WO2020108469A1 - Dispositif de test de codeur rotatif - Google Patents

Dispositif de test de codeur rotatif Download PDF

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Publication number
WO2020108469A1
WO2020108469A1 PCT/CN2019/120863 CN2019120863W WO2020108469A1 WO 2020108469 A1 WO2020108469 A1 WO 2020108469A1 CN 2019120863 W CN2019120863 W CN 2019120863W WO 2020108469 A1 WO2020108469 A1 WO 2020108469A1
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WO
WIPO (PCT)
Prior art keywords
encoder
sample
code wheel
reading head
rotary encoder
Prior art date
Application number
PCT/CN2019/120863
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English (en)
Chinese (zh)
Inventor
刘元江
周忠厚
刘元宜
Original Assignee
歌尔股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 歌尔股份有限公司 filed Critical 歌尔股份有限公司
Publication of WO2020108469A1 publication Critical patent/WO2020108469A1/fr

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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

Definitions

  • the accuracy test for rotary encoders in the current industry is usually a motor that drives a sample rotary encoder 2 through a synchronous belt variable speed drive 17 of a belt transmission speed change system, in which the reference encoder 9 rotates on the motor On 7, the sample encoder 2 is installed on the test shaft, and the accuracy of the sample encoder 2 is judged by comparing the output position angles of the two encoders. Due to the elasticity of the timing belt and the installation gap, the stability of the test results is poor, and the test accuracy is also affected.
  • the technical problem to be solved by the present invention is to provide a rotary encoder test device, which can improve the test accuracy and test stability of the rotary encoder.
  • the rotary encoder test device includes a frame, a motor is installed on the frame, the motor includes a coaxial line output shaft one and output shaft two; the output shaft one is connected The shaft is connected to one end of the drive shaft, and the other end of the drive shaft is used to fixedly connect the sample encoder code wheel of the sample rotary encoder, the sample encoder reading head of the sample rotary encoder and the sample rotary encoder
  • the encoder disc of the sample encoder is oppositely arranged and fixedly connected to the frame; or, the other end of the drive shaft is used to fixedly connect the sample encoder reading head of the sample rotary encoder, the sample
  • the sample encoder code wheel of the rotary encoder is arranged opposite to the sample encoder reading head of the sample rotary encoder and fixedly connected to the frame; the reference encoder is fixedly connected to the output shaft two
  • a reference encoder code wheel the reference encoder code wheel is relatively provided with a reference encoder reading head, the reference encoder reading head is fixedly arranged on the inner wall of the
  • reference encoder code wheel is fixedly connected to the output shaft two through a reference encoder code wheel base.
  • a bracket protrusion is provided at an end of the bracket, and the sample encoder reading head or the sample encoder code disk is fixedly connected to the bracket protrusion.
  • bracket is provided integrally with the bracket protrusion.
  • the reference encoder code wheel is fixedly connected to the reference encoder on the output shaft two, and the reference encoder code wheel is relatively provided with a reference encoder reading head, and the reference encoder reading head is fixedly arranged on the inner wall of the motor cover of the motor; or, the output shaft Secondly, the reference encoder reading head fixedly connected with the reference encoder, the reference encoder reading head is relatively provided with a reference encoder code wheel, and the reference encoder code wheel is fixedly arranged on the inner wall of the motor cover of the motor.
  • the output shaft 1, output shaft 2 and drive shaft of the rotary encoder test device are all on the same axis, which effectively reduces the test error, and enables the test device to test the accuracy of the sample encoder and the reference encoder The accuracy is tested.
  • FIG. 1 is a perspective view of a conventional rotary encoder testing device
  • FIG. 2 is an exploded view of the rotary encoder test device of the present invention
  • FIG. 4 is a cross-sectional view taken along the line B-B in FIG. 3;
  • FIG. 5 is a schematic structural view of the use state of the rotary encoder test device of the present invention.
  • a rotary encoder testing device includes a frame, and a motor 7 is installed on the frame, and the motor 7 includes an output shaft 71 arranged coaxially ⁇ Output ⁇ 72.
  • the output shaft 71 is connected to one end of the drive shaft 3 through the coupling 5, the drive shaft 3 is mounted on the bearing 19, and a spacer 8 is sleeved on the drive shaft 3 to prevent the axial movement of the output shaft 71.
  • the other end of the drive shaft 3 is used to fixedly connect the sample encoder code wheel 21 of the sample rotary encoder 2, and the other end of the drive shaft 3 is fixedly connected to the sample encoder wheel 21 of the sample rotary encoder 2, the sample rotary encoder
  • the code wheel 21 and the drive shaft 3 can be fixedly connected by interference fit, or fixedly connected by glue connection, and of course, can also be connected by other conventional detachable connection methods.
  • the sample encoder code wheel 21 is oppositely provided with a sample encoder reading head 22, and the sample encoder reading head 22 can be fixedly connected to the rack by screws.
  • the other end of the drive shaft 3 is used to fixedly connect the sample encoder reading head 22 of the sample rotary encoder 2, the sample encoder code wheel 21 of the sample rotary encoder 2 and the sample encoder reading head 22 of the sample rotary encoder 2 Relatively arranged and fixedly connected to the rack, the sample encoder code wheel 21 can be fixedly connected to the rack by screws.
  • a reference encoder code wheel 91 of the reference encoder 9 is fixedly connected to the output shaft two 72.
  • the reference encoder code wheel 91 is preferably fixedly connected to the output shaft two 72 via the reference encoder code wheel base 12.
  • the reference encoder code wheel 91 is oppositely provided with a reference encoder reading head 92, and the reference encoder reading head 92 may be fixed on the inner wall of the motor cover 10 of the motor 7 by screws.
  • the reference encoder reading head 92 of the reference encoder 9 is fixedly connected to the output shaft two 72, and the reference encoder reading head 92 is oppositely provided with a reference encoder code wheel 91, and the reference encoder code wheel 91 can be fixedly set by screws.
  • the rotary encoder test device further includes a pitch adjustment shaft 1, the other end of the drive shaft 3 is an internal hollow structure 32, one end of the pitch adjustment shaft 1 is inserted into the internal hollow structure 32, and the other end of the pitch adjustment shaft 1 is used for fixed connection
  • the sample encoder code wheel 21 or the sample encoder reading head 22, and the sample encoder code wheel 21 or the sample encoder reading head 22 are fixedly connected to the other end of the pitch adjustment shaft 1.
  • the sample encoder code wheel 21 can be fixedly connected by interference fit, or fixedly connected by glue connection, and of course, can also be connected by other conventional detachable connection methods.
  • the driving shaft 3 is provided with a radial positioning pin shaft hole 31, and a positioning pin shaft for positioning the pitch adjustment shaft 1 is provided in the positioning pin shaft hole 31. After adjusting the length of the distance adjustment shaft 1 extending beyond the drive shaft 3, use the positioning pin shaft to position the distance adjustment shaft 1 to prevent the axial movement of the distance adjustment shaft 1.
  • the sample encoder code wheel 21 is preferably fixedly connected to the pitch adjustment shaft 1 through the sample encoder code wheel base 11.
  • the frame includes a fixed motor mounting frame 6 and a bracket 4, the motor 7 is fixedly mounted on one side of the motor mounting frame 6, the bracket 4 is fixedly mounted on the other side of the motor mounting frame 6, the sample encoder reading head 22 or The sample encoder code wheel 21 is fixedly connected to the bracket 4.
  • the bracket 4 is preferably provided with a bracket protrusion 41, and two bracket protrusions 41 are preferably provided symmetrically, and the bracket 4 and the bracket protrusion 41 are preferably provided integrally.
  • the sample encoder reading head 22 or the sample encoder code wheel 21 is preferably fixedly connected to the end of the bracket protrusion 41 by screws 18.
  • the operator installs the sample encoder code wheel 21 of the sample rotary encoder 2 at the end of the pitch adjustment shaft 1, and installs the sample encoder reading head 22 of the sample encoder 2 at the end of the bracket protrusion 41 through the screw 18
  • the distance between the sample encoder code wheel 21 and the sample encoder reading head 22 is adjusted.
  • the sample rotary encoder 2 and the drive one 13 are electrically connected through the wire 16
  • the reference encoder 9 and the drive two 14 are electrically connected through the wire 16
  • the drive one 13 and the drive two 14 are electrically connected to the comparison display system 15 through the wire 16 .
  • the operator installs the encoder code wheel of the rotary encoder with higher accuracy than the reference encoder 9 at the end of the pitch adjustment shaft 1 and installs the encoder reading head on the bracket protrusion 41 through the screw 18.
  • the rotary encoder and the driver one 13 are electrically connected through the wire 16
  • the reference encoder 9 and the driver two 14 are electrically connected through the wire 16
  • the driver one 13 and the driver two 14 are electrically connected to the comparison display system 15 through the wire 16.
  • the pulse signals of the two reading heads are converted into angle signals by their respective drivers, and the measured values and measured differences of the two encoders are output through the comparison and display system 15, and the reference encoder can be discriminated based on the preset difference range 9 precision accuracy.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

La présente invention concerne un dispositif de test de codeur rotatif comprenant un bâti de machine et un moteur (7), installé sur le bâti de machine, comprenant un premier arbre de sortie (71) disposé de manière coaxiale et un second arbre de sortie (72). Le premier arbre de sortie (71) et le second arbre de sortie (72) du moteur (7) sont disposés de manière coaxiale, le premier arbre de sortie (71) du moteur est relié à une extrémité d'un arbre d'entraînement (3) par l'intermédiaire d'un coupleur d'arbre (5), et le premier arbre de sortie (71) entraîne directement l'arbre d'entraînement (3). L'autre extrémité de l'arbre d'entraînement (3) sert à relier de manière fixe un disque de codage (21) d'un codeur d'échantillon. Une tête de lecture (22) du codeur d'échantillon est disposée à l'opposé du disque de codage (21) du codeur d'échantillon et reliée de manière fixe au bâti de machine. Il est possible d'échanger la position de la tête de lecture (22) du codeur d'échantillon pour la position du disque de codage (21) de ce dernier. Le second arbre de sortie (72) est relié de manière fixe à un disque de codage (91) d'un codeur de référence. Une tête de lecture (92) du codeur de référence disposée de manière fixe au niveau d'une paroi interne d'un capot de moteur (10) est disposée à l'opposé du disque de codage (91) du codeur de référence. Il est possible d'échanger la position du disque de codage (91) du codeur de référence pour la position de la tête de lecture (92) de ce dernier. Le premier arbre de sortie (71), le second arbre de sortie (72) et l'arbre d'entraînement (3) se trouvent sur le même axe afin de réduire efficacement les erreurs de test, tout en permettant un test de précision à la fois d'un codeur d'échantillon (2) et d'un codeur de référence (9).
PCT/CN2019/120863 2018-11-29 2019-11-26 Dispositif de test de codeur rotatif WO2020108469A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811447310.2A CN109520528A (zh) 2018-11-29 2018-11-29 旋转编码器测试装置
CN201811447310.2 2018-11-29

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Publication number Priority date Publication date Assignee Title
CN109520528A (zh) * 2018-11-29 2019-03-26 歌尔股份有限公司 旋转编码器测试装置

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KR101595300B1 (ko) * 2014-05-08 2016-02-19 전자부품연구원 구동축의 외력 측정 장치 및 방법, 그를 갖는 로봇 관절
KR101515455B1 (ko) * 2014-05-08 2015-05-06 전자부품연구원 구동축의 외력 측정 장치 및 방법, 그를 갖는 로봇 관절
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CN206818741U (zh) * 2017-04-07 2017-12-29 歌尔股份有限公司 舵机的测量装置
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JP2005024283A (ja) * 2003-06-30 2005-01-27 Sendai Nikon:Kk ロータリーエンコーダ
CN202260870U (zh) * 2011-10-08 2012-05-30 北京动力源科技股份有限公司 一种电机主轴与旋转编码器的连接装置
CN202696386U (zh) * 2012-07-12 2013-01-23 深圳市鑫台创电机有限公司 一种编码器电机
CN204241016U (zh) * 2014-12-12 2015-04-01 苏州汇川技术有限公司 编码器精度检测装置
CN205483009U (zh) * 2016-03-22 2016-08-17 哈尔滨理工大学 一种旋转式磁电编码器误差校正装置
CN207866274U (zh) * 2017-12-21 2018-09-14 上海安浦鸣志自动化设备有限公司 编码器精度检测装置
CN109520528A (zh) * 2018-11-29 2019-03-26 歌尔股份有限公司 旋转编码器测试装置
CN209197766U (zh) * 2018-11-29 2019-08-02 歌尔股份有限公司 旋转编码器测试装置

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