CN216846331U - Joint module double-editing position correction system - Google Patents
Joint module double-editing position correction system Download PDFInfo
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- CN216846331U CN216846331U CN202123118095.1U CN202123118095U CN216846331U CN 216846331 U CN216846331 U CN 216846331U CN 202123118095 U CN202123118095 U CN 202123118095U CN 216846331 U CN216846331 U CN 216846331U
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Abstract
The utility model provides a joint module double-coding position correcting system, which comprises a base, a positioning and mounting clamp, an encoder to be detected, a guide rail, a sliding mounting seat, a locking mechanism, a power structure, a standard encoder, a synchronous transmission structure, a data caching device and an external terminal, wherein the guide rail is arranged on the base, a sliding installation seat is arranged on the guide rail, a locking mechanism is also arranged on the base at one side of the sliding installation seat, the sliding mounting seat is provided with a power structure, the output end of the power structure is connected with a standard encoder, the standard encoder is fixedly provided with a synchronous transmission structure, the standard encoder, the synchronous transmission structure and the encoder to be detected are coaxially arranged, the standard encoder and the encoder to be detected are electrically connected with a data caching device arranged outside, and the output end of the data caching device is connected with an external terminal. The utility model discloses it is more accurate to gather positional information, and the correction precision is higher.
Description
Technical Field
The utility model relates to an encoder rectifies technical field, especially relates to a two position correction systems of compiling of joint module.
Background
The encoder is a device for converting angular displacement or linear displacement into an electric signal, and is an angle detection device widely adopted in the fields of numerical control machines, industrial robots, automobiles, rail traffic and the like. When the encoder is assembled or installed on a motor, because of the influence of the shafting precision and the sensitive element on the alignment deviation, an angle feedback error can be generated, and even an encoder error code is caused. The error code of the encoder causes the error of angle feedback, and the danger of galloping and the like is caused; the encoder has feedback errors that can cause the accuracy of the device to be lost. Therefore, there is a need to calibrate the encoder before it is used for measurement applications, compensating for errors introduced due to assembly and device variations.
One of the existing solutions of the correction device for the encoder is to perform correction by using a passive dragging method, and the correction process is as follows: 1. dragging the calibrated motor through the driving motor, and rotating forward and backward at different speeds; 2. the correction equipment compensates the information of the encoder through an algorithm by reading the position/speed information of the encoder on the passive motor and the position/speed information of the precise encoder on the shaft of the passive motor, so that the compensated encoder information approaches to the information of the precise encoder; 3. the compensation is saved to the PCBA on which the passive motor mounted encoder is located. The scheme has a complex structure, in addition, a passive dragging magnetic encoder motor is adopted for correction, a rotor of the encoder motor exists as an inertial load, and meanwhile, as a synchronous high-precision encoder needs to be installed on the encoder motor, the two parts need to be fastened through a large external force to ensure that the moving parts of the two encoders and the high-precision encoder are absolutely consistent. For a motor with the power of more than 400W, the rotor inertia is not negligible, the rotor inertia is increased along with the increase of the power of the motor, the synchronization of a rotor where a magnetic encoder is located and a moving part of a precise encoder needs to be ensured under the condition of high-speed dragging, an external fastening device needs a large locking force, fastening screws are easy to slip, and even a coupler is scrapped. In addition, a set of high-precision driver and a motor are required to be adopted as a power source in the correcting device. Because each set of motor using the encoder needs to be corrected, the cost of the correction equipment is higher, and the loosening or slipping of the coupler can influence the signal quality and the correction result of the encoder to be corrected, so that the accuracy of the correction result is poor.
There is a need for an encoder calibration system with improved calibration accuracy that can solve the above problems.
SUMMERY OF THE UTILITY MODEL
The utility model provides a two position correction systems of compiling of joint module carries out technical transformation through proofreading and correct current encoder, has solved the relatively poor problem of current encoder correction accuracy.
In order to solve the technical problem, the utility model discloses specifically adopt following technical scheme:
a joint module double-coding position correction system comprises a base, a positioning mounting fixture, a to-be-detected encoder, a guide rail, a sliding mounting seat, a locking mechanism, a power structure, a standard encoder, a synchronous transmission structure, a data cache device and an external terminal, wherein the positioning mounting fixture is fixedly mounted at one end of the base, the to-be-detected encoder is mounted on the positioning mounting fixture, the guide rail is arranged on the base, the sliding mounting seat is mounted on the guide rail, the locking mechanism is further arranged on the base on one side of the sliding mounting seat and used for locking the sliding mounting seat at the position of the guide rail, the power structure is mounted on the sliding mounting seat, the output end of the power structure is connected with the standard encoder, the synchronous transmission structure is fixedly mounted on the standard encoder, and the standard encoder, the synchronous transmission structure and the to-be-detected encoder are coaxially arranged, the encoder to be detected is connected with the standard encoder through the synchronous transmission structure, the standard encoder and the encoder to be detected are electrically connected with a data caching device arranged outside, and the output end of the data caching device is connected with an external terminal.
Preferably, the power structure includes a brushless dc motor, the sliding mounting base includes a slider and a vertical plate, the sliding movable mounting is on the guide rail, the vertical plate is fixedly mounted on the slider, the brushless dc motor and the standard encoder are horizontally and fixedly mounted on the vertical plate, the standard encoder is connected with the output end of the brushless dc motor, the synchronous transmission structure is mounted at the output end of the standard encoder, and the locking mechanism is mounted on the base on one side of the slider.
Preferably, the synchronous transmission structure comprises a coupler and an elastomer, the coupler is arranged at the output end of the standard encoder, the elastomer is fixedly arranged at one end of the coupler, which deviates from the standard encoder, the other end of the elastomer is connected with the encoder to be detected, a rotating shaft sleeve is sleeved outside the coupler, the rotating shaft sleeve is fixedly arranged at the other side of the vertical plate, which deviates from the DC brushless motor, and the coupler is rotatably arranged in the rotating shaft sleeve.
Preferably, the elastic body is a conical elastic piece, and the tip of the conical elastic piece extends into the encoder to be detected and is elastically connected with the encoder to be detected.
Preferably, the locking mechanism comprises a pressing block and a locking fastener, the pressing block is arranged above the sliding block, the pressing block is sleeved on the locking fastener, and the locking fastener is used for locking and pressing the pressing block above the sliding block.
Preferably, the pressing block is provided with an L-shaped step surface, and the step surface is clamped with the side edge of the sliding block.
Preferably, the side surface of the pressing block and the side surface of the sliding block are provided with corresponding threaded holes, and fastening bolts penetrate through the threaded holes.
Compared with the prior art, the utility model discloses following beneficial effect has:
the encoder correcting system of the utility model corrects the encoder to be detected by dragging the encoder to be detected and the standard encoder together and correcting the encoder to be detected according to the position signal of the standard encoder, generates the original error curve according to the position signal in the data caching device and generates the correcting curve according to the original error curve, and writes the correcting curve into the encoder to be detected for correction,
the output precision of the encoder to be detected is improved.
The utility model discloses waiting to be provided with conical elastomer connecting piece between detection encoder and the standard encoder, except having the ability of compensating two axis relative displacement, still have buffering and damping effect, the operation is more stable, and it is more accurate to gather positional information, and the correction precision is higher.
The utility model discloses standard encoder passes through the slidable mounting seat to be installed on the base, waits to detect the encoder through the installation of location sectional fixture, and the installation is dismantled conveniently, and the position through the fixed slidable mounting seat of locking mechanical system, simple structure, convenient to use.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the locking mechanism of the present invention;
FIG. 3 is a schematic view of the synchronous transmission structure of the present invention;
FIG. 4 is a schematic diagram of the module connection of the present invention;
FIG. 5 is a graph of the original error curve of the present invention;
description of reference numerals: the device comprises a base 1, a positioning and mounting clamp 2, an encoder 3 to be detected, a guide rail 4, a sliding mounting base 5, a sliding block 51, a vertical plate 52, a locking mechanism 6, a pressing block 61, a step surface 611, a threaded hole 612, a locking fastener 62, a power structure 7, a standard encoder 8, a synchronous transmission structure 9, a coupler 91, an elastic body 92 and a rotary shaft sleeve 10.
Detailed Description
The following detailed description of the present invention will be made with reference to the accompanying drawings and examples.
As shown in fig. 1-5, the present embodiment provides a joint module dual-coding position correction system, which includes a base 1, a positioning and mounting fixture 2, an encoder 3 to be detected, a guide rail 4, a sliding mounting seat 5, a locking mechanism 6, a power structure 7, a standard encoder 8, a synchronous transmission structure 9, a data caching device, and an external terminal, where the positioning and mounting fixture 2 is fixedly mounted at one end of the base 1, the encoder 3 to be detected is mounted on the positioning and mounting fixture 2, the guide rail 4 is disposed on the base 1, the sliding mounting seat 5 is mounted on the guide rail 4, the locking mechanism 6 is further disposed on the base 1 at one side of the sliding mounting seat 5, the locking mechanism 6 is used to lock the sliding mounting seat 5 at the position of the guide rail 4, the power structure 7 is mounted on the sliding mounting seat 5, and the output end of the power structure 7 is connected to the standard encoder 8, the encoder detection device is characterized in that a synchronous transmission structure 9 is fixedly mounted on the standard encoder 8, the synchronous transmission structure 9 and the encoder 3 to be detected are coaxially arranged, the encoder 3 to be detected is connected with the standard encoder 8 through the synchronous transmission structure 9, the standard encoder 8 and the encoder 3 to be detected are electrically connected with a data caching device arranged outside, and the output end of the data caching device is connected with an external terminal.
Further, in order to realize that power structure 7 can drive the encoder and go on power structure 7 includes the brushless direct current motor, slidable mounting base 5 includes slider 51 and riser 52, slip movable mounting is on guide rail 4, fixed mounting has riser 52 on slider 51, brushless direct current motor and the horizontal fixed mounting of standard encoder 8 are on riser 52, just standard encoder 8 links to each other with the brushless direct current motor output, synchronous transmission structure 9 is installed to the 8 output of standard encoder, locking mechanical system 6 is installed on base 1 of slider 51 one side.
Further, in order to realize that synchronous transmission structure 9 can drag to detect encoder 3 synchronous rotation, synchronous transmission structure 9 includes shaft coupling 91 and elastomer 92, shaft coupling 91 installation sets up at the 8 output ends of standard encoder, elastomer 92 fixed mounting deviates from the one end of standard encoder 8 at shaft coupling 91, just the elastomer 92 other end links to each other with waiting to detect encoder 3, the outside cover of shaft coupling 91 is equipped with rotatory axle sleeve 10, rotatory axle sleeve 10 fixed mounting deviates from the opposite side of DC brushless motor at riser 52, shaft coupling 91 rotatable mounting is in rotatory axle sleeve 10. The rotary shaft sleeve 10 is erected on the outer side of the vertical plate 52 and can support the coupler 91, the coupler 91 rotates in the rotary shaft sleeve 10 more stably, the output precision is higher, and the correction precision is higher.
Further, in order to improve the accuracy of the correction result, the elastic body 92 is a conical elastic member, and the tip end position of the conical elastic member extends into the encoder 3 to be detected and is elastically connected with the encoder 3 to be detected. The elastic coupling 91 comprises an elastic element, and has the functions of buffering and damping besides the capacity of compensating the relative displacement of two axes. The problem that the signal quality and the correction result of the encoder to be corrected are influenced by the loosening or slipping of the coupler 91 can be avoided, so that the accuracy of the correction result is higher.
Further, in order to realize that the locking mechanism 6 can fix the position of the sliding mounting seat 5, the locking mechanism 6 includes a pressing block 61 and a locking fastener 62, the pressing block 61 is disposed above the sliding block 51, the pressing block 61 is sleeved on the locking fastener 62, and the locking fastener 62 is used for locking and pressing the pressing block 61 above the sliding block 51.
Furthermore, in order to realize that the pressing block 61 can press the slider 51, the pressing block 61 is provided with an L-shaped step surface 611, and the step surface 611 is clamped with the side edge of the slider 51.
Further, in order to obtain better installation stability, the side surface of the pressing block 61 and the side surface of the sliding block 51 are provided with corresponding threaded holes 612, and fastening bolts are arranged in the threaded holes 612 in a penetrating mode.
A use method of a joint module double-compiling position correction system comprises the following steps:
s1, setting a reference point on the display image by a correction device of the external terminal;
s2, starting the power structure 7 to drive the standard encoder 8 to rotate, driving the encoder 3 to be detected to synchronously rotate 360 degrees through the elastic coupling 91 by the woven encoder, acquiring and reading current position information of the two encoders at the same period through the data cache device, and sending the current position information to an external terminal;
s3, forming a position parameter comparison graph by the external terminal, and outputting a comparison parameter result to form a correction curve;
and S4, the external terminal corrects the encoder parameters, and the encoder 3 to be detected is compensated and corrected through the correction curve until the encoder parameters are consistent with the standard encoder 8.
Further, in order to compare the position information of the encoder 3 to be detected with the position information of the standard encoder 8, the input end of the data cache device is connected to the output ends of the encoder 3 to be detected and the standard encoder 8, and when the encoder 3 to be detected and the standard encoder 8 rotate synchronously, the position signals output by the encoder 3 to be detected and the standard encoder 8 are collected simultaneously in the same sampling period, the input end of an external terminal is connected to the output end of the data cache device, and an original error curve is generated according to the position signals in the data cache device and a correction curve is generated according to the original error curve. As shown in fig. 4, the standard encoder curve is 11 and the encoder curve to be detected is 12.
Further, in order to realize the correction of the encoder 3 to be detected, the output end of the external terminal is connected to the input end of the encoder 3 to be detected, and the correction curve is written into the encoder 3 to be detected.
A correction system of the external terminal generates a compensation signal according to the position signal acquired by the data cache device and compensates the position signal of the encoder to be detected acquired by the data cache device so as to align the position signal of the encoder to be detected with the position signal zero point of the standard encoder; after the standard encoder and the encoder to be detected are synchronously started to rotate for 360 degrees, the correcting system of the external terminal can compare the position signal of the encoder to be detected with the zero point aligned with the position signal of the standard encoder to obtain the original error curve.
The utility model has the characteristics of it is following:
1. the utility model discloses an encoder correction system is through waiting to detect encoder and standard encoder to dragging to treating to detect the encoder correction according to the position signal of standard encoder, generating original error curve and according to through the position signal among the data caching device original error curve generates the calibration curve, and in waiting to detect the encoder with the calibration curve writing in, rectifies, has improved the output precision who waits to detect the encoder.
2. The utility model discloses waiting to be provided with conical elastomer connecting piece between detection encoder and the standard encoder, except having the ability of compensating two axis relative displacement, still have buffering and damping effect, the operation is more stable, and it is more accurate to gather positional information, and the correction precision is higher.
3. The utility model discloses standard encoder passes through the slidable mounting seat to be installed on the base, waits to detect the encoder through the installation of location sectional fixture, and the installation is dismantled conveniently, and the position through the fixed slidable mounting seat of locking mechanical system, simple structure, convenient to use.
Finally, it is noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the scope of the claims of the present invention.
The utility model discloses the standard part that uses all can purchase from the market, and dysmorphism piece all can be customized according to the description with the record of drawing of description, and the concrete connection mode of each part all adopts conventional means such as ripe bolt, rivet, welding among the prior art, and machinery, part and equipment all adopt conventional model among the prior art, and conventional connection mode among the circuit connection adoption prior art is not detailed here again.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or through an intermediary, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.
Claims (7)
1. A joint module double-coding position correction system is characterized by comprising a base, a positioning mounting fixture, an encoder to be detected, a guide rail, a sliding mounting seat, a locking mechanism, a power structure, a standard encoder, a synchronous transmission structure, a data cache device and an external terminal, wherein the positioning mounting fixture is fixedly mounted at one end of the base, the encoder to be detected is mounted on the positioning mounting fixture, the guide rail is arranged on the base, the sliding mounting seat is mounted on the guide rail, the locking mechanism is further arranged on the base at one side of the sliding mounting seat and used for locking the sliding mounting seat at the position of the guide rail, the power structure is mounted on the sliding mounting seat, the output end of the power structure is connected with the standard encoder, the synchronous transmission structure is fixedly mounted on the standard encoder, and the standard encoder, the synchronous transmission structure and the encoder to be detected are coaxially arranged, the encoder to be detected is connected with the standard encoder through the synchronous transmission structure, the standard encoder and the encoder to be detected are electrically connected with a data caching device arranged outside, and the output end of the data caching device is connected with an external terminal.
2. The system according to claim 1, wherein the power structure comprises a brushless dc motor, the sliding mount comprises a sliding block and a vertical plate, the sliding block is movably mounted on the guide rail, the vertical plate is fixedly mounted on the sliding block, the brushless dc motor and the standard encoder are horizontally and fixedly mounted on the vertical plate, the standard encoder is connected to an output end of the brushless dc motor, the output end of the standard encoder is mounted with a synchronous transmission structure, and the locking mechanism is mounted on a base on one side of the sliding block.
3. The system according to claim 2, wherein the synchronous transmission structure comprises a coupler and an elastic body, the coupler is installed at the output end of the standard encoder, the elastic body is fixedly installed at one end of the coupler, which is far away from the standard encoder, the other end of the elastic body is connected with the encoder to be detected, a rotating shaft sleeve is sleeved outside the coupler, the rotating shaft sleeve is fixedly installed at the other end, which is far away from the DC brushless motor, of the vertical plate, and the coupler is rotatably installed in the rotating shaft sleeve.
4. The system of claim 3, wherein the elastic body is a conical elastic member, and a tip of the conical elastic member extends into the encoder to be detected and is elastically connected with the encoder to be detected.
5. The system according to claim 2, wherein the locking mechanism comprises a pressing block and a locking fastener, the pressing block is disposed above the sliding block, the pressing block is sleeved on the locking fastener, and the locking fastener is used for locking and pressing the pressing block above the sliding block.
6. The system of claim 5, wherein the pressing block is provided with an L-shaped step surface, and the step surface is engaged with the side edge of the sliding block.
7. The system of claim 5, wherein the lateral surface of the pressing block and the lateral surface of the sliding block are provided with corresponding threaded holes, and the threaded holes are provided with fastening bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123118095.1U CN216846331U (en) | 2021-12-07 | 2021-12-07 | Joint module double-editing position correction system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123118095.1U CN216846331U (en) | 2021-12-07 | 2021-12-07 | Joint module double-editing position correction system |
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| Publication Number | Publication Date |
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| CN216846331U true CN216846331U (en) | 2022-06-28 |
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| CN202123118095.1U Active CN216846331U (en) | 2021-12-07 | 2021-12-07 | Joint module double-editing position correction system |
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| CN (1) | CN216846331U (en) |
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- 2021-12-07 CN CN202123118095.1U patent/CN216846331U/en active Active
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