CN113375708B - Calibration process and device for a dual-axis high-resolution magnetoelectric encoder - Google Patents

Abstract

The invention discloses a double-shaft high-resolution magnetoelectric encoder calibration process and a double-shaft high-resolution magnetoelectric encoder calibration device. The servo motor of the double-shaft transmission mechanism is fixedly arranged on the lifting plate and provides a power source and transmits power for the whole measuring device system; the measuring device is used for collecting angular displacement signals at the output end of the motor shaft and transmitting the angular displacement signals to the control system to realize sampling and transmission of the measured signals; the lifting platform and the mechanical arm adjusting mechanism realize large-scale batch production and application of the whole set of device system in consideration of the flexibility and the practicability of the whole device; the electrical control system has the functions of collecting, analyzing and calculating data of the signal output end, and rapidly transmitting the sampled data to an upper computer through a multi-usb channel of the multi-channel isolation data collector for data processing and analysis and calculation, so that the angular displacement information of the high-resolution encoder is finally obtained. The double-shaft high-resolution magnetoelectric encoder calibration device provided by the invention has the advantages of high encoder automation degree, good universality and flexible operation, can eliminate the gear transmission return error of the device, improves the system resolution and is easy for commercial mass production and application.

Description

Calibration process and device for a dual-axis high-resolution magnetoelectric encoder

technical field

The present invention generally relates to a magnetoelectric encoder, and specifically relates to a calibration process and device for a biaxial high-resolution magnetoelectric encoder.

Background technique

Magnetoelectric encoder is a kind of measuring device. Its principle is to measure the angle or displacement of magnetic material by using sensors such as reluctance or Hall elements. The magnetic material is bonded to the rotor and rotates, and the air gap between the rotor and the stator changes The magnetic field signal, the Hall element collects the magnetic field signal, and outputs the digital signal through the analog-to-digital conversion module. The signal processing board performs calculation to realize angle measurement. Magnetic encoders have the characteristics of anti-vibration, anti-corrosion, anti-pollution, anti-interference and wide temperature, so they can be widely used in machinery manufacturing, shipbuilding, textile, printing, aviation and other fields.

However, since the angular displacement calculation accuracy of the magnetoelectric encoder is affected by the process of integrating the permanent magnets into the inner and outer magnetic rings by bonding, there are large installation errors and position errors, so its resolution is relatively low. The photoelectric encoders widely used in the market are relatively low. Therefore, it is usually necessary to use a photoelectric encoder with high measurement accuracy to calibrate the magnetoelectric encoder. However, the traditional magnetoelectric encoder calibration device uses a magnetic The electric encoder and the photoelectric encoder are coaxially connected together, and the difference in the effect of improving the resolution of the encoder may be relatively large, and its degree of automation is low, and its flexibility is low, which is not easy for commercial mass production and application .

Contents of the invention

The purpose of this invention is to propose a new type of high-resolution magnetoelectric encoder calibration device system. Calibration process of electric encoder.

In order to solve the above problems, the technical solution of the present invention is:

A calibration process and device for a dual-axis high-resolution magnetic encoder, including:

A two-axis transmission mechanism, the two-axis transmission mechanism includes a magnetoelectric shaft servo motor, a magnetoelectric shaft servo motor mounting bracket, a support shaft, a bearing, a low-speed gear shaft, a low-speed gear, a magnetoelectric encoder shaft, and a low-speed gear sleeve , photoelectric shaft servo motor, photoelectric shaft servo motor mounting bracket, coupling, high-speed gear shaft, high-speed gear, photoelectric encoder shaft, high-speed gear sleeve, the magnetoelectric shaft servo motor passes through the support shaft and the One end of the low-speed gear shaft is connected, the low-speed gear is fixedly connected to the other end of the low-speed gear shaft through the low-speed gear sleeve, the photoelectric shaft servo motor is connected to one end of the high-speed gear shaft through a coupling, and the high-speed gear The high-speed gear shaft sleeve is fixedly connected to the other end of the high-speed gear shaft, and the servo motor is used to provide a power source;

Measuring device, the measuring device includes a magnetoelectric encoder and a photoelectric encoder, and the magnetoelectric encoder specifically includes a permanent magnet magnetic steel, a PCB board, an internal tray, an internal bracket, an outer ring permanent magnet, and an inner ring permanent magnet , the outer magnetic isolation ring, the inner magnetic isolation ring, the encoder board, the bottom cover; the photoelectric encoder specifically includes a photoelectric encoder housing, a laser detection element, a small grating disc, a large grating disc, and a rotating shaft gear 1, Shaft gear 2, shaft 1, shaft 2, PCB board, rear cover; the magnetoelectric encoder is used to collect the angular displacement signal output by the magnetoelectric motor shaft, and the photoelectric encoder is used to collect the angular displacement output by the photoelectric motor shaft Signal;

Lifting platform, the lifting platform includes a lifting motor, a bottom plate, a lifting plate, a guide rail, a guide rail frame, a lead screw, and a slider;

Mechanical arm adjustment mechanism, the mechanical arm adjustment mechanism includes a lifting mechanical arm, a circlip, a machine joint, a joint cross arm, and a triangular chuck. The triangular chuck limits the 4 degrees of freedom of the clamping workpiece, which can realize the Fixing of the stator part of the encoder;

An electrical control system, the electrical control system includes a parameter setting module, a signal processing module, a signal detection module, a signal transmission module, and a power supply module, and the parameter setting module is used to set commands such as the speed of the servo motor, start and stop, etc. , the signal processing module is the core of the encoder, its main function is to receive the encoded signal processed by each circuit element and solve the absolute angle signal through the corresponding algorithm, and then transmit the absolute angle calculation result to the host computer , the signal detection module is composed of several parts such as linear Hall, switch Hall, RC filter circuit, signal amplification circuit and A/D conversion circuit, wherein the linear Hall and switch Hall are used to detect the changing magnetic field signal And convert it into an electrical signal. The function of the A/D conversion circuit is to convert the analog signal detected by the Hall element into a digital signal that the microcontroller can recognize. The RC filter circuit can reduce the signal detection and signal transmission process of the Hall element. Influenced by the electromagnetic interference in the circuit, the influence of the circuit itself and the external electromagnetic interference on the accuracy of the encoder is reduced. The function of the signal amplifier circuit is to amplify the original linear Hall signal, and the signal amplitude detected by the linear Hall element The higher the value, the higher the resolution of the encoder to solve the angle, and the angular displacement signal of the encoder can be finally output. The sampling data needs to be further transmitted to the host computer through the signal transmission module, and the two-way signal is realized in the host computer. Compensation operation processing, the power supply module of the magnetoelectric encoder is mainly used to provide power supply for the above-mentioned other modules.

Preferably, the low-speed gear is composed of a fixed gear plate, a floating gear plate and a loading spring, the fixed gear plate and the low-speed gear shaft are fixed and integrally connected, and the floating gear plate is idly sleeved between the fixed gear plates There is a certain gap between the two. During installation, the tooth surfaces of the floating gear and the fixed gear are staggered by a certain angular distance. The fixed gear and the floating gear are connected by pins. The loading spring acts between the fixed gear piece and the floating gear piece. Its function is to rely on the preloading effect of the loading spring itself to fill the gap between the meshing teeth and the working tooth surface, eliminate the backstroke error of the gear transmission, and improve system accuracy.

Preferably, the transmission ratio of the low-speed gear and the high-speed gear is 2:1, and the photoelectric encoder rotates once to solve 1024 pulse signals, then the magnetoelectric encoder rotates once to solve 2*1024 pulse signals , which means that the number of pulse signals calculated by the magnetoelectric encoder for one rotation is twice that of the photoelectric encoder, thus correspondingly improving the resolution of the comparison between the photoelectric encoder and the magnetoelectric encoder.

Preferably, the shaft of the magnetic encoder and the shaft of the low-speed gear are designed coaxially and integrally, and the shaft of the photoelectric encoder and the shaft of the high-speed gear are designed coaxially and integrally.

Preferably, the electrical control system also includes a multi-channel isolated data collector, located on the lifting board of the lifting platform, through its multi-usb channels, the sampling data is quickly transmitted to the host computer for data processing and analysis calculation, and finally Obtain high-resolution encoder angular displacement information.

Preferably, the electrical control system further includes a display device for displaying the finally obtained angular displacement information of the high-resolution magnetoelectric encoder.

The beneficial effects of the present invention are:

1. The present invention provides a calibration process and device for a dual-axis high-resolution magnetoelectric encoder, including a dual-axis transmission mechanism, a measuring device, a lifting platform, a mechanical arm adjustment mechanism, and an electrical control system. The servo motor of the double-axis transmission mechanism is fixedly installed on the lifting plate to provide the power source and transmission power for the entire measuring device system; the measuring device is used to collect the angular displacement signal at the output end of the motor shaft and transmit it to the control system to realize the detection of the measured signal. Sampling and transmission; the lifting platform and mechanical arm adjustment mechanism take into account the flexibility and practicability of the overall device to realize the large-scale batch production and application of the entire device system; the function of the electrical control system is to collect and analyze the calculation signal output Terminal data, through the multi-channel isolation data collector through its multi-usb channel, the sampling data is quickly transmitted to the host computer for data processing and analysis calculation, so as to finally obtain the angular displacement information of the high-resolution encoder. The dual-axis high-resolution magnetoelectric encoder calibration device provided by the invention has high degree of automation, good versatility, flexibility and ease of commercial mass production and application.

2. The present invention adopts biaxial transmission mechanism, and the transmission ratio of the low-speed stage gear of biaxial transmission mechanism and the high-speed stage gear is 2:1, and photoelectric encoder rotates a circle and can solve and calculate 1024 pulse signals, so magnetoelectric encoder rotates 2*1024 pulse signals are calculated in one circle, which means that the number of pulse signals calculated by the magnetoelectric encoder in one revolution is twice that of the photoelectric encoder, thus correspondingly improving the comparison between the photoelectric encoder and the magnetoelectric encoder resolution.

3. Considering that there is a return error between the interactive meshing gears of the biaxial transmission mechanism, the low-speed gear of the present invention is composed of a fixed gear plate, a floating gear plate and a loading spring, and the fixed gear plate and the low-speed gear shaft are fixed as one connection, the floating gear piece is vacantly sleeved on the fixed gear piece, leaving a certain gap between the two, the fixed gear piece and the floating gear piece are connected by pins, and the loading spring acts on the fixed gear piece Between the floating gear and the floating gear, when installing, stagger a certain angular distance between the floating gear and the fixed gear in advance, and its function is to fill the meshing teeth and working teeth by relying on the preloading effect of the loading spring itself. The backlash between the surfaces can be eliminated, thereby eliminating the backstroke error of the gear transmission and improving the system accuracy.

4. In the dual-axis high-resolution magnetoelectric encoder calibration device provided by the present invention, the magnetoelectric encoder shaft and the low-speed gear shaft, the photoelectric encoder shaft and the high-speed gear shaft are all designed coaxially and integrally, so that the maximum possible reduction The intermediate link and mechanical error of the transmission can improve the accuracy of the device.

Description of drawings

Fig. 1 is a perspective view of a dual-axis high-resolution magnetoelectric encoder calibration device system;

Fig. 2 is the schematic diagram of biaxial transmission mechanism in Fig. 1;

Fig. 3-1 is the schematic diagram of the magnetoelectric encoder measuring device in Fig. 1;

Fig. 3-2 is the schematic diagram of photoelectric encoder measuring device in Fig. 1;

Fig. 4 is the schematic diagram of lifting platform in Fig. 1;

Fig. 5 is a schematic diagram of the mechanical arm adjustment mechanism in Fig. 1;

Fig. 6 is a schematic diagram of the calibration process of the magnetoelectric encoder in Fig. 1;

Fig. 7 is a schematic diagram of the electrical control system in Fig. 1;

Fig. 8 is a schematic diagram of the distribution of Hall sensors in the embodiment;

Fig. 9 is a schematic diagram of the waveforms of the analog voltage signals HA+, HB+, HC+, and HD+ in the embodiment;

Fig. 10 is a schematic diagram of the waveforms of the analog voltage signals HA-, HB-, HC-, HD- in the embodiment;

Fig. 11 is a schematic diagram of the waveforms of the digital signals DA+, DB+, DC+, and DD+ in the embodiment;

Fig. 12 is a schematic diagram of the waveforms of digital signals DA-, DB-, DC-, DD- in the embodiment;

Figure 13 is a schematic diagram of multi-period angle values θ ₁ , θ ₂ , θ ₃ , and θ ₄ obtained through arctangent calculation in the embodiment;

Fig. 14 is a schematic diagram of the angle value θ _ctran after being scaled up in the embodiment.

Explanation of reference signs:

1: Double-shaft transmission mechanism; 1-01: Magneto-axis servo motor; 1-02: Magneto-axis servo motor mounting bracket; 1-03: Support shaft; 1-04: Bearing; 1-05: Low-speed gear shaft; 1-06: low-speed gear; 1-06-1: fixed gear; 1-06-2: floating gear; 1-06-3: loading spring; 1-07: magnetoelectric encoder shaft; 1-08 : Low-speed gear sleeve; 1-09: Photoelectric shaft servo motor; 1-10: Photoelectric shaft servo motor mounting bracket; 1-11: Coupling; 1-12: High-speed gear shaft; 1-13: High-speed gear; 1-14: photoelectric encoder shaft; 1-15: high-speed gear sleeve; 2: measuring device; 2-01: permanent magnet magnetic steel; 2-02: PCB board; 2-03: internal bracket; 2-04: Outer ring permanent magnet; 2-05: Outer ring isolation ring; 2-06: Internal tray; 2-07: Inner ring isolation ring; 2-08: Inner ring permanent magnet; 2-09: Encoder board; 2 -10: Bottom and rear cover; 2-11: Photoelectric encoder housing; 2-12: Laser detection element; 2-13: Small grating disc; 2-14: Large grating disc; 2-15: Shaft gear 1; 2- 16: shaft gear 2; 2-17: shaft 1; 2-18: shaft 2; 2-19: PCB board; 2-20: rear cover; 3: lifting platform; 3-1: lifting motor; 3-2: Bottom plate; 3-3: lifting board; 3-4: guide rail; 3-5: guide rail frame; 3-6: lead screw; 3-7: slider; 4: mechanical arm adjustment mechanism; 4-1: lifting mechanical arm ;4-2: circlip; 4-3: machine joint; 4-4: joint cross arm; 4-5: triangular chuck; 5-1: microcomputer; 5-2: multi-channel isolation data collector; 5 -3: Servo driver; 6: Electrical control system; 6-1: Parameter setting module; 6-2: Signal processing module; 6-3: Signal detection module; 6-4: Signal transmission module; 6-5: Power supply module ;6-6: display device;

Detailed ways

The calibration process and device of a dual-axis high-resolution magnetoelectric encoder proposed by the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Advantages and features of the present invention will be apparent from the following description and claims.

Referring to Fig. 1, Fig. 1 is a perspective view of a biaxial high-resolution magnetoelectric encoder calibration device system, including a biaxial transmission mechanism 1, a measuring device 2, a lifting platform 3, a mechanical arm adjustment mechanism 4, and an electrical control system 6 .

Referring to Fig. 2, Fig. 2 is a schematic diagram of the biaxial transmission mechanism 1 in Fig. 1. The biaxial transmission mechanism 1 includes a magnetoelectric shaft servo motor 1-01, a magnetoelectric shaft servo motor mounting bracket 1-02, and a support shaft 1-02. 03. Bearing 1-04, low-speed gear shaft 1-05, low-speed gear 1-06, fixed gear 1-06-1, floating gear 1-06-2, loading spring 1-06-3, magnetic code Shaft 1-07, low-speed gear sleeve 1-08, photoelectric shaft servo motor 1-09, photoelectric shaft servo motor mounting bracket 1-10, coupling 1-11, high-speed gear shaft 1-12, high-speed gear 1 -13, photoelectric encoder shaft 1-14, high-speed gear bushing 1-15, the magnetoelectric shaft servo motor 1-01 is connected to one end of the low-speed gear shaft 1-05 through the support shaft 1-03, the The low-speed gear 1-06 is fixedly connected to the other end of the low-speed gear shaft 1-05 through the low-speed gear sleeve 1-08, and the photoelectric shaft servo motor 1-09 is connected to the high-speed gear shaft through a coupling 1-11 1-12 one end, the high-speed gear 1-13 is fixedly connected to the other end of the high-speed gear shaft 1-12 through the high-speed gear bushing 1-15, the magnetoelectric shaft servo motor 1-01, the photoelectric shaft servo motor 1-09 is used to provide the power source. The transmission ratio of the low-speed gear 1-06 and the high-speed gear 1-13 of the double-shaft transmission mechanism 1 is 2:1, and the photoelectric encoder can solve and calculate 1024 pulse signals for one revolution. Then the magnetoelectric encoder rotates once and calculates 2*1024 pulse signals, which means that the number of pulse signals calculated by the magnetoelectric encoder rotates once is twice that of the photoelectric encoder, thus correspondingly improving the photoelectric encoder. The resolution of the magnetic encoder comparison, the low-speed gear 1-06 is composed of a fixed gear 1-06-1, a floating gear 1-06-2 and a loading spring 1-06-3, and the fixed gear 1-06 -1 and the low-speed gear shaft 1-05 are fixed and integrally connected, and the floating gear plate 1-06-2 is vacantly sleeved on the fixed gear plate 1-06-1, leaving a certain gap between the two. Stagger a certain angular distance between the tooth surfaces of the floating gear plate 1-06-2 and the fixed gear plate 1-06-1, so that the working teeth and the meshing tooth surfaces can be closely fitted without backlash when the transmission system is working, and the fixed The gear plate 1-06-1 and the floating gear plate 1-06-2 are connected by pins, and the loading spring 1-06-3 acts between the fixed gear plate 1-06-1 and the floating gear plate 1-06-2, and its The effect is that when the biaxial transmission mechanism 1 is working, no matter whether the motor is running forward or reverse, it can rely on the preloading effect of the loading spring 1-06-3 itself to make the fixed gear plate 1-06-1 and the floating gear plate 1-06- The tooth surfaces between 2 realize mutual compensation, so that the backlash between the meshing teeth and the working tooth surface can always be kept filled, the return error of the gear transmission is eliminated, and the system accuracy is improved.

Referring to shown in Figure 3, Figure 3 is a schematic diagram of the measuring device 2 in Figure 1, the measuring device includes a magnetoelectric encoder and a photoelectric encoder, the magnetoelectric encoder specifically includes a permanent magnet magnetic steel 2-01, a PCB board 2-02, Internal tray 2-06, internal bracket 2-03, outer ring permanent magnet 2-04, inner ring permanent magnet 2-08, outer ring magnetic isolation ring 2-05, inner ring magnetic isolation ring 2-07, encoder board 2 -09. Bottom and rear cover 2-10; the photoelectric encoder specifically includes a photoelectric encoder housing 2-11, a laser detection element 2-12, a small grating disc 2-13, a large grating disc 2-14, a shaft gear 2-15, Revolving shaft gear 2-16, revolving shaft 2-17, revolving shaft 2-18, PCB board 2-19, rear cover 2-20; described magnetoelectric encoder is used for collecting the angular displacement signal that magnetoelectric motor shaft outputs, and described The photoelectric encoder is used to collect the angular displacement signal output by the photoelectric motor shaft.

Referring to shown in Figure 4, Figure 4 is a schematic diagram of the lifting platform 3 in Figure 1, the lifting platform 3 includes a lifting motor 3-1, a base plate 3-2, a lifting plate 3-3, a guide rail 3-4, a guide rail frame 3-5, Leading screw 3-6, slide block 3-7. The two lifting motors 3-1 of the lifting platform 3 are fixedly connected on the base plate 3-2, and one end of the output shaft of the lifting motor 3-1 is connected to the leading screw 3-6, and there is a slip between the leading screw 3-6 and the lifting plate 3-3. Blocks 3-7 are connected, the screw 3-6 is installed between the guide rails 3-4 on both sides, and the guide rail frame 3-5 is installed on the outside of the guide rail 3-4, which is used to install and position the guide rail 3-4. When the device system is working , the lifting motor 3-1 is powered on to output power, and the power is passed through the motor output shaft 3-1, the screw 3-6, the slider 3-7 in turn, and finally transmitted to the lifting board 3-3, thereby realizing the lifting board 3-3 Moving up and down, there are several adjustment blocks at the bottom of the lifting plate 3-3 of the lifting platform 3, which are used to adjust the horizontal position of the lifting plate 3-3, and 4 wheels are installed on the bottom plate 3-2, which is convenient for realizing the position of the whole device system move.

Referring to FIG. 5, FIG. 5 is a schematic diagram of the mechanical arm adjustment mechanism 4 in FIG. 4. The triangular chuck 4-5, the lifting mechanical arm 4-1 can flexibly move up and down to adapt to the up and down position movement of the lifting plate 3-3, the triangular chuck 4-5 is connected with the joint cross arm 4-4, and it is located in the magnetic There is a certain distance directly above the electric encoder, and the triangular chuck 4-5 restricts the four degrees of freedom of the clamped workpiece, which can realize the fixing of the stator part of the magnetic electric encoder.

Referring to Figure 6, Figure 6 is a schematic diagram of the calibration process of the magnetoelectric encoder in Figure 1, and the calibration process can be divided into the following steps:

(1) The microcomputer 5-1 sends control instructions to the multi-channel isolation data collector 5-2, and the multi-channel isolation data collector 5-2 executes corresponding sampling instructions, and the main control chip sends control instructions to the servo driver 5-3 , so that the motor drives the encoder to rotate at a certain speed. At this time, the internal program of the magnetoelectric encoder runs in the calibration state, and the Hall sensor senses the changing magnetic field to obtain a voltage signal. The mechanical angle between Hall sensors A+, A-, B+, B-, C+, C-, D+, and D- of the embodiment of the present invention is 45°, and the angle between Hall A+ and A- is 90°, The angle between Hall B+ and B- is 90°, the angle between Hall C+ and C- is 90°, and the angle between Hall D+ and D- is 90°. The distribution of Hall sensors is shown in Figure 8. When When the magnetic field changes, the Hall sensors A+, A-, B+, B-, C+, C-, D+, D- respectively collect the analog signals HA+, HA-, HB+, HB-, HC+, HC-, HD+, HD-, waveform diagrams are shown in Figure 9 and Figure 10, the A/D conversion circuit module converts the analog voltage signals HA+, HA-, HB+, HB-, HC+, HC-, HD+, HD- into digital signals DA+ , DA-, DB+, DB-, DC+, DC-, DD+, DD-, the waveform diagrams are shown in Figure 11 and Figure 12;

(2) Multi-period angle values θ ₁ , θ ₂ , θ ₃ , θ ₄ are obtained by arctangent calculation from formulas (1), (2), (3) and (4):

θ ₁ =arctg(DA+/DA-) (1)

θ ₂ =arctg(DB+/DB-) (2)

θ ₃ =arctg(DC+/DC-) (3)

θ ₄ ＝arctg(DD+/DD-) (4)

Angle values θ ₁ , θ ₂ , θ ₃ , θ ₄ are shown in Figure 13;

(3) The signal processing module 6-2 receives the angular displacement encoding signal processed by the above-mentioned circuit elements and subdivides and calculates the absolute angle signal through a corresponding algorithm, and outputs multiple pairs of polar angle values θ _c and θ _e , where θ _c is the angle output value of the magnetoelectric encoder, θ _e is the angle output value of the photoelectric encoder;

(4) The above-mentioned two-way signals are uploaded to the microcomputer 5-1 through the multi-channel isolation data collector 5-2. At this time, the microcomputer 5-1 runs an algorithm internally, and the angle values θ _c and θ _e are passed through the formula (5) , (6) in the angle range 0～2π equal ratio is enlarged to angle range 0～65535, obtains the angle value θ _ctran , θ _etran after the equal ratio amplification of the data type being 16-bit integer data:

θ _ctran = θ _c /2π*65535 (5)

θ _etran = θ _e /2π*65535 (6)

In the formula, θ _ctran is the angle value of the magnetoelectric encoder after proportional amplification, and θ _etran is the angle value of the photoelectric encoder after proportional amplification, as shown in Figure 14;

(5) Compensate the angle value error of the magnetoelectric encoder, store the angle value error _θerr in the specific address of the single chip microcomputer to establish the angle value error compensation table of the magnetoelectric encoder, and the angle value compensation error value _θerr (i) of the current calculation cycle is as follows As shown in (7):

θ _err (i) = θ _e (i) - θ _c (i) (7)

In the formula, θ _e (i) is the angle value of the photoelectric encoder in the current solution period, and θ _c (i) is the angle value of the magnetoelectric encoder in the current solution period;

(6) Use the look-up method from the encoder angle value error compensation table, and finally the magnetoelectric encoder actually outputs the angle value θ _f (i) of the current solution cycle, as shown in formula (8):

θ _f (i) = θ _c (i) + θ _err (i) (8);

After the above steps, the encoder calibration process is completed.

Referring to shown in Figure 7, Figure 7 is a schematic diagram of the electrical control system 6 in Figure 1, the electrical control system 6 includes a parameter setting module 6-1, a signal processing module 6-2, a signal detection module 6-3, and a signal transmission module 6 -4. The power supply module 6-5, the data output end of the parameter setting module 6-1 is connected with the input end of the servo drive 5-3, and the parameter setting module 6-1 is used to set commands such as the speed of the servo motor, start and stop, and the servo motor Receive the action command of the servo driver 5-3 to drive the magnetoelectric encoder and Curry photoelectric encoder to rotate, and the signal detection module 6-3 is used to detect and collect the angular displacement signal and signal of the magnetoelectric encoder and Curry photoelectric encoder The processing module 6-2 receives the angular displacement coded signal processed by the above-mentioned circuit elements and subdivides and calculates the absolute angle signal through the corresponding algorithm. The data output terminal of the signal processing module 6-2 and the data of the signal transmission module 6-4 The input terminal is connected, the data output terminal of the signal transmission module 6-4 is connected with the data input terminal of the upper machine position, and the signal transmission module 6-4 further uploads the angular displacement signal obtained by the output of the signal processing module 6-2 to the upper machine position Analysis and processing, the internal program operation algorithm of the upper machine position, and finally solve the angle displacement information of the magnetoelectric encoder that has been compensated and fitted by the photoelectric encoder. In this embodiment, the power supply module 6-5 is used to provide power supply for the encoder , the electrical control system 6 also includes a display device 6-6, the data output end of the upper machine position is connected to the data input end of the display device 6-6, and the display device 6-6 is used to display the magnetoelectric encoder angle obtained by the final solution. displacement.

The present invention provides a calibration process and device for a biaxial high-resolution magnetoelectric encoder, including a biaxial transmission mechanism 1 , a measuring device 2 , a lifting platform 3 , a mechanical arm adjustment mechanism 4 and an electrical control system 6 . The magnetoelectric shaft servo motor 1-01 and the photoelectric shaft servo motor 1-09 are fixedly installed on the lifting board 3-3 to provide power source and transmission power for the whole measuring device system; the measuring device 2 is used to collect the angle of the output end of the motor shaft The displacement signal is transmitted to the control system to realize the sampling and transmission of the measured signal; the lifting platform 3 and the mechanical arm adjustment mechanism 4 take into account the flexibility and practicability of the overall device to realize the large-scale batch production and application of the entire device system; The function of the electrical control system 6 is to collect and analyze and calculate the signal output terminal data, and the multi-channel isolated data collector 5-2 transmits the sampling data to the upper computer rapidly through its multi-usb channels for data processing and analysis and calculation, thereby Finally, high-resolution encoder angular displacement information is obtained. The calibration device for a dual-axis high-resolution magnetoelectric encoder provided by the invention has high automation, good versatility, and flexible operation, can eliminate device return error, improve system resolution, and is easy for commercial mass production and application.

The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and equivalent technologies, they still fall within the protection scope of the present invention.

Claims (4)

1. A kind of biaxial high-resolution magnetoelectric encoder calibration device, characterized by that, including:

the double-shaft transmission mechanism comprises a magnetoelectric shaft servo motor, a magnetoelectric shaft servo motor mounting bracket, a supporting shaft, a bearing, a low-speed gear shaft, a low-speed gear, a magnetoelectric encoder shaft, a low-speed gear shaft sleeve, a photoelectric shaft servo motor mounting bracket, a coupler, a high-speed gear shaft, a high-speed gear, a photoelectric encoder shaft and a high-speed gear shaft sleeve, wherein the magnetoelectric shaft servo motor is connected with one end of the low-speed gear shaft through the supporting shaft, the low-speed gear is fixedly connected with the other end of the low-speed gear shaft through the low-speed gear shaft sleeve, the photoelectric shaft servo motor is connected with one end of the high-speed gear shaft through the coupler, the high-speed gear is fixedly connected with the other end of the high-speed gear shaft through the high-speed gear shaft sleeve, and the servo motor is used for providing a power source;

the measuring device comprises a magnetoelectric encoder and a photoelectric encoder, wherein the magnetoelectric encoder specifically comprises permanent magnet steel magnets, a PCB (printed Circuit Board) plate, an internal tray, an internal support, an outer ring permanent magnet, an inner ring permanent magnet, an outer ring magnetism isolating ring, an inner ring magnetism isolating ring, an encoder plate and a bottom rear cover; the photoelectric encoder specifically comprises a photoelectric encoder shell, a laser detection element, a small grating disc, a large grating disc, a rotating shaft gear 1, a rotating shaft gear 2, a rotating shaft 1, a rotating shaft 2, a PCB (printed circuit board) and a rear cover; the magnetoelectric encoder is used for acquiring an angular displacement signal output by a magnetoelectric motor shaft, and the photoelectric encoder is used for acquiring an angular displacement signal output by a photoelectric motor shaft;

the lifting platform comprises a lifting motor, a bottom plate, a lifting plate, a guide rail frame, a lead screw and a slide block;

the mechanical arm adjusting mechanism comprises a lifting mechanical arm, a clamp spring, a machine joint, a joint cross arm and a triangular chuck, wherein the triangular chuck limits 4 degrees of freedom for clamping a workpiece and can fix a stator part of the encoder;

the electrical control system comprises a parameter setting module, a signal processing module and a signal detection module

The system comprises a module, a signal transmission module and a power supply module, wherein the parameter setting module is used for setting commands of the servo motor such as rotating speed, starting and stopping, the signal processing module is the core of an encoder and mainly has the functions of receiving coded signals processed by various circuit elements and resolving absolute angle signals through corresponding algorithms, and then transmitting absolute angle calculation results to an upper computer;

the low-speed gear consists of a fixed gear piece, a floating gear piece and a loading spring, wherein the fixed gear piece and a low-speed gear shaft are fixedly and integrally connected, the floating gear piece is sleeved on the fixed gear piece in an empty mode, a certain gap is reserved between the fixed gear piece and the floating gear piece, a certain angular distance is staggered between the tooth surfaces of the floating gear piece and the fixed gear piece in advance during installation, the fixed gear piece and the floating gear piece are connected through a pin, and the loading spring acts between the fixed gear piece and the floating gear piece and is used for filling up the tooth gap between a meshing tooth and a working tooth surface by means of the pre-tightening action of the loading spring, so that the gear transmission return error is eliminated, and the system precision is improved;

the magnetoelectric encoder shaft and the low-speed gear shaft are designed coaxially and integrally, and the photoelectric encoder shaft and the high-speed gear shaft are designed coaxially and integrally.

2. The calibration device of claim 1, wherein the transmission ratio between the low-speed gear and the high-speed gear is 2:1, and one rotation of the photoelectric encoder can calculate 1024 pulse signals, so that one rotation of the photoelectric encoder can calculate 2 × 1024 pulse signals, that is, the number of pulse signals calculated by one rotation of the photoelectric encoder is twice that of the photoelectric encoder, thereby correspondingly improving the resolution of the photoelectric encoder compared with the magnetoelectric encoder.

3. The calibration device for the biaxial high-resolution magnetoelectric encoder according to claim 1, wherein the electrical control system further comprises a multichannel isolation data collector, which is located on a lifting plate of the lifting platform, and the multichannel isolation data collector rapidly transmits the sampled data to an upper computer through a plurality of usb channels thereof for data processing and analysis and calculation, thereby finally obtaining the angular displacement information of the high-resolution encoder.

4. The calibration device of the biaxial high-resolution magnetoelectric encoder according to claim 1, wherein the electrical control system further comprises a display device for displaying the finally obtained angular displacement information of the high-resolution magnetoelectric encoder.

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