An automated scanning fixture for ultrasonic sensors

Abstract

This application belongs to the field of ultrasonic sensor scanning design, and is a tooling for automated ultrasonic sensor scanning. It includes a housing, a slide, a rotary motor, and a scanning component. The scanning component includes a rotating shaft, an ultrasonic sensor, and an annular sealing sleeve. During scanning, the slide operates according to a set program, controlling the rotary motor, the scanning component, and the signal transmission component to move horizontally left and right. Simultaneously, the rotary motor operates, driving the rotating shaft to rotate, which in turn drives the ultrasonic sensor mounted on it to rotate. Due to the eccentric arrangement of the ultrasonic sensor, it moves left and right while rotating, forming a spirally progressive arc-shaped scanning trajectory during scanning. This creates a water immersion ultrasonic design structure, enabling large-area scanning and significantly improving detection efficiency. Furthermore, its high degree of integration makes it easy to integrate with automated tooling or robotic arm end effectors for fully automated detection.

Description

Technical Field

[0001] This application belongs to the field of ultrasonic sensor scanning design, and specifically relates to an automated ultrasonic sensor scanning fixture. Background Technology

[0002] Ultrasonic technology is currently widely used for inspecting rivets on aircraft equipment.

[0003] This testing method brings many inconveniences to non-destructive testing personnel. For example, the placement of the probe requires the ultrasonic probe to be close to the workpiece to reduce ultrasonic attenuation, or a coupling agent to be filled between the workpiece and the ultrasonic probe in order to successfully complete the ultrasonic flaw detection work, which is inefficient.

[0004] Therefore, how to achieve comprehensive and efficient inspection of rivets is a problem that needs to be solved. Summary of the Invention

[0005] The purpose of this application is to provide an automated scanning fixture for ultrasonic sensors to solve the problem in the prior art where it is difficult to find a suitable position for ultrasonic flaw detection probes in order to achieve comprehensive flaw detection.

[0006] The technical solution of this application is: an automated scanning fixture for an ultrasonic sensor, comprising a housing, a slide table, a rotary motor, a scanning element, and a signal transmission element. The slide table, rotary motor, scanning element, and signal transmission element are all housed within the housing and connected to the slide table. The scanning element is connected to the output end of the rotary motor. The scanning element includes a rotating shaft, an ultrasonic sensor, and an annular sealing sleeve. The annular sealing sleeve is coaxially mounted on the rotating shaft. The ultrasonic sensor is eccentrically positioned within the annular sealing sleeve. A water tank is provided between the annular sealing sleeve and the housing, and the water tank is sealed and filled with water. The signal transmission element is located between the scanning element and the rotary motor, and is electrically connected to the ultrasonic sensor and capable of transmitting the scanned signal from the ultrasonic sensor to a back-end device.

[0007] Preferably, the outer casing includes a front cover plate, a rear cover plate, and a cylindrical body; the ultrasonic sensor and the annular sealing sleeve are both located inside the front cover plate, the slide table, the rotary motor, and the signal transmission component are all located inside the cylindrical body, the front cover plate and the rear cover plate are both sealed and snapped into the cylindrical body, the water tank is located between the annular sealing sleeve and the front cover plate, the front end of the front cover plate is provided with a sealing film, a sealing ring is fitted on the front cover plate at a position corresponding to the circumferential position of the sealing film, and a sealing clamp is connected to the outside of the sealing ring.

[0008] Preferably, the annular sealing sleeve includes a sleeve body and an annular support platform. A sealing ring plate is fixedly connected to the rear end of the sleeve body. A sensor connecting shaft is fixedly connected between the sealing ring plate and the rotating shaft. The annular support platform is integrally connected to the sleeve body. An annular mounting groove is provided on one side of the end of the annular support platform. The ultrasonic sensor is connected to the annular mounting groove by adhesive sealing or glue sealing.

[0009] Preferably, a connecting sleeve is provided on the outer side of the sleeve body. The connecting sleeve has a hollow annular structure and is an elastic element as a whole. One end of the connecting sleeve is waterproof and sealed to the slide table, and the other end is waterproof and sealed to the inside of the front cover plate. The connecting sleeve is made of silicone material and has a pleated structure on its inner wall. A shaft seal is provided on the rotating shaft. The shaft seal is abutted against the sensor connecting shaft. The shaft seal, the connecting sleeve, and the sealing ring plate are connected to the water tank.

[0010] Preferably, a connecting sleeve is provided on the outer side of the sleeve body. The connecting sleeve is a hollow annular structure and the entire connecting sleeve is an elastic element. One end of the connecting sleeve is waterproof and sealed to the slide table, and the other end is waterproof and sealed to the front cover plate. The connecting sleeve is made of silicone material and has a pleated structure on its inner wall. A shaft seal is provided on the rotating shaft. The shaft seal is abutted against the sensor connecting shaft. A second water groove is formed between the shaft seal, the connecting sleeve, and the sealing ring plate. The second water groove is sealed and filled with water.

[0011] Preferably, the outer end of the front cover is provided with an acoustic reflection device, which is provided corresponding to the outer end of the ultrasonic sensor.

[0012] Preferably, the signal transmission component includes a rotating slip ring, which is coaxially sleeved on the rotating shaft, and the rotating slip ring is electrically connected to the ultrasonic sensor.

[0013] Preferably, the rotary motor is a servo motor, and the rotary motor is directly connected to the rotating shaft via a coupling.

[0014] Preferably, the slide table includes a base, a drive motor, an active slide table, and a driven slide table. The driven slide table is connected between the active slide table and the drive motor. The drive motor is fixedly connected to the base. The active slide table includes a first upper slide table and a first fixed slide table. The first fixed slide table is provided with a first slide rail, and the first upper slide table is slidably connected to the first slide rail. The driven slide table includes a second upper slide table and a second fixed slide table. The second fixed slide table is provided with a second slide rail, and the second upper slide table is slidably connected to the second slide rail. The first upper slide table and the second upper slide table are fixedly connected. The drive motor is provided with an active pulley, and the first fixed slide table is provided with a driven pulley. The active pulley and the driven pulley are connected by a belt. A ball screw connected to the driven pulley is rotatably connected inside the first fixed slide table, and the nut on the ball screw is fixedly connected to the first fixed slide table. Support plates are provided on the active slide table and the driven slide table. The rotary motor, the scanning component, and the signal transmission component are all provided on the support plates.

[0015] Preferably, encoders are connected to the shafts of both the drive motor and the rotary motor.

[0016] This application discloses an automated scanning fixture for an ultrasonic sensor, comprising a housing, a slide table, a rotary motor, and a scanning element. The scanning element includes a rotating shaft, an ultrasonic sensor, and an annular sealing sleeve. During scanning, the slide table operates according to a pre-set program, controlling the rotary motor, the scanning element, and the signal transmission element to move horizontally left and right. Simultaneously, the rotary motor operates, driving the rotating shaft to rotate, which in turn drives the ultrasonic sensor mounted on it to rotate. Due to the eccentric arrangement of the ultrasonic sensor, it moves left and right while rotating, forming a spirally progressive arc-shaped scanning trajectory during scanning. This design structure, similar to water immersion ultrasonic scanning, enables large-area scanning and significantly improves detection efficiency. Furthermore, its high degree of integration allows for easy integration into automated fixtures or robotic arm end effectors, achieving fully automated detection. Attached Figure Description

[0017] To more clearly illustrate the technical solutions provided in this application, the accompanying drawings will be briefly described below. Obviously, the drawings described below are merely some embodiments of this application.

[0018] Figure 1 This is a schematic diagram of the overall structure of this application;

[0019] Figure 2 This is a schematic diagram of the overall structure of the present application, including the shell and rotating slip ring.

[0020] Figure 3 This is a partial cross-sectional view of the structure after the outer shell has been removed from this application;

[0021] Figure 4 This is a schematic diagram of the ultrasonic sensor scanning path in this application.

[0022] 1. Annular sealing sleeve; 2. Ultrasonic sensor; 3. Connecting sleeve; 4. Sensor connecting shaft; 5. Shaft seal; 6. Rotary slip ring; 7. Active slide; 8. Driven slide; 9. Rotary motor; 10. Drive motor; 11. Bearing; 12. Sleeve body; 13. Annular support platform; 14. Sealing ring plate; 15. Sealing membrane; 16. Base; 17. Active pulley; 18. Driven pulley; 19. Support plate; 20. Bracket; 21. Front cover plate; 22. Cylinder body; 23. Sealing clamp; 24. Second water tank; 26. First fixed slide; 25. First upper slide; 28. Second fixed slide; 27. Second upper slide. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings.

[0024] An automated scanning fixture for ultrasonic sensors, such as Figure 1-3 As shown, the device includes a housing, a slide table, a rotary motor 9, a scanning component, and a signal transmission component. The slide table is specifically a servo-driven platform capable of controlling the scanning component to move with high precision along a set trajectory. The scanning component is used to scan the part to be inspected. The rotary motor 9 controls the rotation of the scanning component. The signal transmission component transmits the data scanned by the scanning component to a backend device for data analysis.

[0025] The slide, rotary motor 9, scanning element and signal transmission element are all housed inside the housing; the rotary motor 9, scanning element and signal transmission element are all connected to the slide, the scanning element is connected to the output end of the rotary motor 9, the scanning element includes a rotating shaft, an ultrasonic sensor 2 and an annular sealing sleeve 1, the annular sealing sleeve 1 is coaxially mounted on the rotating shaft, and the ultrasonic sensor 2 is eccentrically mounted inside the annular sealing sleeve 1.

[0026] The space between the annular sealing sleeve 1 and the outer shell is filled with water, forming a water tank 24; the signal transmission component is located between the scanning component and the rotary motor 9, and is electrically connected to the ultrasonic sensor 2 and can transmit the signal scanned by the ultrasonic sensor 2 to the background equipment.

[0027] The end of the housing closest to the ultrasonic sensor 2 is defined as the front end of this application, and the end closest to the rotary motor 9 is defined as the rear end of this application.

[0028] When scanning a component, the front end of the casing is held by hand and pointed at the part to be inspected. The slide works according to the set program, controlling the rotary motor 9, the scanning component and the signal transmission component to move horizontally left and right. At the same time, the rotary motor 9 works, driving the rotating shaft to rotate. The rotating shaft drives the ultrasonic sensor 2 mounted on it to rotate. The ultrasonic signals emitted and received by the ultrasonic sensor 2 are transmitted through the water in the water tank 24, thereby ensuring the quality of ultrasonic signal transmission.

[0029] Because the ultrasonic sensor 2 is eccentrically positioned, it moves left and right while rotating. After focusing, the ultrasonic sensor 2 scans, forming a spiraling, progressively advancing arc-shaped trajectory, such as... Figure 4 This design creates a water immersion ultrasonic structure, enabling large-area scanning. In this embodiment, it can complete data acquisition and generate C-scan images for a 10mm*20mm area in 4 seconds, greatly improving detection efficiency. Furthermore, its high degree of integration makes it easy to integrate with automated tooling or robotic arm end effectors for fully automated detection.

[0030] Meanwhile, the entire device occupies little space and can quickly scan various parts to be inspected by hand, making it simple and fast.

[0031] The medium in the water tank 24 can be not only water as a coupling agent, but also oil or other media, which will not be elaborated further.

[0032] Preferably, the outer casing includes a front cover plate 21, a rear cover, and a cylindrical body 22. The ultrasonic sensor 2 and the annular sealing sleeve 1 are both located inside the front cover plate 21, while the slide, rotary motor 9, and signal transmission components are all located inside the cylindrical body 22. Both the front cover plate 21 and the rear cover are sealed and snap-fitted into the cylindrical body 22. A water tank 24 is located between the annular sealing sleeve 1 and the front cover plate 21. A sealing film 15 with a rectangular structure is provided at the front end of the front cover plate 21. A sealing ring is fitted around the front cover plate 21 at a position corresponding to the circumferential direction of the sealing film 15, and a sealing clamp 23 is connected to the outer side of the sealing ring. Multiple ribs are provided on the inner wall of the cylindrical body 22 to support the slide and annular sealing sleeve 1, etc. A wiring hole is provided on the rear cover for signal transmission from the rotary motor 9 and other equipment.

[0033] The sealing film 15 is made of composite material and is opaque, so it will not affect the transmission of ultrasonic waves. The sealing ring and sealing clamp 23 can achieve circumferential sealing of the sealing film 15. The setting of the sealing film 15 ensures the quality of ultrasonic signal transmission.

[0034] The internal components can be installed simply by opening the sealing film 15 and the back cover during installation, which is quite convenient.

[0035] Preferably, the annular sealing sleeve 1 includes a sleeve body 12 and an annular support platform 13. A sealing ring plate 14 is fixedly connected to the rear end of the sleeve body 12, specifically through a threaded connection. The sealing ring plate 14 can be removed to install the ultrasonic sensor 2. A sensor connecting shaft 4 is fixedly connected between the sealing ring plate 14 and the rotating shaft. The annular support platform 13 is integrally connected inside the sleeve body 12. An annular mounting groove is provided on one side of the end of the annular support platform 13. The ultrasonic sensor 2 is connected to the annular mounting groove by adhesive sealing or gluing. The sealing ring plate 14 provides simple and stable support for the ultrasonic sensor 2. The space between the sealing ring plate 14 and the rear end of the sleeve body 12 is a cavity structure for easy installation.

[0036] The inner wall of the cylinder 22 is provided with multiple ribs for support. The rear cover is provided with wiring holes for the wiring of the rotary motor 9 and the ultrasonic sensor 2. The sleeve 12 is provided with an annular guide rail, and the annular support platform 13 is rotatably connected to the annular guide rail. When the rotating shaft rotates, the ultrasonic sensor 2 is driven to rotate through the annular support platform 13. The annular support platform 13 and the ultrasonic sensor 2 can be connected by adhesive sealing or other structural structures.

[0037] Preferably, a connecting sleeve 3 is fitted on the outer side of the sleeve body 12. The connecting sleeve 3 is a hollow annular structure and the entire connecting sleeve 3 is an elastic element. One end of the connecting sleeve 3 is waterproof and sealed to the slide table, and the other end is waterproof and sealed to the front cover plate 21. The connecting sleeve 3 is made of silicone material and has a pleated structure on its inner wall. A shaft seal 5 is provided on the rotating shaft. The shaft seal 5 is abutted against the sensor connecting shaft 4. The shaft seal 5, the connecting sleeve 3 and the sealing ring plate 14 are connected to the water tank 24.

[0038] Since the ultrasonic sensor 2 needs to be inserted into water during scanning, a connecting sleeve 3 is used to wrap the sleeve 12, providing a waterproof seal on the outside of the sleeve 12 and thus solving the problem of water impermeability inside. If a traditional sealing ring is used, the ultrasonic sensor 2 will have greater frictional resistance during movement, and the speed of the ultrasonic sensor 2 during rotation and movement will not meet the standard. If the power is increased unilaterally, it may cause current overload and burn out the control board. This inevitably increases the power supply requirements of the equipment, ultimately leading to higher power consumption, shorter standby time, larger battery capacity, and excessive weight of the whole machine, causing inconvenience for users in operation and carrying.

[0039] By using a flexible connecting sleeve 3 to seal the ultrasonic sensor 2, when the ultrasonic sensor 2 is displaced during rotation, the connecting sleeve 3 can compensate by generating a short-distance stretch, thereby keeping water isolated between the sealing cover and the connecting sleeve 3, preventing water from entering the tooling, achieving follow-up sealing, and making the sealing simple and stable.

[0040] The connecting sleeve 3 is made of silicone and has a pleated structure on its inner wall. The silicone connecting sleeve 3 can be stretched a short distance without damaging its own structure. The pleated structure can increase the length that the connecting sleeve 3 can be stretched, while increasing the friction between it and the sealing sleeve.

[0041] Preferably, the diameter of the connecting sleeve 3 gradually increases from the end closer to the rotary motor 9 to the end farther away from the rotary motor 9, so that the space between the connecting sleeve 3 and the sealing cover is larger and the connecting sleeve 3 works more stably.

[0042] The slide is equipped with a bracket 20, which is waterproof and sealed to the connecting sleeve 3. The connecting shaft is equipped with a bearing 11, which abuts against the rear end of the shaft seal 5 to improve the stability of the connecting shaft.

[0043] As a specific implementation, an acoustic reflection device (not shown in the figure) can also be fixedly installed at the outer end of the front cover plate 21, corresponding to the end of the ultrasonic sensor 2. The acoustic reflection device is an existing finished product that can reflect ultrasonic signals, thereby changing the emission path of the ultrasonic waves. This allows the fixture to be placed sideways, vertically, etc., more freely, and to obtain a more suitable placement position in a small space. When using it, first determine the placement angle of the fixture, and then set the reflection angle of the acoustic reflection device.

[0044] Preferably, a rotary slip ring 6 is coaxially sleeved on the rotating shaft, and the rotary slip ring 6 is electrically connected to the ultrasonic sensor 2. The rotary slip ring 6 has the characteristics of high wear resistance and stable signal transmission, and can stably transmit the signal scanned by the ultrasonic sensor 2 to the outside of the tooling.

[0045] Preferably, the rotary motor 9 is a servo motor, which has strong anti-vibration performance and can work stably when rotating. The rotary motor 9 is directly connected to the rotating shaft through a coupling to ensure efficient power transmission of the rotary motor 9.

[0046] Preferably, the slide table includes a base 16, a drive motor 10, an active slide table 7, and a driven slide table 8. The driven slide table 8 is connected between the active slide table 7 and the drive motor 10. The drive motor 10 is fixedly connected to the base 16. The active slide table 7 includes a first upper slide table 26 and a first fixed slide table 25. The first fixed slide table 25 is provided with a first slide rail, and the first upper slide table 26 is slidably connected to the first slide rail. The driven slide table 8 includes a second upper slide table 28 and a second fixed slide table 27. The second fixed slide table 27 is provided with a second slide rail, and the second upper slide table 28 is slidably connected to the first slide rail. The first upper slide 26 and the second upper slide 28 are fixedly connected to the second slide rail. The drive motor 10 is provided with a drive pulley 17, and the first fixed slide 25 is provided with a driven pulley 18. The drive pulley 17 and the driven pulley 18 are connected by a belt. A ball screw connected to the driven pulley 18 is rotatably connected inside the first fixed slide 25. The nut on the ball screw is fixedly connected to the first upper slide 26. The drive slide 7 and the driven slide 8 are provided with support plates 19. The rotary motor 9, the scanning component and the signal transmission component are all provided on the support plates 19.

[0047] When the slide is working, the drive motor 10 is controlled to rotate. The drive motor 10 drives the ball screw in the active slide 7 to rotate through the pulley. The ball screw controls the first upper slide 26 and the second upper slide 28 to move horizontally through the reaction force between the ball screw and the nut. It also drives the support plate 19, the rotary motor 9, the scanning component and the signal transmission component to move horizontally. The movement accuracy is high.

[0048] Preferably, encoders are connected to the shafts of both the drive motor 10 and the rotary motor 9. During the scanning process, the encoder connected to the rotary motor 9 records the rotation angle, and the encoder connected to the drive motor 10 records the displacement variables when the fixture moves horizontally left and right. The scanning progress of the two encoders is transmitted to the background equipment, which can monitor and control the scanning progress of the fixture in real time, thereby ensuring the accuracy and efficiency of the scanning.

[0049] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automated scanning fixture for an ultrasonic sensor, characterized in that: The device includes a housing, a slide, a rotary motor (9), a scanning element, and a signal transmission element. The slide, rotary motor (9), scanning element, and signal transmission element are all located inside the housing. The rotary motor (9), scanning element, and signal transmission element are all connected to the slide. The scanning element is connected to the output end of the rotary motor (9). The scanning element includes a rotating shaft, an ultrasonic sensor (2), and an annular sealing sleeve (1). The annular sealing sleeve (1) is coaxially mounted on the rotating shaft. The ultrasonic sensor (2) is eccentrically mounted inside the annular sealing sleeve (1). A water tank (24) is provided between the annular sealing sleeve (1) and the housing. The water tank (24) is sealed and filled with water. The signal transmission element is located between the scanning element and the rotary motor (9). The signal transmission element is electrically connected to the ultrasonic sensor (2) and can transmit the signal scanned by the ultrasonic sensor (2) to the back-end device. The outer casing includes a front cover plate (21), a rear cover, and a cylindrical body (22); the ultrasonic sensor (2) and the annular sealing sleeve (1) are both located inside the front cover plate (21); the slide, the rotary motor (9), and the signal transmission component are all located inside the cylindrical body (22); the front cover plate (21) and the rear cover are both sealed and snapped together with the cylindrical body (22); the water tank (24) is located between the annular sealing sleeve (1) and the front cover plate (21); a sealing film (15) is provided at the front end of the front cover plate (21); a sealing ring is provided on the front cover plate (21) at the position corresponding to the circumferential position of the sealing film (15); and a sealing clamp (23) is connected to the outside of the sealing ring. The annular sealing sleeve (1) includes a sleeve body (12) and an annular support platform (13). A sealing ring plate (14) is fixedly connected to the rear end of the sleeve body (12). A sensor connecting shaft (4) is fixedly connected between the sealing ring plate (14) and the rotating shaft. The annular support platform (13) is integrally connected inside the sleeve body (12). An annular mounting groove is opened on one side of the end of the annular support platform (13). The ultrasonic sensor (2) is connected to the annular mounting groove by adhesive sealing or glue sealing.

2. The automated scanning fixture for ultrasonic sensors as described in claim 1, characterized in that: The outer side of the sleeve (12) is fitted with a connecting sleeve (3). The connecting sleeve (3) is a hollow ring structure and the entire connecting sleeve (3) is an elastic element. One end of the connecting sleeve (3) is waterproof and sealed to the slide table, and the other end is waterproof and sealed to the front cover plate (21). The connecting sleeve (3) is made of silicone material and has a pleated structure on the inner wall. The rotating shaft is provided with a shaft seal (5). The shaft seal (5) is abutted against the sensor connecting shaft (4). The shaft seal (5), the connecting sleeve (3) and the sealing ring plate (14) are connected to the water tank (24).

3. The automated scanning fixture for ultrasonic sensors as described in claim 2, characterized in that: The diameter of the connecting sleeve (3) gradually increases from the end closer to the rotary motor (9) to the end farther away from the rotary motor (9); a bracket (20) is provided on the slide, and the bracket (20) and the connecting sleeve (3) are connected in a waterproof and sealed manner; a bearing (11) is provided on the connecting shaft, and the bearing (11) abuts against the rear end of the shaft seal (5).

4. The automated scanning fixture for ultrasonic sensors as described in claim 1, characterized in that: The outer end of the front cover plate (21) is provided with an acoustic reflection device, which is provided at the outer end of the ultrasonic sensor (2).

5. The automated scanning fixture for ultrasonic sensors as described in claim 1, characterized in that: The signal transmission device includes a rotating slip ring (6), which is coaxially sleeved on the rotating shaft, and is electrically connected to the ultrasonic sensor (2).

6. The automated scanning fixture for ultrasonic sensors as described in claim 1, characterized in that: The rotary motor (9) is a servo motor, and the rotary motor (9) is directly connected to the rotating shaft through a coupling.

7. The automated scanning fixture for ultrasonic sensors as described in claim 1, characterized in that: The slide table includes a base (16), a drive motor (10), an active slide table (7), and a driven slide table (8). The driven slide table (8) is connected between the active slide table (7) and the drive motor (10). The drive motor (10) is fixedly connected to the base (16). The active slide table (7) includes a first upper slide table (26) and a first fixed slide table (25). The first fixed slide table (25) is provided with a first slide rail, and the first upper slide table (26) is slidably connected to the first slide rail. The driven slide table (8) includes a second upper slide table (28) and a second fixed slide table (27). The second fixed slide table (27) is provided with a second slide rail, and the second upper slide table (28) is slidably connected to the first slide rail. The first upper slide (26) and the second upper slide (28) are fixedly connected to each other. The drive motor (10) is provided with a drive pulley (17), and the first fixed slide (25) is provided with a driven pulley (18). The drive pulley (17) and the driven pulley (18) are connected by a belt. The ball screw connected to the driven pulley (18) is rotatably connected inside the first fixed slide (25). The nut on the ball screw is fixedly connected to the first upper slide (26). The drive slide (7) and the driven slide (8) are provided with support plates (19). The rotary motor (9), the scanning component and the signal transmission component are all provided on the support plates (19).

8. The automated scanning fixture for ultrasonic sensors as described in claim 7, characterized in that: Encoders are connected to the shafts of both the drive motor (10) and the rotary motor (9).

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