JP2011099802A - 軸ぶれ計測方法及び軸ぶれ計測機能を具備した自己校正機能付き角度検出器 - Google Patents
軸ぶれ計測方法及び軸ぶれ計測機能を具備した自己校正機能付き角度検出器 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/24476—Signal processing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
- G01D18/001—Calibrating encoders
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- G—PHYSICS
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/2448—Correction of gain, threshold, offset or phase control
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- G—PHYSICS
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/2449—Error correction using hard-stored calibration data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
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- Transmission And Conversion Of Sensor Element Output (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
【解決手段】回転軸に固定した目盛り盤の周囲に等角度間隔に複数のセンサヘッドを配設し、該センサヘッドの一つを基準センサヘッドとして選択したとき、この基準センサヘッドと他のセンサヘッドのそれぞれとの計測差の和の平均値を自己校正値とした自己校正機能付き角度検出器において、基準センサヘッドとして選択するセンサヘッドを順次他のセンサヘッドに変更し、すべてのセンサヘッドについて、これを基準ヘッドとした場合の自己校正値をそれぞれ求め、各自己校正値を、特定のセンサヘッドとの配置上の角度分だけずらして、特定のセンサヘッドを基準ヘッドとした場合の自己校正値に位相を合わせる。位相変換したそれぞれの演算結果のすべてについての平均値を求め、位相変換したそれぞれの演算結果から、この平均値を減算し、非同期角度誤差のみを取り出す。
【選択図】図3
Description
接触方式は高速な回転軸には対応できず、また、非接触方式は静電容量センサの場合、測定回転軸とセンサの間の隙間が狭く測定までのセットアップに時間がかかる。
レーザー式は高価であるがゆえXYの2軸を用意するにはコストがかさむといった問題点があった。
第1センサヘッド12は5箇所設置する場合は一周360°の5分の1の角度間隔で配置する。M個の角度検出器を配置する場合は同様にM分の1の等角度間隔に配置する。これは等分割平均法と読ばれる。
特に、目盛りと軸偏心による角度誤差のように回転角度に同期した同期角度誤差と、回転軸のベアリングによる角度誤差や温度や経年変化のように測定環境に依存した、軸ぶれ等に起因する角度誤差のように、回転角度に非同期な非同期角度誤差とがある。
本例では、図3のように、回転軸に連結された目盛盤の周りに5個のセンサヘッドを等角度間隔に配置し、その検出値に基づいて、検出器本体に内蔵された演算装置あるいは電気的に接続された演算装置により、下記のような演算処理を行い、角度検出を行うようになっている。
12 第1角度検出器に配置されている第1センサヘッド
13 第2角度検出器
14 第2角度検出器に配置されている第2センサヘッド
Claims (2)
- 回転軸に固定した目盛り盤の周囲に等角度間隔に複数のセンサヘッドを配設し、該センサヘッドの一つを基準センサヘッドとして選択したとき、該基準センサヘッドと他のセンサヘッドのそれぞれとの計測差の和を求め、この和を前記センサヘッドの個数で除して平均値を得ることにより自己校正値を求めようにした自己校正機能付き角度検出器を使用した軸ぶれ計測方法であって、
前記基準センサヘッドとして選択するセンサヘッドを順次他のセンサヘッドに変更し、すべてのセンサヘッドについて、これを基準ヘッドとした場合の前記自己校正値をそれぞれ求める手順と、
各自己校正値を、特定のセンサヘッドとの前記目盛り盤における配置上の角度分だけずらして、該特定のセンサヘッドを基準ヘッドとした場合の自己校正値に位相を合わせる手順と、
前記位相変換後の各自己校正値についての平均値を求める手順と、
前記位相変換後の各自己校正値から、前記位相変換後の各自己校正値についての平均値を減算し、非同期角度誤差のみを取り出す手順とからなる軸ぶれ計測方法。 - 回転軸に固定した目盛り盤の周囲に等角度間隔に複数のセンサヘッドを配設し、該センサヘッドの一つを基準センサヘッドとして選択したとき、該基準センサヘッドと他のセンサヘッドのそれぞれとの計測差の和を求め、この和を前記センサヘッドの個数で除して平均値を得ることにより自己校正値を求めようにした自己校正機能付き角度検出器において、
前記基準センサヘッドとして選択するセンサヘッドを順次他のセンサヘッドに変更し、すべてのセンサヘッドについて、これを基準ヘッドとした場合の自己校正値をそれぞれ求める自己校正値演算手段と、
各自己校正値を、特定のセンサヘッドとの配置上の角度分だけずらして、該特定のセンサヘッドを基準ヘッドとした場合の自己校正値に位相を合わせる位相変換手段と、
前記位相変換手段のそれぞれの演算結果のすべてについての平均値を求める平均値演算手段と、
前記位相変換手段のそれぞれの演算結果から、前記平均値演算手段の演算結果を減算し、非同期角度誤差のみを取り出す動的誤差抽出手段とを具備した、軸ぶれ計測機能を自己校正機能付き角度検出器。
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JP2009255712A JP4984268B2 (ja) | 2009-11-09 | 2009-11-09 | 軸ぶれ計測方法及び軸ぶれ計測機能を具備した自己校正機能付き角度検出器 |
US13/508,686 US9146136B2 (en) | 2009-11-09 | 2010-10-27 | Axis run-out measuring method and angle detecting device with self-calibration function having axis run-out measuring function |
EP10828222.9A EP2500696B1 (en) | 2009-11-09 | 2010-10-27 | Axis run-out measuring method and angle detecting device with self-calibration function having axis run-oout measuring function |
PCT/JP2010/069023 WO2011055662A1 (ja) | 2009-11-09 | 2010-10-27 | 軸ぶれ計測方法及び軸ぶれ計測機能を具備した自己校正機能付き角度検出器 |
CN201080050388.6A CN102597708B (zh) | 2009-11-09 | 2010-10-27 | 轴抖动测量方法以及具备轴抖动测量功能的带自校正功能的角度检测器 |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120151987A1 (en) * | 2010-12-20 | 2012-06-21 | Mitutoyo Corporation | Method and rotary encoder for estimation of eccentric value |
WO2019216235A1 (ja) | 2018-05-11 | 2019-11-14 | 株式会社三共製作所 | 角度検出器 |
WO2021090551A1 (ja) | 2019-11-08 | 2021-05-14 | 株式会社三共製作所 | 回転位置決め装置 |
KR20220095279A (ko) * | 2020-12-29 | 2022-07-07 | 계양전기 주식회사 | 홀센서를 이용한 모터 회전속도 산출방법 |
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CN103782130B (zh) * | 2011-07-08 | 2017-06-20 | 卡尔蔡司工业测量技术有限公司 | 在测量工件的坐标时的误差修正和/或避免 |
JP5798824B2 (ja) * | 2011-07-22 | 2015-10-21 | 株式会社ミツトヨ | 目盛誤差算出装置、目盛誤差校正装置、及び目盛誤差算出方法 |
US9423281B2 (en) | 2012-02-07 | 2016-08-23 | Mitsubishi Electric Research Laboratories, Inc. | Self-calibrating single track absolute rotary encoder |
DE102013216093B4 (de) * | 2013-08-14 | 2016-06-02 | Carl Zeiss Industrielle Messtechnik Gmbh | Reduzieren von Fehlern einer Drehvorrichtung, insbesondere für die Bestimmung von Koordinaten eines Werkstücks oder die Bearbeitung eines Werkstücks |
AT518531B1 (de) * | 2016-07-07 | 2017-11-15 | Tridonic Gmbh & Co Kg | Vorrichtung und Verfahren zur Erfassung des Drehwinkels |
JP6416983B1 (ja) * | 2017-05-22 | 2018-10-31 | ファナック株式会社 | 回転軸の角度較正方法および角度較正プログラム |
DE102019209866A1 (de) | 2019-07-04 | 2021-01-07 | Dr. Johannes Heidenhain Gmbh | Winkelmesseinrichtung und Verfahren zum Betrieb einer Winkelmesseinrichtung |
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JP2006098392A (ja) * | 2004-08-31 | 2006-04-13 | National Institute Of Advanced Industrial & Technology | 自己校正機能付き角度検出器 |
WO2007086160A1 (ja) * | 2006-01-27 | 2007-08-02 | Sokkia, Co., Ltd. | ロータリエンコーダ |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20120151987A1 (en) * | 2010-12-20 | 2012-06-21 | Mitutoyo Corporation | Method and rotary encoder for estimation of eccentric value |
US8826718B2 (en) * | 2010-12-20 | 2014-09-09 | Mitutoyo Corporation | Method and rotary encoder for estimation of eccentric value |
WO2019216235A1 (ja) | 2018-05-11 | 2019-11-14 | 株式会社三共製作所 | 角度検出器 |
KR20210007939A (ko) | 2018-05-11 | 2021-01-20 | 가부시끼가이샤 산쿄 세이사쿠쇼 | 각도 검출기 |
US11573103B2 (en) | 2018-05-11 | 2023-02-07 | Sankyo Seisakusho Co. | Angle detector |
WO2021090551A1 (ja) | 2019-11-08 | 2021-05-14 | 株式会社三共製作所 | 回転位置決め装置 |
KR20220090521A (ko) | 2019-11-08 | 2022-06-29 | 가부시끼가이샤 산쿄 세이사쿠쇼 | 회전 위치 결정 장치 |
KR20220095279A (ko) * | 2020-12-29 | 2022-07-07 | 계양전기 주식회사 | 홀센서를 이용한 모터 회전속도 산출방법 |
KR102510806B1 (ko) * | 2020-12-29 | 2023-03-20 | 계양전기 주식회사 | 홀센서를 이용한 모터 회전속도 산출방법 |
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US9146136B2 (en) | 2015-09-29 |
EP2500696B1 (en) | 2020-07-22 |
EP2500696A4 (en) | 2017-09-13 |
EP2500696A1 (en) | 2012-09-19 |
WO2011055662A1 (ja) | 2011-05-12 |
CN102597708A (zh) | 2012-07-18 |
CN102597708B (zh) | 2015-01-07 |
JP4984268B2 (ja) | 2012-07-25 |
US20120283978A1 (en) | 2012-11-08 |
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