CN105973281B - A kind of increment type straight line rotates two-freedom position detecting device - Google Patents
A kind of increment type straight line rotates two-freedom position detecting device Download PDFInfo
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- 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
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- 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
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- 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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Abstract
一种增量式直线旋转两自由度位置检测装置，包括一体化杯状码盘、光电传感器、直线旋转轴承及外壳；其特征在于，所述的一体化杯状码盘为一个亚克力材质的杯状结构体，所述的杯状结构体底部为一个中心开孔的圆盘，在所述的圆盘上刻有沿圆周分布的m条黑白相间的条文，所述杯状结构体的圆柱外壁上沿轴向方向刻有n条黑白相间的条文；所述的光电传感器包括反射光式直线位移光电传感器和透射光式旋转角度位移光电传感器；本发明的一种增量式直线旋转两自由度位置检测装置，实现了直线和旋转两个自由度的位置检测，减少了位置传感器的体积，保证了直线和旋转两个自由度位置检测的精度。
An incremental linear rotation two-degree-of-freedom position detection device, including an integrated cup-shaped code disc, a photoelectric sensor, a linear rotary bearing and a housing; it is characterized in that the integrated cup-shaped code disc is an acrylic cup Shaped structure, the bottom of the cup-shaped structure is a disc with a central hole, and m strips of black and white lines distributed along the circumference are engraved on the disc, and the cylindrical outer wall of the cup-shaped structure The top is engraved with n black and white texts along the axial direction; the photoelectric sensor includes a reflected light type linear displacement photoelectric sensor and a transmitted light type rotation angle displacement photoelectric sensor; an incremental linear rotation two degrees of freedom of the present invention The position detection device realizes the position detection of the linear and rotational two degrees of freedom, reduces the volume of the position sensor, and ensures the accuracy of the linear and rotational two degrees of freedom position detection.
Description
技术领域technical field
本发明涉及一种增量式直线旋转两自由度位置检测装置，尤其是一种直线旋转两自由度电机的位置检测装置，属于电机技术领域。The invention relates to an incremental linear rotation two-degree-of-freedom position detection device, in particular to a linear rotation two-degree-of-freedom motor position detection device, which belongs to the technical field of motors.
背景技术Background technique
随着工业驱动系统复杂性的增加，直线旋转两自由度电机在越来越广泛的领域中得到应用，如人类关节、机器手臂、高档机床、舰船推进、火炮转台、卫星跟踪天线等。直线旋转两自由度电机是一种能够实现直线、旋转和螺旋运动的电机，而位置检测是该电机实现三种运动的基础。虽然，各种结构类型的直线旋转两自由度电机不断的被提出，如螺旋式、组合式和集成式结构等，但是，动子位置检测装置却常常使用两个自由度方向分开检测的方法，占用空间大，且后续位置信号逻辑判断繁琐、复杂，难以实现小型化的应用。因此，研究直线旋转两自由度电机的位置检测，对简化控制，实现直线旋转两自由度电机的小型化应用具有重要的意义。As the complexity of industrial drive systems increases, linear rotary two-degree-of-freedom motors are used in more and more fields, such as human joints, robotic arms, high-end machine tools, ship propulsion, artillery turntables, and satellite tracking antennas. The linear rotation two-degree-of-freedom motor is a motor that can realize linear, rotary, and helical motions, and position detection is the basis for the motor to realize the three motions. Although various structural types of linear rotation two-degree-of-freedom motors have been proposed continuously, such as spiral, combined and integrated structures, etc., the mover position detection device often uses the method of separately detecting the two degrees of freedom. It takes up a lot of space, and the subsequent position signal logic judgment is cumbersome and complicated, making it difficult to realize miniaturized applications. Therefore, it is of great significance to study the position detection of the linear rotation two-degree-of-freedom motor to simplify the control and realize the miniaturization application of the linear rotation two-degree-of-freedom motor.
发明内容Contents of the invention
技术问题：本发明的目的是提供一种增量式直线旋转两自由度位置检测装置，实现直线和旋转两个自由度的位置信息检测，减小位置检测装置体积，提高位置检测精度。Technical problem: The purpose of the present invention is to provide an incremental linear and rotational two-degree-of-freedom position detection device, which can realize the position information detection of two degrees of freedom of linear and rotation, reduce the volume of the position detection device, and improve the position detection accuracy.
技术方案：本发明所采用的技术方案为：一种增量式直线旋转两自由度位置检测装置，包括外壳、设置于外壳内的一体化杯状码盘、光电传感器、直线旋转轴承；Technical solution: The technical solution adopted in the present invention is: an incremental linear rotation two-degree-of-freedom position detection device, including a casing, an integrated cup-shaped code disc arranged in the casing, a photoelectric sensor, and a linear rotary bearing;
所述外壳为顶部开口的杯状结构，外壳内侧底部中心部位设置有一个固定轴；The shell is a cup-shaped structure with an open top, and a fixed shaft is arranged at the center of the inner bottom of the shell;
所述一体化杯状码盘为一个亚克力材质的杯状结构体，顶部设置有连接外部检测电机的连接轴，底部为一个中心开孔的圆盘，所述固定轴穿过中心开孔延伸至一体化杯状码盘内侧顶部；所述圆盘上刻有沿圆周分布的m条黑白相间的条文形成旋转位置检测码盘，所述一体化杯状码盘的圆柱外壁上沿轴向方向刻有n条黑白相间的条文形成直线位置检测码盘；The integrated cup-shaped code disc is an acrylic cup-shaped structure, the top is provided with a connecting shaft connected to the external detection motor, and the bottom is a disc with a central opening, and the fixed shaft extends through the central opening to The top of the inner side of the integrated cup-shaped code disc; the disc is engraved with m pieces of black and white lines distributed along the circumference to form a rotary position detection code disc, and the cylindrical outer wall of the integrated cup-shaped code disc is engraved along the axial direction There are n black and white lines forming a linear position detection code wheel;
所述直线旋转轴承包括一个能够径向固定一体化杯状码盘和外壳的第一直线旋转轴承与一个第二直线旋转轴承，以及设置于圆盘的中心开孔与固定轴之间的第三直线旋转轴承，所述第三直线旋转轴承由直线轴承和旋转轴承衬套而成，所述直线轴承固定于固定轴上，所述旋转轴承连接圆盘的中心开孔内侧面；The linear rotary bearing includes a first linear rotary bearing and a second linear rotary bearing capable of radially fixing the integrated cup-shaped code disc and the housing, and a second linear rotary bearing arranged between the central opening of the disc and the fixed shaft. Three linear rotary bearings, the third linear rotary bearing is composed of a linear bearing and a rotary bearing bush, the linear bearing is fixed on a fixed shaft, and the rotary bearing is connected to the inner surface of the central opening of the disc;
所述光电传感器包括直线位移传感器和旋转角度位移传感器；所述直线位移传感器为反射光式的光电传感器，设置于与一体化杯状码盘外壁正对的外壳内壁上；所述旋转角度位移传感器为透射光式的光电传感器，包括设置于一体化杯状码盘的底部圆盘内外两侧的旋转角度位移传感器接收器和旋转角度位移传感器发射器，所述旋转角度位移传感器接收器和旋转角度位移传感器发射器固定于直线轴承上。The photoelectric sensor includes a linear displacement sensor and a rotation angle displacement sensor; the linear displacement sensor is a reflected light photoelectric sensor, which is arranged on the inner wall of the housing facing the outer wall of the integrated cup-shaped code disc; the rotation angle displacement sensor It is a transmitted light photoelectric sensor, including a rotation angle displacement sensor receiver and a rotation angle displacement sensor transmitter arranged on the inner and outer sides of the bottom disc of the integrated cup-shaped code wheel, the rotation angle displacement sensor receiver and the rotation angle The displacement sensor transmitter is fixed on the linear bearing.
进一步的，所述第一直线旋转轴承设置于一体化杯状码盘外侧底部和外壳内侧底部之间，所述第二直线旋转轴承设置于一体化杯状码盘内侧顶部和固定轴顶部之间。固定可靠，且不影响一体化杯状码盘的直线运动和旋转运动。Further, the first linear rotary bearing is arranged between the outer bottom of the integrated cup-shaped code wheel and the inner bottom of the casing, and the second linear rotary bearing is arranged between the inner top of the integrated cup-shaped code wheel and the top of the fixed shaft between. The fixing is reliable and does not affect the linear motion and rotary motion of the integrated cup-shaped code disc.
进一步的，所述m＝200，500，1024，2048。Further, the m=200, 500, 1024, 2048.
进一步的，所述n＝l/β,l为直线行程，β为直线检测精度。Further, the n=l/β, l is the straight line distance, and β is the straight line detection accuracy.
本发明的一种增量式直线旋转两自由度位置检测装置，相比现有技术，具有以下有益效果：An incremental linear rotation two-degree-of-freedom position detection device of the present invention has the following beneficial effects compared with the prior art:
1)采用一体化的光电位置检测装置，减少了位置传感器的体积，并保证了位置检测的精度。1) The integrated photoelectric position detection device is used to reduce the volume of the position sensor and ensure the accuracy of position detection.
2)采用亚克力材料的杯状码盘，实现了直线和旋转两个自由度的位置检测。2) The cup-shaped code disc of acrylic material is used to realize the position detection of two degrees of freedom of linearity and rotation.
附图说明Description of drawings
图1为本发明的直线旋转两自由度电机位置检测装置结构示意图。FIG. 1 is a schematic structural diagram of a linear rotation two-degree-of-freedom motor position detection device of the present invention.
图2为本发明的位置检测装置的一体化位置检测码盘。Fig. 2 is an integrated position detection code wheel of the position detection device of the present invention.
图3为本发明的位置检测装置的旋转运动位置检测码盘。Fig. 3 is a rotary motion position detection code wheel of the position detection device of the present invention.
图4为本发明的位置检测装置的直线运动位置检测码盘。Fig. 4 is a linear motion position detection code wheel of the position detection device of the present invention.
图5为反射式光电传感器工作原理图。Figure 5 is a working principle diagram of the reflective photoelectric sensor.
图6为透射式光电传感器工作原理图。Figure 6 is a schematic diagram of the working principle of the transmissive photoelectric sensor.
图中：1为检测装置外壳，2为一体化杯状码盘，2-1为旋转位置检测码盘，2-2为直线位置检测码盘，3-1为旋转角度位移传感器发射器，3-2为旋转角度位移传感器接收器，4为直线位移传感器，5-1为第一直线旋转轴承，5-2为第二直线旋转轴承，5-3为直线轴承，5-4为旋转轴承，6为固定轴，7为连接轴，8为反光带码盘，9为光栅，10光电探测器，11为LED光源，12为聚光镜，13为参考标记，14为透光玻璃。In the figure: 1 is the detection device shell, 2 is the integrated cup-shaped code disc, 2-1 is the rotary position detection code disc, 2-2 is the linear position detection code disc, 3-1 is the rotation angle displacement sensor transmitter, 3 -2 is the rotation angle displacement sensor receiver, 4 is the linear displacement sensor, 5-1 is the first linear rotary bearing, 5-2 is the second linear rotary bearing, 5-3 is the linear bearing, and 5-4 is the rotary bearing , 6 is a fixed shaft, 7 is a connecting shaft, 8 is a reflective tape code wheel, 9 is a grating, 10 is a photodetector, 11 is an LED light source, 12 is a condenser, 13 is a reference mark, and 14 is a transparent glass.
具体实施方式Detailed ways
以下通过具体实施方式对本发明作进一步阐述：The present invention will be further elaborated below by specific embodiment:
本发明涉及一种增量式直线旋转两自由度位置检测装置，包括外壳1、设置于外壳内的一体化杯状码盘2、光电传感器、直线旋转轴承；The invention relates to an incremental linear rotation two-degree-of-freedom position detection device, comprising a housing 1, an integrated cup-shaped code disc 2 arranged in the housing, a photoelectric sensor, and a linear rotation bearing;
所述外壳1为顶部开口的杯状结构，外壳内侧底部中心部位设置有一个固定轴6；The shell 1 is a cup-shaped structure with an open top, and a fixed shaft 6 is arranged at the center of the inner bottom of the shell;
所述一体化杯状码盘2为一个亚克力材质的杯状结构体，顶部设置有连接外部检测电机的连接轴7，底部为一个中心开孔的圆盘，所述固定轴6穿过中心开孔延伸至一体化杯状码盘内侧顶部；所述圆盘上刻有沿圆周分布的m(m＝200，500，1024，2048...)条黑白相间的条文形成旋转位置检测码盘2-1，所述一体化杯状码盘的圆柱外壁上沿轴向方向刻有n(n根据需要确定)条黑白相间的条文形成直线位置检测码盘2-2；The integrated cup-shaped code disc 2 is a cup-shaped structure made of acrylic material, the top is provided with a connecting shaft 7 connected to an external detection motor, and the bottom is a disc with a central hole, and the fixed shaft 6 passes through the central opening. The hole extends to the inner top of the integrated cup-shaped code disc; the disc is engraved with m (m=200, 500, 1024, 2048...) pieces of black and white lines distributed along the circumference to form a rotary position detection code disc 2 -1, the cylindrical outer wall of the integrated cup-shaped code wheel is engraved with n (n is determined according to needs) black and white lines along the axial direction to form a linear position detection code wheel 2-2;
所述直线旋转轴承包括一个能够径向固定一体化杯状码盘和外壳的第一直线旋转轴承5-1与一个第二直线旋转轴承5-2，以及设置于圆盘的中心开孔与固定轴之间的第三直线旋转轴承，所述第三直线旋转轴承由直线轴承5-3和旋转轴承5-4衬套而成，所述直线轴承5-3固定于固定轴上，所述旋转轴承5-4连接圆盘的中心开孔内侧面；The linear rotary bearing includes a first linear rotary bearing 5-1 and a second linear rotary bearing 5-2 capable of radially fixing the integrated cup-shaped code disc and the housing, and a central opening and a The third linear rotary bearing between the fixed shafts, the third linear rotary bearing is formed by a linear bearing 5-3 and a rotary bearing 5-4 bushing, the linear bearing 5-3 is fixed on the fixed shaft, the Rotary bearing 5-4 is connected to the inner side of the central opening of the disc;
所述的光电传感器包括直线位移传感器4和旋转角度位移传感器；所述的直线位移传感器为反射光式的光电传感器，设置于与一体化杯状码盘外壁正对的外壳内壁上，其工作原理如图5所示，通过反射作用和聚光镜，实现持续不断地开放或者封闭光通路，进而实现位置信号的检测输出。所述的旋转角度位移传感器为透射光式的光电传感器，包括设置于一体化杯状码盘的底部圆盘内外两侧的旋转角度位移传感器接收器3-2和旋转角度位移传感器发射器3-1，所述旋转角度位移传感器接收器3-2和旋转角度位移传感器发射器3-1固定于直线轴承5-3上，其工作原理如图6所示，通过透射原理和光栅的作用，实现持续不断地开放或者封闭光通路，进而实现位置信号的检测输出。The photoelectric sensor includes a linear displacement sensor 4 and a rotation angle displacement sensor; the linear displacement sensor is a reflected light photoelectric sensor, which is arranged on the inner wall of the shell facing the outer wall of the integrated cup-shaped code disc, and its working principle As shown in FIG. 5 , through the reflection and the condenser, the optical path is continuously opened or closed, and then the detection output of the position signal is realized. The rotation angle displacement sensor is a transmitted light photoelectric sensor, including a rotation angle displacement sensor receiver 3-2 and a rotation angle displacement sensor transmitter 3-2 arranged on the inner and outer sides of the bottom disc of the integrated cup-shaped code wheel 1. The rotation angle displacement sensor receiver 3-2 and the rotation angle displacement sensor transmitter 3-1 are fixed on the linear bearing 5-3, and its working principle is shown in Figure 6. Through the transmission principle and the function of the grating, the Continuously open or close the optical path to realize the detection output of the position signal.
以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also possible. It should be regarded as the protection scope of the present invention.
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| US6028304A (en) * | 1998-01-21 | 2000-02-22 | Sandia Corporation | Precision displacement reference system |
| DE10140616A1 (en) * | 2001-08-18 | 2003-03-06 | Bosch Gmbh Robert | Method and device for optical measurement data acquisition |
| GB2405933A (en) * | 2003-09-12 | 2005-03-16 | Page Aerospace Ltd | Measuring movement of a hydraulic actuator |
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