Method for installing and adjusting double-reading-head photoelectric encoder on gyro accelerometer

Abstract

The invention discloses a method for installing and adjusting a double-reading-head photoelectric encoder on a gyro accelerometer, which comprises the following steps of: initially installing a coded disc base and an optical component, measuring the size, adjusting a grating gap, reinstalling the optical component, installing the coded disc component, testing a signal, fastening the optical component and the coded disc component, installing a receiving plate and arranging a wire harness. The oscilloscope is used for observing sine and cosine signals and a zero position, the industrial personal computer is used for reading an angle value given by the signal processing and output circuit, the installation accuracy of the double-reading-head photoelectric encoder is judged, and the purpose that the double-reading-head photoelectric encoder is installed on the gyro accelerometer in a high-precision mode is achieved. The problem of high-precision installation of the double-reading-head photoelectric encoder in the limited space of the gyro accelerometer is solved, the installation and adjustment operation is simpler and more efficient, particularly, high-precision optical methods such as a multi-face prism and an autocollimator are not needed, and the method is more suitable for completing installation and adjustment or maintenance in off-line scenes such as a user site.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of inertial technology and the field of application research of photoelectric encoders, and particularly relates to a method for assembling and adjusting a dual-read head photoelectric encoder on a gyro accelerometer. BACKGROUND

[0002] A pendulous integral gyro accelerometer (hereinafter referred to as a gyro accelerometer) is installed on a platform with stable inertial space and is used for measuring the apparent acceleration of a carrier. It is still the highest-precision accelerometer in current engineering applications and is an irreplaceable core inertial instrument in an inertial navigation system. Since the performance and precision of the gyro accelerometer directly affect the navigation position precision of the carrier, it is of great significance to ensure the measurement precision of the gyro accelerometer for achieving high-precision navigation of the carrier.

[0003] According to the working principle of the gyro accelerometer, it is known that the outer ring rotation speed of the gyro accelerometer is in a linear proportional relationship with the apparent acceleration. The outer ring can be regarded as a general shaft system, and an angle sensor is used to measure the rotation angle (angular position) of the shaft system. The rotation angle in a certain time is divided by the time to obtain the rotation speed. The angle sensor has photoelectric, inductive, capacitive, rotary variable, and variable reluctance types, each having advantages and disadvantages. Generally, a variable reluctance sensor is used as an angle sensor in the gyro accelerometer. It outputs sine and cosine signals during precession of the gyro accelerometer, converts the sine and cosine signals into pulses with positive and negative polarities with reference to a magnetizing signal, and counts the pulses. The number of pulses in a unit time represents the size of the apparent acceleration. At present, a photoelectric encoder has broken through technical difficulties such as long-term stability of a light source and weak structural strength, and has good performance in harsh environments. It has been widely used in occasions with long-term stable operation and high-precision measurement. The patent “Gyro accelerometer output system based on photoelectric encoder” (application number CN202411385818) proposes a new technical solution of a gyro accelerometer outer ring output device in which a photoelectric encoder replaces a variable reluctance sensor, breaks through the limitation of the output precision of the original variable reluctance sensor, and improves the precision of the pendulous gyro accelerometer. The precision of the photoelectric encoder is affected by factors such as installation error, scale error, and electronic subdivision error. In particular, the first-order error caused by the installation eccentricity accounts for the largest proportion. It is difficult to compensate for these errors by using a single-read head technical solution, which limits the precision of the single-read head photoelectric encoder. In order to improve the angular measurement precision of the gyro accelerometer outer ring based on the photoelectric encoder, a gyro accelerometer outer ring angular measurement scheme based on a dual-read head photoelectric encoder is proposed. The dual-read head can compensate for the installation error in principle, so that the angular measurement of the gyro accelerometer outer ring is higher than that of the single-read head photoelectric encoder. However, in practice, high-precision installation is a prerequisite for high precision of the dual-read head and is also a sufficient and necessary condition for ensuring higher precision of the gyro accelerometer outer ring angular measurement device. SUMMARY

[0004] The present application aims at overcoming the inapplicability of the single reading head photoelectric encoder installation method, providing a double reading head photoelectric encoder installation method on a gyro accelerometer, which can precisely install the double reading head photoelectric encoder on the gyro accelerometer at room temperature, so that the advantages of the double reading head equal division and average installation error can be realized, the measurement error of the double reading head is smaller than that of the single reading head, the gyro accelerometer outer ring angle measurement precision is improved, and the installation method is simpler and more efficient.

[0005] The present application aims at overcoming the inapplicability of the single reading head photoelectric encoder installation method, providing a double reading head photoelectric encoder installation method on a gyro accelerometer, which can precisely install the double reading head photoelectric encoder on the gyro accelerometer at room temperature, so that the advantages of the double reading head equal division and average installation error can be realized, the measurement error of the double reading head is smaller than that of the single reading head, the gyro accelerometer outer ring angle measurement precision is improved, and the installation method is simpler and more efficient.

[0006] The present application aims at overcoming the inapplicability of the single reading head photoelectric encoder installation method, providing a double reading head photoelectric encoder installation method on a gyro accelerometer, which can precisely install the double reading head photoelectric encoder on the gyro accelerometer at room temperature, so that the advantages of the double reading head equal division and average installation error can be realized, the measurement error of the double reading head is smaller than that of the single reading head, the gyro accelerometer outer ring angle measurement precision is improved, and the installation method is simpler and more efficient.

[0007] (1) Preliminarily install the code disc base to the gyro accelerometer outer ring shaft system, and preliminarily fix the two reading head light pointing assemblies radially symmetrically to the gyro accelerometer shell; each reading head comprises a light pointing assembly, and the two reading heads share a receiving plate, and the light pointing assembly comprises a light pointing base, a light emitting plate and a static light grating;

[0008] (2) Use a micrometer to test the size of the code disc base installation surface to the two reading head light pointing base installation surfaces, and the size of the static light grating surfaces of the two reading head light pointing assemblies to the respective light pointing base installation surfaces;

[0009] (3) According to the size information measured in step (2), place a light pointing base gasket between the first reading head light pointing base and the gyro accelerometer shell and between the second reading head light pointing base and the gyro accelerometer shell, so that the code disc and the first reading head static light grating gap and the code disc and the second reading head static light grating gap meet the requirements;

[0010] (4) Wipe the static light grating surfaces of the two reading head light pointing assemblies, and observe under a microscope to ensure that the static light grating surfaces are free of excess material and scratches. After the inspection is completed, fix the light pointing assemblies of the two reading heads radially symmetrically to the gyro accelerometer shell by screws, without tightening the screws at this time;

[0011] (5) Wipe the code disc and the code disc base, and glue the code disc and the code disc base coaxially. After the glue is cured, a code disc assembly is formed. Wipe the code disc on the code disc assembly to keep the code disc clean, and then install the code disc assembly to the gyro accelerometer outer ring shaft system, which is in close contact with the stepped surface of the gyro accelerometer outer ring shaft system. Use a nut to press the code disc assembly to the stepped surface of the gyro accelerometer outer ring shaft system, and fix the nut when the flatness of the code disc surface meets the installation requirements;

[0012] (6) Test whether the signal of the double reading head photoelectric encoder meets the requirements by an oscilloscope. If it meets the requirements, proceed to step (7);

[0013] (7) Tighten the screws of the two reading head light components, clean the excess, and use epoxy glue to seal; Apply silicone GD414 to the screw between the nut and the outer ring shaft system of the gyroscope accelerometer; Let the glue solidify while waiting.

[0014] (8) Fix the receiving plate of the reading head on the gyroscope accelerometer shell.

[0015] (9) Connect the receiving plate and the light component through the wire harness, arrange the wire harness, and complete the installation of the dual-reading photoelectric encoder on the gyroscope accelerometer.

[0016] Preferably, in step (1), the code disc base is in close contact with the stepped surface of the outer ring shaft system of the gyroscope accelerometer; the light components of the two reading heads are initially in close contact with the reference surface of the gyroscope accelerometer shell.

[0017] Preferably, in step (3), the code disc and the first reading head static grating gap δ1 = L1-L2, the code disc and the first reading head static grating gap δ2 = L1-L3.

[0018] Wherein L1 is the size of the code disc base mounting surface to the first reading head light base mounting surface, L2 is the size of the first reading head light component static grating surface to the second reading head light base mounting surface, and L3 is the size of the second reading head light component static grating surface to the light base mounting surface.

[0019] Preferably, the light base gasket shape is consistent with the light base mounting surface.

[0020] Preferably, in steps (4) and (5), a dust-free cloth is used to wipe with petroleum ether or acetone.

[0021] Preferably, in step (5), the code disc surface flatness calculation method is as follows:

[0022] Place the dial indicator pointer on the code disc surface, select multiple points on one round of the code disc, gently slide the dial indicator to each point, and record the readings; according to the range of multiple sets of readings, the flatness is obtained,

[0023] Preferably, in step (5), if the flatness does not meet the requirements, the code disc assembly is returned to work.

[0024] Preferably, in step (6), the signal of the dual-reading photoelectric encoder is tested by an oscilloscope to determine whether it meets the requirements, and the method is as follows:

[0025] The first oscilloscope monitors the sinusoidal signal sin1 of the first reading head through channel I, and the second oscilloscope monitors the sinusoidal signal sin2 of the second reading head through channel II; the second oscilloscope monitors the sinusoidal signal sin1 of the first reading head through channel I, and the second oscilloscope monitors the cosine signal cos2 of the second reading head through channel II; the third oscilloscope monitors the sinusoidal signal sin1 of the first reading head through channel I, and the third oscilloscope monitors the zero signal of the first reading head through channel II; the fourth oscilloscope monitors the sinusoidal signal sin2 of the second reading head through channel I, and the fourth oscilloscope monitors the zero signal of the second reading head through channel II;

[0026] The first oscilloscope and the second oscilloscope are adjusted to XY mode, and the third oscilloscope and the fourth oscilloscope work in normal mode;

[0027] The outer ring shaft system of the gyro accelerometer is rotated, and the two light pointing components are slightly adjusted according to the Lissajous figure changes on the first oscilloscope and the second oscilloscope, until the cosine and sine phases meet the phase relationship requirements; if the phase difference of the two signals is 180°, the waveform at this time is a diagonal line across the 2nd and 4th quadrants;

[0028] The outer ring shaft system of the gyro accelerometer is rotated, and the two light pointing components are slightly adjusted according to the sinusoidal signal and the zero signal on the third oscilloscope and the fourth oscilloscope, until the zero signal and the sinusoidal signal on the third oscilloscope and the fourth oscilloscope are completely in phase;

[0029] The outer ring shaft system of the gyro accelerometer is rotated, and the first oscilloscope, the second oscilloscope, the third oscilloscope and the fourth oscilloscope are repeatedly confirmed, and the installation position of the light pointing component is finally determined after it is determined that all meet the requirements;

[0030] The zero debugging bit on the receiving plate is connected with the resistance box, the output voltage of the zero signal is changed by adjusting the resistance box, so that the secondary peak value is lower than the TQ1 value, and the resistance value of the resistance box at this time is recorded, and the resistance box is disconnected;

[0031] According to the determined resistance value, the chip resistor is welded to the zero debugging bit of the receiving plate;

[0032] The signal processing and output circuit is connected with the industrial computer through the RS485 to USB serial port adapter; the signal processing and output circuit is used for processing the signals of the double reading head photoelectric encoder to obtain the outer ring angle of the gyro accelerometer;

[0033] The serial port assistant is opened on the industrial computer, the baud rate, parity, and data bits are set, the outer ring shaft system of the gyro accelerometer is uniformly rotated, and the gyro accelerometer outer ring angle of 1kHz update frequency is read; when the outer ring angle is continuous and uniform for 360° in one week, it is determined that the signals of the double reading head photoelectric encoder meet the requirements.

[0034] Preferably, in the step (8), the method that the receiving plate is fixed on the gyro accelerometer shell is as follows:

[0035] Four insulating pads are placed on the gyro accelerometer shell;

[0036] After the surface of the receiving plate is examined under a microscope and no appearance and quality problems are found, the receiving plate is placed on the four insulating pads;

[0037] Four mounting holes are arranged on the receiving plate, the mounting holes correspond to the insulating pads one by one, screws are sequentially threaded through the mounting holes and the insulating pads, and the screws are screwed into the receiving plate fixing screw holes on the gyro accelerometer shell;

[0038] The input and output interfaces of the receiving plate are checked by using a multimeter to check the insulation resistance value of the gyro accelerometer shell, and the installation is in place if the insulation resistance value meets the requirements; if the insulation resistance value does not meet the requirements, the fault should be checked.

[0039] Preferably, the process of arranging the wire harness is as follows: the wire harness sleeve is heat-shrunk, the wire is led out through the wire outlet of the gyro accelerometer shell, and the wire harness is compressed.

[0040] Compared with the prior art, the present application has the following beneficial effects:

[0041] The present application firstly proposes a method for installing and adjusting a dual-reading head photoelectric encoder on a gyro accelerometer, determines the appropriate height of the light emitting base gasket or the code disc base height through a size chain, solves the problems of measuring and adjusting the gap between the moving and static gratings of the photoelectric encoder, and realizes the axial high-precision installation of the dual-reading head photoelectric encoder in the limited space of the gyro accelerometer.

[0042] The present application uses multiple oscilloscopes to simultaneously monitor the sine and cosine signals and zero position signals of the dual-reading head photoelectric encoder, and assists in monitoring the outer ring angle measurement under uniform motion through serial data, solves the problem that the traditional installation and adjustment method based on a multi-faceted prism and a self-collimating instrument cannot be used, and realizes the high-precision installation of the dual-reading head photoelectric encoder in the limited space of the gyro accelerometer with only one open side.

[0043] The dual-reading head photoelectric encoder installation and adjustment method of the present application uses the most commonly used tools and means, is more simple and efficient to operate, has a simple and clear process, is easier to guide production personnel to independently complete the operation, does not require high-precision optical methods such as a multi-faceted prism and a self-collimating instrument, and is more suitable for installation and adjustment or replacement and maintenance in offline scenes such as user sites. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is a schematic diagram of a dual-reading head photoelectric encoder based on the present application;

[0045] Figure 2This is a schematic diagram of the assembly and adjustment steps of a dual-reading-head photoelectric encoder on a gyroscope accelerometer in an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of dimension measurement in an embodiment of the present invention;

[0047] Figure 4 This is a phase diagram of the sine and cosine signals in an embodiment of the present invention. Detailed Implementation

[0048] like Figure 1 As shown, the dual-readhead photoelectric encoder 1 includes two readheads (readhead #1 and readhead #2) and a code disk assembly; each readhead includes a light-pointing component; the code disk assembly includes a code disk 4 and a code disk base 6; the light-pointing component of readhead #1 includes a light-emitting plate 14, a light-pointing base 15, and a static grating 3; the light-pointing component of readhead #2 includes a light-emitting plate 12, a light-pointing base 11, and a static grating 7; the two readheads use the same receiving plate 2, and their respective receiving optical devices are diametrically distributed on the receiving plate 2.

[0049] The light-emitting plate is mounted on the light-indicating base. Three infrared solid-state light-emitting diodes (SLEDs) corresponding to the sine, cosine, and zero-position signals are set on the light-emitting plate. The infrared SLEDs emit light under the power supply and provide the light source. The light-indicating base is the mounting reference for the light-emitting plate and the static grating. Under the condition that the light-emitting plate provides the light source, the static grating forms moiré fringes with the code disk. The receiving plate has two photoelectric receiving elements of the reading heads distributed radially symmetrically. They work under the power supply and the light source to form the differential sine signal, differential cosine signal, and zero-position signal of the two reading heads.

[0050] The dual-readhead photoelectric encoder 1 is connected to the signal processing and output circuit 9 outside the gyroscope accelerometer via wiring harness 8. The oscilloscope 18 and industrial computer 22 are both connected to the signal processing and output circuit 9. The signal processing and output circuit processes the signals from the dual-readhead photoelectric encoder to obtain the outer ring angle of the gyroscope accelerometer. The code disk base 6 is locked onto the outer ring shaft system 13 of the gyroscope accelerometer using nut 5. The pointer base 11 and pointer base 14 are fixed to the gyroscope accelerometer housing 10 via the pointer base fixing threaded hole 16. The receiver plate 2 is fixed to the gyroscope accelerometer housing 10 via the receiver plate fixing threaded hole 17.

[0051] This invention discloses a method for assembling and adjusting a dual-reading-head photoelectric encoder on a gyro accelerometer, the specific steps of which are as follows:

[0052] Code disc base and light pointer assembly initial installation: code disc base is installed to the outer ring shaft system of the gyro accelerometer, and is in close contact with the stepped surface of the outer ring shaft system of the gyro accelerometer; the light pointer assembly of the 1st reading head and the light pointer assembly of the 2nd reading head are installed to the gyro accelerometer shell, and are in close contact with the reference surface of the gyro accelerometer shell. The light pointer assembly comprises a light pointer base, a light emitting plate and a static light barrier.

[0053] Size measurement: the size LI of the code disc base installation surface (i.e. the contact surface of the code disc base and the code disc) to the light pointer base installation surface (i.e. the contact surface of the light pointer base and the gyro accelerometer shell, which is also the reference surface of the gyro accelerometer shell) is tested by using a dial gauge; the size L2 of the surface of the static light barrier of the light pointer assembly of the 1st reading head to the light pointer base installation surface is tested by using a dial gauge; the size L3 of the surface of the static light barrier of the light pointer assembly of the 2nd reading head to the light pointer base installation surface is tested by using a dial gauge.

[0054] Light barrier gap adjustment: the gap value δ1 of the code disc and the static light barrier of the 1st reading head is obtained by calculating L1-L2; the gap value δ2 of the code disc and the static light barrier of the 2nd reading head is obtained by calculating L1-L3; according to the gap requirement between the code disc and the static light barrier, appropriate shims are selected to be placed between the light pointer base and the gyro accelerometer shell to raise the light pointer assembly, so as to ensure that the light barrier gap values δ1 and δ2 are within the required range.

[0055] Light pointer assembly reinstallation: the surfaces of the static light barriers of the light pointer assemblies of the two reading heads are wiped by using a dust-free cloth dipped in petroleum ether or acetone; after checking that the light pointer assemblies are free of extra materials, the two light pointer assemblies are fastened to the gyro accelerometer shell by using four screws, and the two light pointer assemblies are installed in a diametric direction.

[0056] Code disc assembly installation: the code disc and the code disc base are coaxially glued after the code disc and the code disc base are wiped by using a dust-free cloth dipped in petroleum ether or acetone, and the code disc assembly is formed after the glue is cured; the code disc on the code disc assembly is kept clean, and then the code disc assembly is installed to the outer ring shaft system of the gyro accelerometer, and is in close contact with the stepped surface of the outer ring shaft system of the gyro accelerometer; the code disc assembly is pressed tightly to the stepped surface of the outer ring shaft system of the gyro accelerometer by using a nut.

[0057] Test signal: the screws of the light pointer assemblies are loosened; an oscilloscope is connected to the signal processing and output circuit to monitor the positive sine signal and the zero position signal of the two reading heads; the outer ring shaft system of the gyro accelerometer is rotated; the light pointer assemblies are slightly adjusted according to the change of the Lissajous figure on the oscilloscope; until the phase of the positive sine signal meets the phase relationship requirement, and the zero position signal of each reading head is completely in phase with the positive sine signal; finally, the installation position of the light pointer assemblies is determined.

[0058] Fasten the finger light assembly and the code disc assembly: tighten the screw of the finger light assembly, clean the excess material, and point the glue; point the glue between the nut of the code disc assembly and the outer ring shaft system of the gyro accelerometer; the screw of the receiving plate is sealed with silicone rubber.

[0059] Receiving plate installation: place the four insulating pad columns of the receiving plate on the gyro accelerometer shell, place the receiving plate on the four insulating pad columns, use 4 screws to pass through the four mounting holes of the receiving plate, the four insulating pad columns, and screw into the gyro accelerometer shell to fix the receiving plate to the gyro accelerometer shell; use a multimeter to check the resistance insulation of the receiving plate input and output interface and the gyro accelerometer shell, and the insulation resistance is required to be greater than 200MΩ.

[0060] Arrange the wire harness: cover the wire harness with a heat shrink sleeve, pass the wire through the wire outlet, and press the wire harness tightly to complete the installation of the dual-reading photoelectric encoder on the gyro accelerometer.

[0061] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0062] Embodiment:

[0063] In the present application, the back of the static grating 3 is uniformly coated with glue, and it is fixed to the reserved mounting position of the finger light base 15 by adhesion; under a microscope, check whether the surface of the light-emitting plate has defects, ensure that the light-emitting plate has no appearance and quality problems, then install the light-emitting plate 14 to the reserved mounting position of the finger light base 15, and fix it by two screws.

[0064] The back of the static grating 7 is uniformly coated with glue, and it is fixed to the reserved mounting position of the finger light base 11 by adhesion; under a microscope, check whether the surface of the light-emitting plate has defects, ensure that the light-emitting plate has no appearance and quality problems, then install the light-emitting plate 12 to the reserved mounting position of the finger light base 11, and fix it by two screws.

[0065] As shown in Figure 2 The method for installing and adjusting a dual-reading head photoelectric encoder on a gyro accelerometer according to the present application comprises the following specific steps:

[0066] (1) Code disc base and light pointer assembly initial installation: code disc base 6 is installed to the outer ring shaft system 13 of the gyro accelerometer, and is in close contact with the stepped surface of the outer ring shaft system 13 of the gyro accelerometer; the light pointer assembly of the 1st reading head and the light pointer assembly of the 2nd reading head are installed to the gyro accelerometer shell 10, and are in close contact with the reference surface of the gyro accelerometer shell 10.

[0067] (2) Size measurement: use a dial gauge to test the size L1 of the code disc base installation surface (i.e. the contact surface of the code disc base 6 and the code disc 4) to the light pointer base 11 installation surface (i.e. the contact surface of the light pointer base 11 and the gyro accelerometer shell 10, which is also the reference surface of the gyro accelerometer shell 10); use a dial gauge to test the size L2 of the surface of the static grating 3 of the 1st reading head light pointer assembly to the light pointer base 15 installation surface; use a dial gauge to test the size L3 of the surface of the static grating 7 of the 2nd reading head light pointer assembly to the light pointer base 11 installation surface. As shown in Figure 3

[0068] (3) Grating gap adjustment: the gap value δ1 between the code disc 4 and the static grating 3 of the 1st reading head is obtained by calculating L1-L2; the gap value δ2 between the code disc 4 and the static grating 7 of the 2nd reading head is obtained by calculating L1-L3; according to the requirements of the gap between the code disc and the static grating 0.09mm≤δ1≤0.11mm and 0.09mm≤δ2≤0.11mm, select appropriate light pointer base gaskets to be placed between the light pointer base 11, the light pointer base 15 and the gyro accelerometer shell 10 to raise the two light pointer assemblies, so as to ensure that the grating gap values δ1, δ2 meet the index requirements. Among them, the light pointer base gasket is a thin sheet with a thickness of 0.001mm-0.01mm and a shape consistent with the light pointer base installation surface, which is processed in advance.

[0069] (4) Light pointer assembly reinstallation: use a dust-free cloth dipped in petroleum ether or acetone to wipe the surfaces of the static grating 3 and the static grating 7, and observe under a microscope to ensure that the surfaces of the static grating 3 and the static grating 7 are free of excess material and scratches; after checking that the light pointer assembly is free of excess material, use 4 screws M2.5 to fasten the 2 light pointer assemblies to the light pointer base fixing screw thread holes 16 on the gyro accelerometer shell 10, and the two light pointer assemblies are installed in opposite directions, at which time the screws do not need to be tightened.

[0070] ​(5) Code disc assembly installation: use a clean cloth to dip in petroleum ether or acetone to wipe the code disc 4 and the code disc base 6, and then coaxially glue the code disc 4 and the code disc base 6, and after the glue is cured, a code disc assembly is formed; use a clean cloth to dip in petroleum ether or acetone to wipe the code disc 4 on the code disc assembly, keep the code disc 4 clean, and then install the code disc assembly to the gyro accelerometer outer ring shaft system 13, and make the code disc assembly tightly contact the stepped surface of the gyro accelerometer outer ring shaft system 13, and use the nut 5 to press the code disc assembly to the stepped surface of the gyro accelerometer outer ring shaft system 13; place the pointer of the dial gauge on the surface of the code disc 4, gently slide the dial gauge, record the reading, select multiple points on one round of the code disc 4, repeat the step, and according to the range of multiple sets of measurement data, obtain the flatness, and judge whether the flatness meets the installation requirement (the flatness is less than 0.003 mm); finally, fix the nut; if the flatness does not meet the requirement, return the work to the code disc assembly for fine grinding.

[0071] (6) Test signal: loosen the screws of the light pointing assembly; connect the receiving plate 2 and the light pointing assembly through the wire, connect the receiving plate and the signal processing and output circuit 9 through the wire harness 8; use the oscilloscope to connect the signal processing and output circuit 9; the channel I of the oscilloscope 18 monitors the sine signal sin1 of the 1# reading head, and the channel II of the oscilloscope 18 monitors the sine signal sin2 of the 2# reading head; the channel I of the oscilloscope 19 monitors the sine signal sin1 of the 1# reading head, and the channel II of the oscilloscope 19 monitors the cosine signal cos2 of the 2# reading head; the channel I of the oscilloscope 20 monitors the sine signal sin1 of the 1# reading head, and the channel II of the oscilloscope 20 monitors the zero signal of the 1# reading head; the channel I of the oscilloscope 21 monitors the sine signal sin2 of the 2# reading head, and the channel II of the oscilloscope 21 monitors the zero signal of the 2# reading head; adjust the oscilloscope 18 and the oscilloscope 19 to XY mode, and the oscilloscope 20 and the oscilloscope 21 work in normal mode; rotate the gyro accelerometer outer ring shaft system 13, according to the Lissajous figure change on the oscilloscope 18 and the oscilloscope 19, slightly adjust the two light pointing assemblies, until the sine and cosine phases meet the phase relationship requirement (according to the Lissajous figure principle, if the phase difference of two signals is 0, at this time, the waveform is a diagonal line (0°±10°) across the 1st and 3rd quadrants; if the phase difference of two signals is 90°, at this time, the waveform is a standard circle (90°±10°), see Figure 4; if the phase difference of the two signals is 180°, the waveform is a diagonal line (180° ± 10°) across the 2nd and 4th quadrants; rotate the outer ring shaft system 13 of the gyro accelerometer, and according to the sine signals and zero signals on the oscilloscope 20 and the oscilloscope 21, slightly adjust the two light pointer assemblies until the zero signals and the sine signals on the oscilloscope 20 and the oscilloscope 21 are completely in phase; rotate the outer ring shaft system 13 of the gyro accelerometer, and repeatedly confirm the oscilloscope 18, the oscilloscope 19, the oscilloscope 20 and the oscilloscope 21 to determine that all meet the requirements, and finally determine the installation position of the light pointer assembly. Connect the zero adjustment position on the receiving plate 2 to the resistance box, change the output voltage of the zero signal by adjusting the resistance box, so that the second peak value is lower than the TQ1 value (the through-hole signal of the first reading head), and record the resistance value of the resistance box at this time, disconnect the resistance box, and according to the determined resistance value, weld the patch resistor to the zero adjustment position of the receiving plate; connect the signal processing and output circuit 9 to the industrial computer 22 through the RS485 to USB serial port adapter, open the serial port assistant on the industrial computer, set the baud rate, parity, data bits, rotate the outer ring shaft system 13 of the gyro accelerometer at a uniform speed, and read the gyro accelerometer outer ring angle at a frequency of 1 kHz to determine that the outer ring angle is continuous and uniform in one cycle of 360°.

[0072] (7) Tighten the light pointer assembly and the code disc assembly: tighten the screw of the light pointer assembly, clean the excess, and use epoxy glue to seal; thread the nut 5 and the gyro accelerometer outer ring shaft system 14; the screw of the receiving plate 2 is sealed with silicone rubber GD414, and waits for the glue to solidify.

[0073] (8) Receiving plate installation: place the four insulating pads of the receiving plate on the gyro accelerometer shell 10; check the surface of the receiving plate 2 under the microscope to ensure that there is no appearance and quality problem; place the receiving plate on the four insulating pads, use four screws to pass through the four mounting holes of the receiving plate 2, the four insulating pads, and screw into the receiving plate fixing screw hole 17 on the gyro accelerometer shell 10 to fix the receiving plate 2 on the gyro accelerometer shell 10; use a multimeter to check the input and output interfaces of the receiving plate 2 and the resistance insulation of the gyro accelerometer shell 10, and the insulation resistance should be greater than 200MΩ. If the insulation resistance meets the requirements, it is installed in place; if it does not meet the requirements, troubleshoot the fault, and focus on checking whether the soldering wire of the receiving plate is in contact with the gyro accelerometer shell, whether the printed wire of the receiving plate is exposed to copper to cause contact with the screw, etc.

[0074] (9) Arrange the wire harness: cover the wire harness with a heat shrink sleeve, and pull out the wire through the wire outlet of the gyro accelerometer shell 10, and press the wire harness tightly to complete the installation of the double-reading photoelectric encoder on the gyro accelerometer.

[0075] The application discloses a kind of dual reading head photoelectric encoder on the installation and adjustment method of gyro accelerometer, which includes the steps of code disc base and finger light component initial installation, size measurement, grating gap adjustment, finger light component reinstallation, code disc component installation, test signal, fasten finger light component and code disc component, receiving plate installation, arrange harness, using oscilloscope observation positive cosine signal and zero, through the angle value given by signal processing and output circuit of industrial computer reading, judge the installation accuracy of dual reading head photoelectric encoder, realize the radial symmetry installation of dual reading head in the shell of gyro accelerometer, code disc component is installed in gyro accelerometer outer ring shaft system, reach the goal of high-precision installation of dual reading head photoelectric encoder on gyro accelerometer.

[0076] Although the present application has been disclosed with the above preferred embodiments, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications to the technical solutions of the present application by using the disclosed methods and technical contents without departing from the spirit and scope of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, which does not deviate from the technical solutions of the present application, shall fall within the protection scope of the present application.

Claims

1. A method for assembling and adjusting a dual-reading-head photoelectric encoder on a gyro accelerometer, characterized in that, include: (1) Initially install the code disk base onto the outer ring axis of the gyroscope accelerometer, and initially radially and symmetrically fix the light-pointing components of the two reading heads onto the housing of the gyroscope accelerometer; each reading head includes a light-pointing component, the two reading heads share a receiving plate, and the light-pointing component includes a light-pointing base, a light-emitting plate, and a static grating. (2) Use a dial indicator to test the distance from the mounting surface of the code disk base to the mounting surface of the two reading head light-pointing bases, and the distance from the static grating surface of the two reading head light-pointing components to their respective light-pointing base mounting surfaces. (3) Based on the dimensional information measured in step (2), place a light-pointing base pad between the light-pointing base of the first reading head and the housing of the gyroscope accelerometer, and between the light-pointing base of the second reading head and the housing of the gyroscope accelerometer, so that the gap between the code disk and the static grating of the first reading head, and the gap between the code disk and the static grating of the second reading head meet the requirements. (4) Wipe the surface of the static grating of the two reading head light-pointing components and observe under a microscope to ensure that there are no foreign objects or scratches on the surface of the static grating. After the inspection is completed, fix the light-pointing components of the two reading heads radially and symmetrically to the gyroscope accelerometer housing with screws. At this time, it is not necessary to tighten the screws. (5) Wipe the code disk and code disk base, and glue the code disk and code disk base coaxially. After the glue cures, the code disk assembly is formed. Wipe the code disk on the code disk assembly to keep the code disk clean. Then install the code disk assembly to the outer ring shaft system of the gyroscope accelerometer and make it in close contact with the stepped surface of the outer ring shaft system of the gyroscope accelerometer. Use the nut to press the code disk assembly to the stepped surface of the outer ring shaft system of the gyroscope accelerometer. Check the flatness of the code disk surface. When the flatness meets the installation requirements, fix the nut. (6) Test the signal of the dual-reader photoelectric encoder with an oscilloscope to see if it meets the requirements. If it does, proceed to step (7). (7) Tighten the screws of the two reading head light components, clean up the excess material, and seal them with epoxy glue; apply glue to the threads between the nut and the outer ring shaft of the gyroscope accelerometer; seal the screws of the receiving board with silicone rubber GD414, and let it stand for the glue to cure. (8) Fix the receiving plate of the reading head to the housing of the gyroscope accelerometer; (9) The receiving board and the light-pointing component are connected by a wire harness. The wire harness is tidied up to complete the installation of the dual-reading photoelectric encoder on the gyroscope accelerometer.

2. The method for assembling and adjusting a dual-reading-head photoelectric encoder on a gyro accelerometer according to claim 1, characterized in that: In step (1), the encoder base is in close contact with the stepped surface of the outer ring axis of the gyroscope accelerometer; the light-pointing components of the two reading heads are initially in close contact with the reference surface of the gyroscope accelerometer housing.

3. The method for assembling and adjusting a dual-reading-head photoelectric encoder on a gyro accelerometer according to claim 1, characterized in that: In step (3), the gap between the code disk and the static grating of the first reading head is δ1 = L1 - L2, and the gap between the code disk and the static grating of the first reading head is δ2 = L1 - L3; Where L1 is the dimension from the mounting surface of the code disk base to the mounting surface of the light-pointing base of the first reading head, L2 is the dimension from the surface of the static grating of the light-pointing component of the first reading head to the mounting surface of the light-pointing base of the second reading head, and L3 is the dimension from the surface of the static grating of the light-pointing component of the second reading head to the mounting surface of the light-pointing base.

4. The method for assembling and adjusting a dual-reading-head photoelectric encoder on a gyro accelerometer according to claim 1, characterized in that: The shape of the light-pointing base pad is consistent with the mounting surface of the light-pointing base.

5. The method for assembling and adjusting a dual-reading-head photoelectric encoder on a gyro accelerometer according to claim 1, characterized in that: In steps (4) and (5), a lint-free cloth soaked in petroleum ether or acetone is used for wiping.

6. The method for assembling and adjusting a dual-reading-head photoelectric encoder on a gyro accelerometer according to claim 1, characterized in that: In step (5), the method for calculating the surface flatness of the code disk is as follows: Place the dial indicator pointer on the code disk surface, select multiple points around the code disk, gently slide the dial indicator to each point, and record the reading; calculate the flatness based on the range of multiple sets of readings.

7. The method for assembling and adjusting a dual-reading-head photoelectric encoder on a gyro accelerometer according to claim 1, characterized in that: In step (5), if the flatness does not meet the requirements, the code disk assembly will be reworked.

8. The method for assembling and adjusting a dual-reading-head photoelectric encoder on a gyro accelerometer according to claim 1, characterized in that: In step (6), the signal of the dual-reader photoelectric encoder is tested using an oscilloscope to determine if it meets the requirements. The method is as follows: The first oscilloscope monitors the sinusoidal signal sin1 of the first reading head via channel I, and the second oscilloscope monitors the sinusoidal signal sin2 of the second reading head via channel II; the second oscilloscope monitors the sinusoidal signal sin1 of the first reading head via channel I, and the second oscilloscope monitors the cosine signal cos2 of the second reading head via channel II; the third oscilloscope monitors the sinusoidal signal sin1 of the first reading head via channel I, and the third oscilloscope monitors the zero-position signal of the first reading head via channel II; the fourth oscilloscope monitors the sinusoidal signal sin2 of the second reading head via channel I, and the fourth oscilloscope monitors the zero-position signal of the second reading head via channel II. Set the first and second oscilloscopes to XY mode, and the third and fourth oscilloscopes to normal mode. Rotate the outer ring axis of the gyro accelerometer and, based on the changes in the Lissajous plots on the first and second oscilloscopes, slightly adjust the two light-pointing components until the sine and cosine phases meet the phase relationship requirements; if the phase difference between the two signals is 180°, the waveform will be a diagonal line spanning the 2nd and 4th quadrants. Rotate the outer ring axis of the gyro accelerometer, and slightly adjust the two light-pointing components according to the sine signal and zero-position signal on the third and fourth oscilloscopes until the zero-position signal on the third and fourth oscilloscopes is completely in phase with the sine signal. Rotate the outer ring axis of the gyro accelerometer and repeatedly check the first, second, third and fourth oscilloscopes. After confirming that all meet the requirements, finally determine the installation position of the light-pointing component. Connect the zero-position adjustment position on the receiver board to the resistor box. Adjust the resistor box to change the zero-position signal output voltage so that its secondary peak value is lower than the TQ1 value. Record the resistance value of the resistor box at this time and disconnect the resistor box. Based on the determined resistance value, solder the chip resistor to the zero-position adjustment position of the receiving board; The signal processing and output circuit is connected to the industrial control computer via an RS485 to USB serial port adapter cable; the signal processing and output circuit is used to process the signal from the dual-reader photoelectric encoder to obtain the outer ring angle of the gyro accelerometer. On the industrial control computer, open the serial port assistant, set the baud rate, parity, and data bits, and then rotate the outer ring axis of the gyro accelerometer at a constant speed. Read the outer ring angle of the gyro accelerometer at a 1kHz update frequency. When the outer ring angle is continuous and uniform for 360°, it is determined that the signal of the dual-reader photoelectric encoder meets the requirements.

9. The method for assembling and adjusting a dual-reading-head photoelectric encoder on a gyro accelerometer according to claim 1, characterized in that: In step (8), the method for fixing the receiving plate to the gyroscope accelerometer housing is as follows: Place four insulating pads on the housing of the gyroscope accelerometer; After inspecting the surface of the receiving plate under a microscope and confirming that there are no appearance or quality problems, the receiving plate is placed on four insulating pads. The receiving board is provided with four mounting holes, each corresponding to an insulating pad. Screws are passed through the mounting holes and insulating pads in sequence and screwed into the receiving board fixing threaded holes on the gyroscope accelerometer housing. Use a multimeter to check the insulation resistance between the input / output interface of the receiver board and the housing of the gyroscope accelerometer. If the insulation resistance meets the requirements, it is installed correctly; if it does not meet the requirements, troubleshoot the problem.

10. The method for assembling and adjusting a dual-reading-head photoelectric encoder on a gyro accelerometer according to claim 1, characterized in that: The wiring harness arrangement process is as follows: the wiring harness is fitted with heat shrink tubing, the wires exit through the outlet of the gyroscope accelerometer housing, and the wiring harness is then pressed tightly.

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