grating disk (15) to obtain a control resolution of 0.0018' via 4096 times digital subdivision.
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| CN202022407263.8U CN213411920U (en) | 2020-10-26 | 2020-10-26 | Double-encoder type dynamic angle generation rotary table |
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| CN202022407263.8U CN213411920U (en) | 2020-10-26 | 2020-10-26 | Double-encoder type dynamic angle generation rotary table |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112157635A (en) * | 2020-10-26 | 2021-01-01 | 中国工程物理研究院机械制造工艺研究所 | Double-encoder type dynamic angle generation rotary table and use method |
| CN114199282A (en) * | 2022-02-17 | 2022-03-18 | 南京谷贝电气科技有限公司 | Angle sensor calibration device and method based on double encoders |
| CN117401489A (en) * | 2023-12-15 | 2024-01-16 | 无锡精控光电科技有限公司 | Automatic deviation correcting and guiding mechanism and control method |
-
2020
- 2020-10-26 CN CN202022407263.8U patent/CN213411920U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112157635A (en) * | 2020-10-26 | 2021-01-01 | 中国工程物理研究院机械制造工艺研究所 | Double-encoder type dynamic angle generation rotary table and use method |
| CN112157635B (en) * | 2020-10-26 | 2023-12-15 | 中国工程物理研究院机械制造工艺研究所 | Double-encoder type dynamic angle generation turntable and use method thereof |
| CN114199282A (en) * | 2022-02-17 | 2022-03-18 | 南京谷贝电气科技有限公司 | Angle sensor calibration device and method based on double encoders |
| CN114199282B (en) * | 2022-02-17 | 2022-05-10 | 南京谷贝电气科技有限公司 | Angle sensor calibration device and method based on double encoders |
| CN117401489A (en) * | 2023-12-15 | 2024-01-16 | 无锡精控光电科技有限公司 | Automatic deviation correcting and guiding mechanism and control method |
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