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CN102937419A - Cam profile detection system based on direct driving motor - Google Patents

Cam profile detection system based on direct driving motor Download PDF

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CN102937419A
CN102937419A CN2012104169077A CN201210416907A CN102937419A CN 102937419 A CN102937419 A CN 102937419A CN 2012104169077 A CN2012104169077 A CN 2012104169077A CN 201210416907 A CN201210416907 A CN 201210416907A CN 102937419 A CN102937419 A CN 102937419A
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cam
direct
drive motor
measuring head
laser measuring
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CN102937419B (en
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丁仕燕
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Changzhou Institute of Technology
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Abstract

本发明提供了一种结构简单、检测精度和效率较高的基于直驱式电机的凸轮轮廓检测系统，其包括：直驱式电机、同轴固定设于直驱式电机的转子上的用于带动凸轮同步同轴旋转的心轴、水平设于凸轮一侧的丝杠螺母副、设于该丝杠螺母副的活动螺母上的激光测量头、用于测量所述活动螺母的水平位移量的光栅尺位移传感器、设于直驱式电机的固定座中的用于检测所述转子的旋转角度的圆光栅、以及工控机；所述工控机控制所述直驱式电机和丝杠螺母副动作，并根据所述激光测量头、光栅尺位移传感器和圆光栅测得的数据得出凸轮的外轮廓数据。

Figure 201210416907

The invention provides a cam profile detection system based on a direct-drive motor with simple structure, high detection accuracy and high efficiency, which includes: a direct-drive motor, a motor coaxially fixed on the rotor of the direct-drive motor The mandrel that drives the cam to rotate coaxially synchronously, the lead screw nut set horizontally on one side of the cam, the laser measuring head set on the movable nut of the lead screw nut pair, and the device for measuring the horizontal displacement of the movable nut grating ruler displacement sensor, a circular grating used to detect the rotation angle of the rotor in the fixed seat of the direct-drive motor, and an industrial computer; the industrial computer controls the direct-drive motor and the auxiliary action of the lead screw nut , and obtain the outer profile data of the cam according to the data measured by the laser measuring head, the grating ruler displacement sensor and the circular grating.

Figure 201210416907

Description

一种基于直驱式电机的凸轮轮廓检测系统A cam profile detection system based on direct drive motor

本申请是分案申请，原申请的申请号:201110114560.6，申请日:2011.05.04，发明名称:基于直驱式电机的凸轮轮廓检测系统。 This application is a divisional application, the application number of the original application: 201110114560.6, the application date: 2011.05.04, the title of the invention: a cam profile detection system based on a direct drive motor.

技术领域 technical field

本发明涉及一种基于直驱式电机的凸轮轮廓检测系统及其检测方法。 The invention relates to a cam profile detection system based on a direct drive motor and a detection method thereof.

 the

背景技术 Background technique

凸轮机构广泛应用于各种自动化机械、精密仪器、自动化控制系统等。要做到高精度、高效率地检测凸轮，并正确处理、评定它的各项误差，及时快速地反馈凸轮的质量信息，传统的光学机械量仪以及人工数据处理的方法，已不能适应凸轮广泛采用的自动线生产的需要了。随着汽车工业、工程机械等的高速发展和制造技术的不断提高，对如何提高凸轮加工精度的检测精度和效率，是本领域要解决的技术难题。 Cam mechanisms are widely used in various automatic machinery, precision instruments, automatic control systems, etc. To achieve high-precision, high-efficiency detection of cams, correct processing and evaluation of its various errors, and timely and rapid feedback of cam quality information, traditional optical-mechanical measuring instruments and manual data processing methods can no longer adapt to the wide range of cams. The need for automatic line production is adopted. With the rapid development of the automobile industry, engineering machinery, etc. and the continuous improvement of manufacturing technology, how to improve the detection accuracy and efficiency of cam machining accuracy is a technical problem to be solved in this field.

 the

发明内容 Contents of the invention

本发明所要解决的技术问题是提供一种结构简单、检测精度和效率较高的基于直驱式电机的凸轮轮廓检测系统。 The technical problem to be solved by the present invention is to provide a cam profile detection system based on a direct drive motor with simple structure, high detection accuracy and high efficiency.

为解决上述技术问题，本发明提供了一种基于直驱式电机的凸轮轮廓检测系统，包括：直驱式电机、同轴固定设于直驱式电机的转子上的用于带动凸轮同步同轴旋转的心轴、水平设于凸轮一侧的丝杠螺母副、设于该丝杠螺母副的活动螺母上的激光测量头、用于测量所述活动螺母的水平位移量的光栅尺位移传感器、设于直驱式电机的固定座中的用于检测所述转子的旋转角度的圆光栅、以及工控机；所述工控机控制所述直驱式电机和丝杠螺母副动作，并根据所述激光测量头、光栅尺位移传感器和圆光栅测得的数据得出凸轮的外轮廓数据。 In order to solve the above-mentioned technical problems, the present invention provides a cam profile detection system based on a direct-drive motor, including: a direct-drive motor, a coaxial motor coaxially fixed on the rotor of the direct-drive motor for driving the cam synchronous coaxial The rotating mandrel, the lead screw nut set horizontally on one side of the cam, the laser measuring head set on the movable nut of the lead screw nut pair, the grating scale displacement sensor for measuring the horizontal displacement of the movable nut, The circular grating used to detect the rotation angle of the rotor and the industrial computer installed in the fixed seat of the direct-drive motor; the industrial computer controls the secondary action of the direct-drive motor and the lead screw nut, and according to the The data measured by the laser measuring head, the grating scale displacement sensor and the circular grating obtain the outer profile data of the cam.

具体地，所述丝杠螺母副的丝杆与一步进电机传动相连；工控机包括：用于实时控制所述直驱式电机和步进电机动作的运动控制卡，与所述激光测量头相连的用于实时检测激光测量头与凸轮的外轮廓的间距的激光位移传感器采集卡，与所述光栅尺位移传感器和圆光栅相连的编码器计数卡，以及通过系统总线与所述运动控制卡、激光位移传感器采集卡和编码器计数卡相连的CPU单元；所述运动控制卡通过一伺服驱动器控制所述直驱式电机动作；运动控制卡同时通过一步进电机驱动器控制步进电机动作。 Specifically, the lead screw of the lead screw nut pair is connected to the stepper motor; the industrial computer includes: a motion control card for real-time control of the direct drive motor and stepper motor action, and the laser measuring head The connected laser displacement sensor acquisition card used to detect the distance between the laser measuring head and the outer contour of the cam in real time, the encoder counting card connected with the grating scale displacement sensor and the circular grating, and the motion control card through the system bus 1. The CPU unit connected to the laser displacement sensor acquisition card and the encoder counting card; the motion control card controls the action of the direct drive motor through a servo driver; the motion control card controls the step motor action through the step motor driver at the same time.

丝杠螺母副的丝杆的中心线、以及激光测量头输出的激光与所述心轴的轴线垂直相交。 The center line of the lead screw of the lead screw nut pair and the laser light output by the laser measuring head perpendicularly intersect with the axis of the mandrel.

在所述凸轮的旋转角度为θi时，测得的凸轮的外轮廓与激光测量头的间距即第一间距测量值为                                                

Figure 2012104169077100002DEST_PATH_IMAGE001
；同时，光栅尺位移传感器测量得的所述活动螺母在水平方向与光栅尺位移传感器的硬零位
Figure 584011DEST_PATH_IMAGE002
的间距即第二间距测量值为
Figure 2012104169077100002DEST_PATH_IMAGE003
，i=1,2,3…n；i为凸轮旋转一周的过程中同时检测所述第一、第二间距测量值、的次数，0°≤θi<360°。 When the rotation angle of the cam is θ i , the measured distance between the outer contour of the cam and the laser measuring head, that is, the first distance measured value is
Figure 2012104169077100002DEST_PATH_IMAGE001
; Simultaneously, described movable nut that grating ruler displacement sensor measures is in horizontal direction and the hard zero position of grating ruler displacement sensor
Figure 584011DEST_PATH_IMAGE002
The spacing of the second spacing measurement is
Figure 2012104169077100002DEST_PATH_IMAGE003
, i=1,2,3...n; i is the measured value of the first and second distances detected simultaneously during the cam rotation one cycle , The number of times, 0°≤θ i <360°.

所述基于直驱式电机的凸轮轮廓检测系统的另一种检测方法包括： Another detection method of the cam profile detection system based on the direct drive motor includes:

a）、将激光测量头与心轴的外圆的间距即第一间距

Figure 613781DEST_PATH_IMAGE004
控制在激光测量头的量程内,然后检测并记录所述第一间距
Figure 428153DEST_PATH_IMAGE004
，同时检测并记录所述活动螺母在水平方向与所述硬零位
Figure 250616DEST_PATH_IMAGE002
的间距即第二间距； a) The distance between the laser measuring head and the outer circle of the mandrel is the first distance
Figure 613781DEST_PATH_IMAGE004
Control within the range of the laser measuring head, then detect and record the first distance
Figure 428153DEST_PATH_IMAGE004
, while detecting and recording the active nut in the horizontal direction with the hard zero
Figure 250616DEST_PATH_IMAGE002
The spacing of the second spacing ;

b）、将凸轮无间隙配合于所述心轴上，若未知凸轮的外轮廓数据，则在开始控制凸轮旋转一周的同时，控制丝杠螺母副的活动螺母根据激光测量头测得的所述第一间距测量值为

Figure 455332DEST_PATH_IMAGE001
的大小做靠近或远离凸轮的直线位移，以控制所述第一间距测量值
Figure 654233DEST_PATH_IMAGE001
始终处于激光测量头的量程内，并获取与凸轮的旋转角度θi相对应的所述第一、第二间距测量值
Figure 260794DEST_PATH_IMAGE001
、
Figure 254158DEST_PATH_IMAGE003
； b) Fit the cam on the mandrel without clearance. If the outer contour data of the cam is unknown, start to control the cam to rotate one circle at the same time, and control the movable nut of the screw nut pair according to the measured value of the laser measuring head. The first distance measurement is
Figure 455332DEST_PATH_IMAGE001
The magnitude of the linear displacement made close to or away from the cam to control the first pitch measurement
Figure 654233DEST_PATH_IMAGE001
always within the measuring range of the laser measuring head, and obtain the measured values of the first and second distances corresponding to the rotation angle θi of the cam
Figure 260794DEST_PATH_IMAGE001
,
Figure 254158DEST_PATH_IMAGE003
;

c）、由心轴直径Φd和所述

Figure 8488DEST_PATH_IMAGE004
、
Figure 745499DEST_PATH_IMAGE005
、
Figure 206568DEST_PATH_IMAGE001
、
Figure 636412DEST_PATH_IMAGE003
,计算出凸轮的极径测量值
Figure 878038DEST_PATH_IMAGE006
： c), from the mandrel diameter Φd and the
Figure 8488DEST_PATH_IMAGE004
,
Figure 745499DEST_PATH_IMAGE005
,
Figure 206568DEST_PATH_IMAGE001
,
Figure 636412DEST_PATH_IMAGE003
, to calculate the measured value of the pole diameter of the cam
Figure 878038DEST_PATH_IMAGE006
:

Figure 2012104169077100002DEST_PATH_IMAGE007
。 
Figure 2012104169077100002DEST_PATH_IMAGE007
.

本发明具有积极的效果：（1）本发明的基于直驱式电机的凸轮轮廓检测系统采用非接触测量方法，激光测量头运动由丝杠螺母副直接驱动，丝杠螺母副通过予紧可消除间隙，丝杠负载小，所以动态刚度高、运动平稳、系统动态性能好。测量过程中测量头无机械磨损，与其它接触式测量，速度快、精度高、精度保持性好。选用量程范围小（量程起点～量程终点）的激光测量头，在其线性度不变的条件下，测量误差小。激光测量头水平方向运动距离由光栅尺位移传感器完成，在凸轮的极径变化大的情况下，仍可获得高的测量精度、更高性价比；（2）为了保证激光测量头始终在量程范围内测量，即保证测量头与凸轮轮廓距离在量程起点和量程终点之间，本发明采用数控插补方法，使凸轮旋转运动与激光测量头水平方向直线运动进行联动。凸轮旋转角度由设于直驱式电机中的圆光栅检测，心轴在圆周方向零点由圆光栅零位脉冲信号确定。（3）心轴直接与电机转子连接，消除了减速器、齿轮、皮带等传统传动结构中的传动误差、机械滞后、反向间隙，伺服刚性高、快速响应性能好。（4）圆光栅输出正、余弦信号和零位信号，零位信号为电机转子在圆周方向提供可重复的起始位置。圆光栅正、余弦弦信号经过细分并转换成方波信号，用于伺服驱动器位置闭环控制；该方波信号同时接入编码器计数卡，工控机可得到凸轮实际转角。 The present invention has positive effects: (1) The cam profile detection system based on the direct drive motor of the present invention adopts a non-contact measurement method, the movement of the laser measuring head is directly driven by the screw nut pair, and the screw nut pair can be eliminated by pre-tightening Clearance, the lead screw load is small, so the dynamic stiffness is high, the movement is stable, and the dynamic performance of the system is good. There is no mechanical wear on the measuring head during the measurement process, and it has high speed, high precision and good precision retention when compared with other contact measurements. Choose a laser measuring head with a small range (from the beginning of the range to the end of the range), and the measurement error is small under the condition that its linearity remains unchanged. The horizontal movement distance of the laser measuring head is completed by the grating ruler displacement sensor. In the case of large changes in the polar diameter of the cam, high measurement accuracy and higher cost performance can still be obtained; (2) In order to ensure that the laser measuring head is always within the range Measurement, that is, to ensure that the distance between the measuring head and the cam profile is between the starting point and the end point of the measuring range. The present invention adopts the numerical control interpolation method to link the rotary motion of the cam with the linear motion in the horizontal direction of the laser measuring head. The rotation angle of the cam is detected by the circular grating installed in the direct drive motor, and the zero point of the mandrel in the circumferential direction is determined by the zero pulse signal of the circular grating. (3) The mandrel is directly connected to the motor rotor, which eliminates transmission errors, mechanical hysteresis, and backlash in traditional transmission structures such as reducers, gears, and belts. The servo has high rigidity and fast response performance. (4) The circular grating outputs sine and cosine signals and a zero signal, and the zero signal provides a repeatable starting position for the motor rotor in the circumferential direction. The sine and cosine signals of the circular grating are subdivided and converted into square wave signals, which are used for closed-loop control of the position of the servo drive; the square wave signals are connected to the encoder counting card at the same time, and the industrial computer can obtain the actual rotation angle of the cam.

 the

附图说明 Description of drawings

图1为本发明的基于直驱式电机的凸轮轮廓检测系统的结构示意图； Fig. 1 is the structural representation of the cam profile detection system based on direct drive motor of the present invention;

图2为图1中的基于直驱式电机的凸轮轮廓检测系统的未安装凸轮时的结构图。 FIG. 2 is a structural diagram of the cam profile detection system based on the direct drive motor in FIG. 1 when no cam is installed.

 the

具体实施方式 Detailed ways

（实施例1） (Example 1)

见图1-2，本实施例的基于直驱式电机的凸轮轮廓检测系统包括：用于带动凸轮10绕垂向的心轴5水平同轴旋转的直驱式电机1、水平设于直驱式电机1一侧的丝杠螺母副3、设于该丝杠螺母副3的活动螺母3-1上且于凸轮10一侧的激光测量头2、用于测量所述活动螺母3-1的水平位移量的光栅尺位移传感器4、设于直驱式电机1的固定座1-1中的用于检测凸轮10的旋转角度的圆光栅、以及工控机； 所述工控机控制所述直驱式电机1和丝杠螺母副3动作，并根据所述激光测量头2、光栅尺位移传感器4和圆光栅测得的数据得出凸轮10的外轮廓数据。所述运动控制卡通过一伺服电机驱动器控制所述直驱式电机1的动作；运动控制卡同时通过步进电机驱动器控制步进电机7动作。 See Fig. 1-2, the cam profile detection system based on the direct-drive type motor of the present embodiment comprises: the direct-drive type motor 1 that is used to drive the cam 10 to rotate around the vertical mandrel 5 horizontally and coaxially, the level is arranged on the direct-drive type The lead screw nut pair 3 on one side of the formula motor 1, the laser measuring head 2 that is located on the movable nut 3-1 of the lead screw nut pair 3 and on the cam 10 side, is used to measure the position of the movable nut 3-1 The grating ruler displacement sensor 4 of horizontal displacement, the circular grating used to detect the rotation angle of cam 10 in the fixed seat 1-1 of direct-drive motor 1, and an industrial computer; The industrial computer controls the direct drive The motor 1 and the lead screw nut pair 3 act, and the outer contour data of the cam 10 are obtained according to the data measured by the laser measuring head 2, the grating scale displacement sensor 4 and the circular grating. The motion control card controls the action of the direct drive motor 1 through a servo motor driver; the motion control card controls the action of the stepping motor 7 through the stepping motor driver.

作为最优的实施方式，丝杠螺母副3的丝杆3-2的中心线、以及激光测量头2输出的激光与所述心轴5的轴线垂直相交。 As an optimal implementation, the centerline of the screw 3 - 2 of the screw nut pair 3 and the laser output from the laser measuring head 2 perpendicularly intersect with the axis of the mandrel 5 .

所述工控机包括：用于实时控制所述直驱式电机1和丝杠螺母副3动作的运动控制卡，与所述激光测量头2相连的用于实时检测激光测量头2与凸轮10的外轮廓的间距的激光位移传感器采集卡，与所述光栅尺位移传感器4和圆光栅相连的编码器计数卡，通过系统总线与所述运动控制卡、激光位移传感器采集卡和编码器计数卡相连的CPU单元，以及经显卡与所述系统总线相连的用于显示和对比凸轮10的外轮廓数据的LCD。 The industrial computer includes: a motion control card for controlling the actions of the direct-drive motor 1 and the screw nut pair 3 in real time; The laser displacement sensor acquisition card of the spacing of the outer contour, the encoder counting card connected with the grating ruler displacement sensor 4 and the circular grating, is connected with the motion control card, the laser displacement sensor acquisition card and the encoder counting card through the system bus A CPU unit, and an LCD connected to the system bus via a graphics card for displaying and comparing the outer profile data of the cam 10.

在所述凸轮10的旋转角度为θi时，测得的凸轮10的外轮廓与激光测量头2的间距即第一间距测量值为

Figure 90844DEST_PATH_IMAGE001
；同时，光栅尺位移传感器4测量得的所述活动螺母3-1在水平方向与光栅尺位移传感器4的硬零位的间距即第二间距测量值为，i=1,2,3…n；i为凸轮10旋转一周的过程中同时检测所述第一、第二间距测量值
Figure 736086DEST_PATH_IMAGE001
、
Figure 814901DEST_PATH_IMAGE003
的次数，n可根据凸轮测量角度间隔大小确定，例如：180、360、720等，n越大，测得的凸轮10的外轮廓数据越精确；0°≤θi<360°，θi+1-θi=θi-θi-1。 When the rotation angle of the cam 10 is θi , the measured distance between the outer contour of the cam 10 and the laser measuring head 2, that is, the first distance measured value is
Figure 90844DEST_PATH_IMAGE001
; Simultaneously, described movable nut 3-1 that grating ruler displacement sensor 4 measures is in horizontal direction and the hard zero position of grating ruler displacement sensor 4 The spacing of the second spacing measurement is , i=1,2,3...n; i is that the first and second distance measurement values are detected simultaneously during the cam 10 rotates a circle
Figure 736086DEST_PATH_IMAGE001
,
Figure 814901DEST_PATH_IMAGE003
The number of times, n can be determined according to the angular interval of the cam measurement, for example: 180, 360, 720, etc., the larger n is, the more accurate the measured outer profile data of the cam 10 is; 0° ≤θi <360°, θi + 1 -θ i =θ i -θ i-1 .

为提高对凸轮加工精度要求较高部位（如凸轮的凸起部的外轮廓数据）的检测精度，同时尽量确保检测效率，可设置在检测该部位时，降低θi+1和θi的差值。 In order to improve the detection accuracy of the part that requires high machining accuracy of the cam (such as the outer contour data of the convex part of the cam), and at the same time ensure the detection efficiency as much as possible, it can be set to reduce the difference between θi +1 and θi when detecting this part value.

若已知凸轮10的外轮廓数据，则所述检测系统的检测方法包括： If the outer contour data of the cam 10 is known , the detection method of the detection system includes:

A、将激光测量头2与心轴5的外圆的间距即第一间距

Figure 22208DEST_PATH_IMAGE004
控制在激光测量头2的量程内（最佳的实施方式为：第一间距
Figure 972847DEST_PATH_IMAGE004
控制在激光测量头2的量程中点附近，因为在量程中点附近的测量精确度最高）,然后检测并记录所述第一间距
Figure 855352DEST_PATH_IMAGE004
，同时检测并记录所述活动螺母3-1在水平方向与所述硬零位
Figure 207836DEST_PATH_IMAGE002
的间距即第二间距
Figure 85137DEST_PATH_IMAGE005
； A. The distance between the laser measuring head 2 and the outer circle of the mandrel 5 is the first distance
Figure 22208DEST_PATH_IMAGE004
Control within the range of the laser measuring head 2 (the best implementation mode is: the first distance
Figure 972847DEST_PATH_IMAGE004
Controlled near the midpoint of the range of the laser measuring head 2, because the measurement accuracy near the midpoint of the range is the highest), and then detect and record the first distance
Figure 855352DEST_PATH_IMAGE004
, while detecting and recording the movable nut 3-1 in the horizontal direction with the hard zero position
Figure 207836DEST_PATH_IMAGE002
The spacing of the second spacing
Figure 85137DEST_PATH_IMAGE005
;

B、将凸轮10无间隙配合于所述心轴5上，在开始控制凸轮10旋转一周的同时，控制激光测量头2相对凸轮10的外轮廓按照+

Figure 943689DEST_PATH_IMAGE004
的轨迹运动；同时，控制所述第一间距测量值始终处于激光测量头2的量程内（最佳的实施方式为：第一间距控制在激光测量头2的量程中点附近，因为在量程中点附近的测量精确度最高；），并获取与凸轮10的旋转角度θi相对应的所述第一、第二间距测量值
Figure 392622DEST_PATH_IMAGE001
、
Figure 616930DEST_PATH_IMAGE003
；  B. Fit the cam 10 on the mandrel 5 without clearance, and control the outer contour of the laser measuring head 2 relative to the cam 10 while starting to control the cam 10 to rotate a circle. +
Figure 943689DEST_PATH_IMAGE004
The trajectory movement; meanwhile, control the first distance measurement value Always within the measuring range of the laser measuring head 2 (the best implementation mode is: the first distance Controlled near the midpoint of the range of the laser measuring head 2, because the measurement accuracy near the midpoint of the range is the highest;), and obtain the first and second distance measurement values corresponding to the rotation angle θi of the cam 10
Figure 392622DEST_PATH_IMAGE001
,
Figure 616930DEST_PATH_IMAGE003
;

C、由心轴直径Φd和所述

Figure 616110DEST_PATH_IMAGE004
、、、
Figure 340986DEST_PATH_IMAGE003
,计算出凸轮10的极径测量值： C. From the mandrel diameter Φd and the
Figure 616110DEST_PATH_IMAGE004
, , ,
Figure 340986DEST_PATH_IMAGE003
, calculate the measured value of the pole diameter of the cam 10 :

Figure 649925DEST_PATH_IMAGE007
； 
Figure 649925DEST_PATH_IMAGE007
;

D、将所述极径测量值

Figure 549748DEST_PATH_IMAGE006
与所述外轮廓数据
Figure 53542DEST_PATH_IMAGE008
相比较，得出凸轮10的外轮廓加工误差。 D. The measured value of the polar diameter
Figure 549748DEST_PATH_IMAGE006
with the outer contour data
Figure 53542DEST_PATH_IMAGE008
By comparison, the machining error of the outer contour of the cam 10 is obtained.

若未知凸轮10的外轮廓数据

Figure 355210DEST_PATH_IMAGE008
，则所述检测系统的检测方法包括： If the outer contour data of the cam 10 is unknown
Figure 355210DEST_PATH_IMAGE008
, the detection method of the detection system includes:

a、将激光测量头2与心轴5的外圆的间距即第一间距

Figure 715784DEST_PATH_IMAGE004
控制在激光测量头2的量程内,然后检测并记录所述第一间距
Figure 102903DEST_PATH_IMAGE004
，同时检测并记录所述活动螺母3-1在水平方向与所述硬零位
Figure 410388DEST_PATH_IMAGE002
的间距即第二间距； a. The distance between the laser measuring head 2 and the outer circle of the mandrel 5 is the first distance
Figure 715784DEST_PATH_IMAGE004
Control within the range of the laser measuring head 2, then detect and record the first distance
Figure 102903DEST_PATH_IMAGE004
, while detecting and recording the movable nut 3-1 in the horizontal direction with the hard zero position
Figure 410388DEST_PATH_IMAGE002
The spacing of the second spacing ;

b、将凸轮10无间隙配合于所述心轴5上，在开始控制凸轮10旋转一周的同时，控制丝杠螺母副3的活动螺母3-1根据激光测量头2测得的所述第一间距测量值为

Figure 98038DEST_PATH_IMAGE001
的大小做靠近或远离凸轮10的直线位移，以控制所述第一间距测量值
Figure 644557DEST_PATH_IMAGE001
始终处于激光测量头2的量程内，并获取与凸轮10的旋转角度θi相对应的所述第一、第二间距测量值
Figure 818049DEST_PATH_IMAGE001
、
Figure 828731DEST_PATH_IMAGE003
； b. Fit the cam 10 on the mandrel 5 without clearance, and at the same time of controlling the cam 10 to rotate a circle, control the movable nut 3-1 of the lead screw nut pair 3 according to the first measured value measured by the laser measuring head 2. The distance measurement is
Figure 98038DEST_PATH_IMAGE001
The size of the linear displacement close to or away from the cam 10 to control the first distance measurement
Figure 644557DEST_PATH_IMAGE001
Always within the range of the laser measuring head 2, and obtain the first and second distance measurement values corresponding to the rotation angle θi of the cam 10
Figure 818049DEST_PATH_IMAGE001
,
Figure 828731DEST_PATH_IMAGE003
;

c、由心轴直径Φd和所述、

Figure 830502DEST_PATH_IMAGE005
、
Figure 542106DEST_PATH_IMAGE001
、
Figure 407294DEST_PATH_IMAGE003
,计算出凸轮10的外轮廓数据，也即极径测量值
Figure 486764DEST_PATH_IMAGE006
： c. From the mandrel diameter Φd and the ,
Figure 830502DEST_PATH_IMAGE005
,
Figure 542106DEST_PATH_IMAGE001
,
Figure 407294DEST_PATH_IMAGE003
, Calculate the outer contour data of the cam 10, that is, the measured value of the pole diameter
Figure 486764DEST_PATH_IMAGE006
:

Figure 70192DEST_PATH_IMAGE007
。 
Figure 70192DEST_PATH_IMAGE007
.

上述激光测量头2可选择德国的PRIMUS 1000-2型基于PC机的高精度激光位移传感器，其主要性能指标为：量程2mm，量程起点16mm，量程终点20mm，量程中点18mm；线性度1μm，分辨率0.2μm；光斑直径35μm。 The above-mentioned laser measuring head 2 can choose the German PRIMUS 1000-2 high-precision laser displacement sensor based on a PC. Its main performance indicators are: range 2mm, range starting point 16mm, range end point 20mm, range midpoint 18mm; Resolution 0.2μm; spot diameter 35μm.

光栅尺位移传感器是有标尺光栅和读数头两部分组成。读数头设于丝杠螺母副3的活动螺母3-1上，标尺光栅固定在丝杠螺母副3的丝杆3-2一侧的机架上。丝杆3-2的位置固定。 The grating ruler displacement sensor is composed of two parts: a scale grating and a reading head. The reading head is arranged on the movable nut 3-1 of the leading screw nut pair 3, and the scale grating is fixed on the frame on one side of the screw rod 3-2 of the leading screw nut pair 3. The position of screw mandrel 3-2 is fixed.

本实施例的光栅尺位移传感器4可以选择德国海德汉LIP571型光栅尺 ，读数头输出表示测量值的方波信号并送至所述编码器计数卡，精度等级±1μm；分辨率0.2μm。激光测量头与光栅尺的型号、精度、量程可根据凸轮检测精度要求、凸轮极径大小做出适当调整。 The grating scale displacement sensor 4 of this embodiment can be a German HEIDENHAIN LIP571 type grating scale, and the reading head outputs a square wave signal representing the measured value and sends it to the encoder counting card, with an accuracy level of ±1 μm and a resolution of 0.2 μm. The model, accuracy and range of the laser measuring head and grating ruler can be adjusted appropriately according to the requirements of cam detection accuracy and the size of the cam pole diameter.

本实施例的光栅尺位移传感器4还可以选择威海三丰电子科技有限公司的GBC系列光栅尺，其由读数头、标尺光栅和接口电路组成。当读数头运动时，接口电路的光电接收器分别产生A相和B相两路相位相差90°的脉冲波信号，该信号再经过处理后送至所述编码器计数卡。 The grating ruler displacement sensor 4 of this embodiment can also choose the GBC series grating ruler of Weihai Sanfeng Electronic Technology Co., Ltd., which is composed of a reading head, a scale grating and an interface circuit. When the reading head moves, the photoelectric receiver of the interface circuit generates two pulse wave signals with a phase difference of 90° between phase A and phase B respectively, and the signals are sent to the encoder counting card after processing.

所述编码器计数卡用于记录光栅尺位移传感器4、圆光栅产生的脉冲个数，进而计算出丝杠螺母副的螺母移动距离、凸轮旋转角度。运动控制卡控制凸轮与丝杠螺母副的螺母按给定轨迹运动。 The encoder counting card is used to record the number of pulses generated by the grating scale displacement sensor 4 and the circular grating, and then calculate the nut moving distance and cam rotation angle of the lead screw nut pair. The motion control card controls the nut of the cam and lead screw nut pair to move according to a given track.

光栅尺位移传感器4中的光栅尺的右侧安装一个硬零位，作为光栅尺位移传感器4测量距离度量的起点。 A hard zero is installed on the right side of the grating ruler in the grating ruler displacement sensor 4, as the starting point for the grating ruler displacement sensor 4 to measure distance.

直驱式电机（也称为：直驱旋转电机）可选择中国台湾大银微系统股份有限公司的TMSXX系列转矩马达旋转平台，绝对定位精度10″，重复定位精度3″。 The direct drive motor (also known as: direct drive rotary motor) can choose the TMSXX series torque motor rotary platform of China Taiwan Dayin Microsystems Co., Ltd., with an absolute positioning accuracy of 10″ and a repeatable positioning accuracy of 3″.

  the

（实施例2） (Example 2)

在实施例1的基础上，本实施例具有如下变形： On the basis of Embodiment 1, this embodiment has the following modifications:

为消除心轴5的加工或安装误差，对凸轮轮廓检测精度的影响，所述凸轮轮廓检测系统的检测方法包括： In order to eliminate the processing or installation error of the mandrel 5, the impact on the cam profile detection accuracy, the detection method of the cam profile detection system includes:

A、检测心轴5的外缘数据：心轴5开始旋转一周时，将激光测量头2与心轴5的外圆的间距即第一间距始终控制在激光测量头2的量程内,同时检测并记录与所述旋转角度为θi相对应的第一间距

Figure 319908DEST_PATH_IMAGE009
、以及所述动子3-1在水平方向与所述硬零位
Figure 242864DEST_PATH_IMAGE002
的间距即第二间距
Figure 552623DEST_PATH_IMAGE010
； A. Detect the outer edge data of the mandrel 5: when the mandrel 5 starts to rotate for one revolution, the distance between the laser measuring head 2 and the outer circle of the mandrel 5 is the first distance Always control within the measuring range of the laser measuring head 2, and simultaneously detect and record the first distance corresponding to the rotation angle θi
Figure 319908DEST_PATH_IMAGE009
, and the mover 3-1 is horizontally aligned with the hard zero position
Figure 242864DEST_PATH_IMAGE002
The spacing of the second spacing
Figure 552623DEST_PATH_IMAGE010
;

B、将凸轮10无间隙配合于所述心轴5上，若已知凸轮10的外轮廓数据

Figure 623347DEST_PATH_IMAGE008
，则在开始控制凸轮10旋转一周的同时，控制激光测量头2相对凸轮10的外轮廓按照+的轨迹运动；同时，控制所述第一间距测量值
Figure 934877DEST_PATH_IMAGE001
始终处于激光测量头2的量程内，并获取与凸轮10的旋转角度θi相对应的所述第一、第二间距测量值、
Figure 22099DEST_PATH_IMAGE003
；  B. Fit the cam 10 on the mandrel 5 without clearance, if the outer contour data of the cam 10 is known
Figure 623347DEST_PATH_IMAGE008
, then at the same time when the cam 10 is controlled to rotate one revolution, the outer contour of the laser measuring head 2 relative to the cam 10 is controlled according to + The trajectory movement; meanwhile, control the first distance measurement value
Figure 934877DEST_PATH_IMAGE001
Always within the range of the laser measuring head 2, and obtain the first and second distance measurement values corresponding to the rotation angle θi of the cam 10 ,
Figure 22099DEST_PATH_IMAGE003
;

C、由心轴直径Φd和所述

Figure 716385DEST_PATH_IMAGE009
、
Figure 367946DEST_PATH_IMAGE010
、
Figure 350946DEST_PATH_IMAGE001
、
Figure 746155DEST_PATH_IMAGE003
,计算出凸轮10的极径测量值 C. From the mandrel diameter Φd and the
Figure 716385DEST_PATH_IMAGE009
,
Figure 367946DEST_PATH_IMAGE010
,
Figure 350946DEST_PATH_IMAGE001
,
Figure 746155DEST_PATH_IMAGE003
, calculate the measured value of the pole diameter of the cam 10

Figure 232631DEST_PATH_IMAGE012
 
Figure 232631DEST_PATH_IMAGE012
 

D、将所述极径测量值

Figure 2012104169077100002DEST_PATH_IMAGE013
与所述外轮廓数据相比较，得出凸轮10的外轮廓加工误差。 D. The measured value of the polar diameter
Figure 2012104169077100002DEST_PATH_IMAGE013
with the outer contour data By comparison, the machining error of the outer contour of the cam 10 is obtained.

若未知凸轮10的外轮廓数据

Figure 587706DEST_PATH_IMAGE008
，则所述凸轮轮廓检测系统的检测方法包括： If the outer contour data of the cam 10 is unknown
Figure 587706DEST_PATH_IMAGE008
, the detection method of the cam profile detection system includes:

a、检测心轴5的外缘数据：心轴5开始旋转一周时，将激光测量头2与心轴5的外圆的间距即第一间距

Figure 724289DEST_PATH_IMAGE009
始终控制在激光测量头2的量程内,同时检测并记录与所述旋转角度为θi相对应的第一间距
Figure 127589DEST_PATH_IMAGE009
、以及所述动子3-1在水平方向与所述硬零位
Figure 386532DEST_PATH_IMAGE002
的间距即第二间距
Figure 78544DEST_PATH_IMAGE010
； a. Detect the outer edge data of the mandrel 5: when the mandrel 5 starts to rotate for one revolution, the distance between the laser measuring head 2 and the outer circle of the mandrel 5 is the first distance
Figure 724289DEST_PATH_IMAGE009
Always control within the measuring range of the laser measuring head 2, and simultaneously detect and record the first distance corresponding to the rotation angle θi
Figure 127589DEST_PATH_IMAGE009
, and the mover 3-1 is horizontally aligned with the hard zero position
Figure 386532DEST_PATH_IMAGE002
The spacing of the second spacing
Figure 78544DEST_PATH_IMAGE010
;

b、将凸轮10无间隙配合于所述心轴5上，若未知凸轮10的外轮廓数据，则在开始控制凸轮10旋转一周的同时，控制直线电机3的动子3-1根据激光测量头2测得的所述第一间距测量值为

Figure 815556DEST_PATH_IMAGE001
的大小做靠近或远离凸轮10的直线位移，以控制所述第一间距测量值
Figure 338942DEST_PATH_IMAGE001
始终处于激光测量头2的量程内，并获取与凸轮10的旋转角度θi相对应的所述第一、第二间距测量值
Figure 768786DEST_PATH_IMAGE001
、
Figure 679586DEST_PATH_IMAGE003
； b. Fit the cam 10 on the mandrel 5 without clearance. If the outer contour data of the cam 10 is unknown, start to control the cam 10 to rotate once, and control the mover 3-1 of the linear motor 3 according to the laser measuring head. 2 The measured first distance measurement is
Figure 815556DEST_PATH_IMAGE001
The size of the linear displacement close to or away from the cam 10 to control the first distance measurement
Figure 338942DEST_PATH_IMAGE001
Always within the range of the laser measuring head 2, and obtain the first and second distance measurement values corresponding to the rotation angle θi of the cam 10
Figure 768786DEST_PATH_IMAGE001
,
Figure 679586DEST_PATH_IMAGE003
;

c、由心轴直径Φd和所述、

Figure 863759DEST_PATH_IMAGE010
、
Figure 136609DEST_PATH_IMAGE001
、
Figure 865530DEST_PATH_IMAGE003
,计算出凸轮10的极径测量值 c. From the mandrel diameter Φd and the ,
Figure 863759DEST_PATH_IMAGE010
,
Figure 136609DEST_PATH_IMAGE001
,
Figure 865530DEST_PATH_IMAGE003
, calculate the measured value of the pole diameter of the cam 10

Figure 442322DEST_PATH_IMAGE012
。
Figure 442322DEST_PATH_IMAGE012
.

显然，本发明的上述实施例仅仅是为清楚地说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而这些属于本发明的精神所引伸出的显而易见的变化或变动仍处于本发明的保护范围之中。 Apparently, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. And these obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims (4)

1. the cam outline detection system based on direct-drive motor is characterized in that comprising: direct-drive motor (1), be used for the synchronously axle (5) of coaxial rotating of band moving cam (10) on the coaxial rotor (1-2) that is fixed at direct-drive motor (1), level is located at the screw pair (3) of cam (10) one sides, be located at the laser measuring head (2) on the traveling nut (3-1) of this screw pair (3), grating scale displacement transducer (4) for the horizontal displacement of measuring described traveling nut (3-1), be located at the round grating for detection of the anglec of rotation of described rotor (1-2) in the holder (1-1) of direct-drive motor (1), and industrial computer;
Described industrial computer is controlled described direct-drive motor (1) and screw pair (3) action, and draws the outline data of cam (10) according to the data that described laser measuring head (2), grating scale displacement transducer (4) and circle grating record.
2. the cam outline detection system based on direct-drive motor according to claim 1, it is characterized in that: the screw mandrel (3-2) of described screw pair (3) links to each other with a stepper motor (7) transmission;
Described industrial computer comprises: the motion control card that is used for controlling in real time the action of described direct-drive motor (1) and stepper motor (7), the laser displacement sensor capture card of the spacing of the outline that is used for real-time detection laser measuring head (2) and cam (10) that links to each other with described laser measuring head (2), with described grating scale displacement transducer (4) and the encoder to count card that links to each other of circle grating, and the CPU element that links to each other with described motion control card, laser displacement sensor capture card and encoder to count card by system bus;
Described motion control card links to each other with described direct-drive motor (1) by a servo-driver, and the detection signal output terminal (1-3) of described round grating links to each other with the feedback signal input end of this servo-driver; Motion control card is simultaneously by a stepper motor driver control step motor (7) action.
3. the cam outline detection system based on direct-drive motor according to claim 2 is characterized in that: the center line of the screw mandrel (3-2) of screw pair (3) and the laser of laser measuring head (2) output and the intersect vertical axis of described axle (5).
4. the detection method of the cam outline detection system based on direct-drive motor according to claim 3, it is characterized in that: the anglec of rotation at described cam (10) is θ iThe time, the spacing of the outline of the cam that records (10) and laser measuring head (2) i.e. the first pitch measurements is
Figure 2012104169077100001DEST_PATH_IMAGE002
Simultaneously, grating scale displacement transducer (4) measure described traveling nut (3-1) in the horizontal direction with the hard zero-bit of grating scale displacement transducer (4) (
Figure DEST_PATH_IMAGE004
) spacing namely the second pitch measurements be
Figure DEST_PATH_IMAGE006
, i=1,2,3 ... n; I detects described first, second pitch measurements in the process that rotates a circle of cam (10) simultaneously
Figure 741604DEST_PATH_IMAGE002
,
Figure 596428DEST_PATH_IMAGE006
Number of times, 0 °≤θ i＜360 °;
The detection method of described digital control system comprises:
A), with the spacing of the cylindrical of laser measuring head (2) and axle (5) i.e. the first spacing
Figure DEST_PATH_IMAGE008
Be controlled in the range of laser measuring head (2), then detect and record described the first spacing
Figure 376165DEST_PATH_IMAGE008
, detect simultaneously and record described traveling nut (3-1) in the horizontal direction with described hard zero-bit (
Figure 709057DEST_PATH_IMAGE004
) i.e. the second spacing of spacing
Figure DEST_PATH_IMAGE010
B) if the outline data of unknown cam (10), then when beginning to control cam (10) and rotating a circle, the traveling nut (3-1) of control screw pair (3) according to described the first pitch measurements that laser measuring head (2) records is
Figure 523429DEST_PATH_IMAGE002
Size do near or away from the straight-line displacement of cam (10), to control described the first pitch measurements
Figure 345892DEST_PATH_IMAGE002
All the time be in the range of laser measuring head (2), and obtain anglec of rotation θ with cam (10) iCorresponding described first, second pitch measurements
Figure 550608DEST_PATH_IMAGE002
,
Figure 749508DEST_PATH_IMAGE006
C), by axle diameter of phi d and described
Figure 418387DEST_PATH_IMAGE008
,
Figure 411751DEST_PATH_IMAGE010
, ,
Figure 840775DEST_PATH_IMAGE006
, calculate the utmost point footpath measured value of cam (10)
Figure DEST_PATH_IMAGE012
:
Figure DEST_PATH_IMAGE014
。
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