An integrated angle measurement system and error control method thereof

Through the integrated angle measurement system and error control method, the processing difficulty and reduced accuracy caused by the large diameter of the resolver inner ring are solved, and high-precision angle measurement can be achieved without affecting the angle measurement accuracy by reducing the size of the resolver.

CN118836759BActive Publication Date: 2025-09-30CHINA ELECTRONIC TECH GRP CORP NO 38 RES INST
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Patent Information

Application Number
CN202410797702.0
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-06-20
Publication Date
2025-09-30
Estimated Expiration
2044-06-20

AI Technical Summary

Technical Problem

In the existing technology, in order to be compatible with electric slip rings and water hinges, the inner ring diameter of the resolver needs to be larger than the envelope of the rotary joint, which increases the processing difficulty and cost. At the same time, the floating connection affects the angle measurement accuracy.

Method used

An integrated angle measurement system is designed. The inner ring of the resolver is fixedly connected to the turntable through an adapter, and combined with a smooth ring follower connection, the gap between the inner and outer rings of the resolver and the angle error compensation method are adjusted to ensure that the resolver size is reduced without reducing the accuracy.

Benefits of technology

The size of the resolver is reduced without reducing the angle measurement accuracy, and high-precision angle measurement can be achieved.

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Abstract

The present invention proposes an integrated angle measurement system comprising: a base, a turntable, a slewing bearing, a drive unit, a water hinge, an electric slip ring, a resolver, and an adapter. The turntable is rotatably mounted on the base via the slewing bearing; the drive unit drives the turntable's rotation via the slewing bearing; the water hinge and electric slip ring are mounted coaxially within the turntable, with the water hinge's housing and the fixed end of the electric slip ring respectively fixedly connected to the base; the resolver's outer ring is fixedly connected to the water hinge's housing, while its inner ring is connected to the turntable via an adapter. The present invention proposes an error control method for the integrated angle measurement system, calculating the difference between the angle fitting curve and the theoretical angle output value and compensating the error value into the collected data to control angle accuracy. This method reduces the size of the resolver while maintaining its angle measurement accuracy. Furthermore, combined with an angle error compensation method, high-precision angle measurement can be achieved.
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Description

Technical Field

[0001] The present invention relates to the technical field of integrated angle measurement systems, and in particular to an integrated angle measurement system and an error control method thereof. Background Art

[0002] Turntables typically require internal installation of rotary joints such as slip rings and water hinges (also called liquid rotary joints). High-precision turntable rotation angles are typically measured using a resolver. To accommodate slip rings and water hinges, the resolver's inner ring diameter must typically be larger than the envelope of the rotary joint. However, large resolvers are difficult and expensive to manufacture. To reduce resolver size, existing methods simply attach the resolver's inner and outer rings to slip rings. However, since the slip ring's rotating end is a floating connection, this can affect angle measurement and reduce accuracy. Summary of the Invention

[0003] In order to solve the technical problems existing in the background technology, the present invention proposes an integrated angle measurement system and an error control method thereof.

[0004] The present invention proposes an integrated angle measurement system, comprising: a base, a turntable, a slewing bearing, a drive unit, a water hinge, an electric slip ring, a resolver, and an adapter, wherein:

[0005] The turntable is rotatably mounted on the base through a slewing bearing, and a belly cavity is provided inside the turntable;

[0006] The driving unit is connected to the slewing bearing to drive the turntable to rotate by rotating the slewing bearing;

[0007] The water hinge and the electric slip ring are concentrically installed inside the turntable from the inside to the outside and are coaxial with the turntable, and the outer shell of the water hinge and the fixed end of the electric slip ring are respectively fixedly connected to the base;

[0008] The swivel is coaxial with the turntable, and its outer ring is fixedly connected to the outer shell of the water hinge, and its inner ring is fixedly connected to the turntable through an adapter.

[0009] Preferably, the adapter is an annular structure, which is located above the rotator and coaxial with the turntable, and its outer edge is connected to the turntable by a fastener, and the top of the inner ring of the rotator is in contact with the lower surface of the adapter and connected by a fastener.

[0010] Preferably, the adapter has a first ring portion, a second ring portion, and a third ring portion which are concentrically arranged from the inside to the outside, and in the axial direction, the third ring portion is located above the second ring portion and connected to the second ring portion, and the second ring portion is located above the first ring portion and connected to the first ring portion; the inner ring of the rotation transformer is fixed below the second ring portion, and the third ring portion is fixedly connected to the turntable.

[0011] Preferably, it also includes a smooth ring, which is coaxially arranged on the inner side of the top of the water hinge, and the fixed end of the smooth ring is fixedly connected to the outer shell of the water hinge, and the rotating end of the smooth ring is located on the inner side of the adapter and forms a follow-up connection with the adapter.

[0012] Preferably, a paddle is provided on the outer wall of the rotating end of the smooth ring, a paddle rod is mounted on the adapter, and in the rotation direction, the paddle rod is located on one side of the paddle.

[0013] Preferably, the lower ends of the water hinge and the electric slip ring are fixedly connected to the base via flanges.

[0014] Preferably, the slewing bearing is a bearing with an external tooth structure, and the driving unit includes a pinion meshing with the external teeth of the slewing bearing and a power component driving the pinion to rotate.

[0015] The present invention proposes an error control method for an integrated angle measurement system, comprising the following steps:

[0016] S1. Detect the runout value of the outer ring of the resolver after the turntable rotates one circle, and adjust the position of the outer ring according to the test result until the runout value meets the requirements;

[0017] S2. Measure the gap between the inner and outer rings of the resolver and adjust the position of the inner ring according to the measurement results until the gap uniformity between the inner and outer rings of the resolver meets the requirements;

[0018] S3, collecting angle values ​​when the turntable rotates one circle, and forming an angle fitting curve based on multiple angle values;

[0019] S4. Calculate the difference between the fitting curve of the angle and the theoretical angle output value, and compensate the error value into the collected data to form a control of the angle accuracy.

[0020] Preferably, in S2, the specific method for adjusting the gap between the inner and outer rings of the resolver is as follows:

[0021] S21, setting four measuring points along the circumferential direction of the resolver, and making the four measuring points evenly distributed in the circumferential direction;

[0022] S22. Measure the inner and outer ring gaps a1, a2, a3, and a4 at the four measuring points in sequence, move the inner ring according to the direction, and make the relationship between the inner ring movement value and the gap l1 = |a1-a3| / 2, l2 = |a2-a4| / 2.

[0023] Preferably, in S1, the runout value of the resolver outer ring is detected by a dial indicator installed on the turntable.

[0024] Preferably, in S2, the gap between the inner and outer rings of the resolver is measured using a feeler gauge.

[0025] In this invention, a slewing bearing serves as a rotating joint, connecting the base and the turntable. The drive unit rotates the slewing bearing, which in turn drives the turntable. The resolver's inner ring is connected to the turntable via an adapter, while its outer ring is connected to the outer shell of the water hinge, which in turn is connected to the base. This structural design reduces the resolver's size without compromising its angular measurement accuracy. Furthermore, by adjusting the resolver's position accuracy and combining it with angular error compensation methods, high-precision angle measurement can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic structural diagram of an integrated angle measurement system proposed by the present invention;

[0027] Figure 2 This is a schematic diagram of the installation of the inner and outer rings of the resolver in the integrated angle measurement system proposed by the present invention;

[0028] Figure 3 This is an axonometric diagram of the resolver in the integrated angle measurement system proposed by the present invention;

[0029] Figure 4 This is a structural schematic diagram of the adapter in the integrated angle measurement system proposed by the present invention;

[0030] Figure 5 This is a schematic diagram of adjusting the gap between the inner and outer rings of the resolver in the error control method of the integrated angle measurement system proposed by the present invention;

[0031] Figure 6 This is a flow chart of an error control method for an integrated angle measurement system proposed by the present invention. DETAILED DESCRIPTION

[0032] Reference Figure 1-2 The present invention proposes an integrated angle measurement system, comprising a base 01, a turntable 02, a slewing bearing 03, a drive unit 04, a water hinge 07, an electric slip ring 08, a resolver 05, and an adapter 09. Turntable 02 is rotatably mounted on base 01 via slewing bearing 03. Turntable 02 has an internal cavity. Drive unit 04 is connected to slewing bearing 03 to drive the rotation of turntable 02.

[0033] Water hinge 07 and electric slip ring 08 are concentrically nested and installed inside turntable 02, coaxially with the latter. The outer shell of water hinge 07 and the fixed end of electric slip ring 08 are securely connected to base 01 via flange 10. Resolver 05 is coaxially arranged with turntable 02, and its outer ring 05A is securely connected to the outer shell of water hinge 07 via fasteners, forming a connection between outer ring 05A and base 01. Resolver 05's inner ring 05B is securely connected to adapter 09 via fasteners. Adapter 09 is connected to turntable 02, further connecting inner ring 05B to the latter.

[0034] This structural design reduces the size of resolver 05 without compromising its angular measurement accuracy. Furthermore, since resolver 05's inner ring 05B and outer ring 05A are concentric rings, the uniformity of the gap between them after installation directly affects the accuracy of angle measurement. This structural design ensures this uniformity by adjusting the clearance between adapter 09 and resolver 05's inner ring 05B.

[0035] Reference Figure 3-4 The adapter 09 in this embodiment is an annular structural component, which is located above the resolver 05 and coaxial with the turntable 02. Its outer edge is connected to the turntable 02 through fasteners, and the top of the inner ring 05B of the resolver 05 is in contact with the lower surface of the adapter 09 and connected through fasteners.

[0036] Furthermore, adapter 09 comprises a first ring portion 093, a second ring portion 092, and a third ring portion 091, arranged concentrically from the inside out. Axially, third ring portion 091 is located above and connected to second ring portion 092, while second ring portion 092 is located above and connected to first ring portion 093. The inner ring 05B of resolver 05 is located below second ring portion 092 and is fixedly connected to second ring portion 092 via fasteners, while third ring portion 091 is also fixedly connected to turntable 02 via fasteners. The height difference between third ring portion 091 and second ring portion 092 creates a gap between third ring portion 091 and the top of outer ring 05A of resolver 05. Consequently, when adapter 09 rotates, friction between the lower surface of adapter 09 and outer ring 05A of resolver 05 is eliminated.

[0037] In addition, the integrated angle measurement system proposed in the present invention also includes a smooth ring 06, which is coaxially arranged on the inner side of the top of the water hinge 07, and the fixed end of the smooth ring 06 is fixedly connected to the outer shell of the water hinge 07. The rotating end of the smooth ring 06 is located on the inner side of the adapter 9 and forms a follow-up connection with the adapter 09, that is: when the turntable 02 rotates to drive the adapter 09 to rotate, the smooth ring 06 can rotate synchronously with the rotation of the adapter 09, and at the same time, it will not cause radial and axial constraints on the adapter 09.

[0038] Specifically, a paddle is provided on the outer wall of the rotating end of the smooth ring 06, and a lever is mounted on the adapter 9, and in the direction of rotation, the lever is located on one side of the paddle. When the adapter 09 rotates, the lever pushes the paddle and the rotating end of the smooth ring 06 to rotate together, thereby forming a follow-up connection.

[0039] In this embodiment, slewing bearing 03 is a bearing with external teeth. Drive unit 04 includes a pinion that meshes with the external teeth of slewing bearing 03 and a power component that drives the pinion. The slewing bearing acts as a revolving joint, connecting base 01 and turntable 02, enabling turntable 02 to rotate on base 01. During rotation, the pinion on drive unit 04 meshes with the external teeth of the slewing bearing, driving turntable 02 in rotation.

[0040] Reference Figure 5-6 The present invention proposes an error control method for an integrated angle measurement system, comprising the following steps:

[0041] S1. Install a dial indicator on the turntable 02 and use the dial indicator installed on the turntable 02 to detect the runout value of the outer ring 05A of the resolver 05 after the turntable 02 rotates one circle. Adjust the position of the outer ring 05A according to the test result until the runout value meets the requirement;

[0042] S2. Use a feeler gauge to measure the gap between the inner ring 05B and the outer ring 05A of the resolver 05. Adjust the position of the inner ring 05B according to the measurement result until the gap uniformity between the inner ring 05B and the outer ring 05A of the resolver 05 meets the requirements. The specific adjustment method is as follows:

[0043] S21, setting four measuring points along the circumference of the resolver 05, and making these four measuring points evenly distributed in the circumferential direction;

[0044] S22, measure the gaps a1, a2, a3, and a4 between the inner ring 05B and the outer ring 05A at the four measuring points in sequence, move the inner ring 05B according to the direction, and make the relationship between the movement value of the inner ring 05B and the gap be l1 = |a1-a3| / 2, l2 = |a2-a4| / 2;

[0045] S3, collecting angle values ​​when the turntable 02 rotates one circle, and forming an angle fitting curve based on multiple angle values;

[0046] S4. Calculate the difference between the fitting curve of the angle and the theoretical angle output value, and compensate the error value to the data collected by the acquisition module to form a control of the angle accuracy.

[0047] Specifically: in S3, the angle decoding signal is read by the acquisition module to output the angle value when the turntable rotates one circle; in S4, the error value is compensated to the data collected by the acquisition module to form a control of the angle accuracy.

[0048] As can be seen from the above, in the present invention, the slewing bearing serves as a rotating joint, connecting base 01 and turntable 02. Drive unit 04 rotates the slewing bearing, thereby driving turntable 02. Resolver 05's inner ring 05B is connected to turntable 02 via adapter 09, while its outer ring 05A is connected to the outer shell of water hinge 07, which in turn is connected to base 01. This structural design reduces the size of resolver 05 without compromising its angular measurement accuracy. Furthermore, by adjusting the position accuracy of resolver 05 and combining it with angular error compensation methods, high-precision angle measurement can be achieved.

[0049] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An integrated angle measurement system, characterized in that: include: Base (01), turntable (02), slewing bearing (03), drive unit (04), water hinge (07), electric slip ring (08), resolver (05), adapter (09), wherein: The turntable (02) is rotatably mounted on the base (01) via a slewing bearing (03), and an abdominal cavity is provided inside the turntable (02); The driving unit (04) is connected to the slewing bearing (03) to drive the slewing bearing (03) to rotate and drive the turntable (02) to rotate; The water hinge (07) and the electric slip ring (08) are concentrically installed inside the turntable (02) from the inside to the outside and are coaxial with the turntable (02), and the outer shell of the water hinge (07) and the fixed end of the electric slip ring (08) are respectively fixedly connected to the base (01); The resolver (05) is coaxial with the turntable (02), the outer ring (05A) of the resolver (05) is fixedly connected to the outer shell of the water hinge (07), and the inner ring (05B) of the resolver (05) is fixedly connected to the turntable (02) via an adapter (09).

2. The integrated angle measurement system according to claim 1, characterized in that: The adapter (09) is an annular structural component, which is located above the rotary transformer (05) and coaxial with the turntable (02). Its outer edge is connected to the turntable (02) through a fastener, and the top of the inner ring (05B) of the rotary transformer (05) is attached to the lower surface of the adapter (09) and connected through the fastener.

3. The integrated angle measurement system according to claim 2, characterized in that: The adapter (09) comprises a first ring portion (093), a second ring portion (092), and a third ring portion (091) which are concentrically arranged from the inside to the outside, and in the axial direction, the third ring portion (091) is located above the second ring portion (092) and connected to the second ring portion (092), and the second ring portion (092) is located above the first ring portion (093) and connected to the first ring portion (093); the inner ring (05B) of the rotary transformer (05) is fixed below the second ring portion (092), and the third ring portion (091) is fixedly connected to the turntable (02).

4. The integrated angle measurement system according to claim 2, wherein: The invention also includes a smooth ring (06), which is coaxially arranged on the inner side of the top of the water hinge (07), and the fixed end of the smooth ring (06) is fixedly connected to the outer shell of the water hinge (07), and the rotating end of the smooth ring (06) is located on the inner side of the adapter (09) and forms a follow-up connection with the adapter (09).

5. The integrated angle measurement system according to claim 4, characterized in that: The outer wall of the rotating end of the smooth ring (06) is provided with a paddle, and a paddle rod is installed on the first ring portion (093), and in the rotation direction, the paddle rod is located on one side of the paddle.

6. The integrated angle measurement system according to claim 1, wherein: The lower ends of the water hinge (07) and the electric slip ring (08) are fixedly connected to the base (01) through the flange (10).

7. The integrated angle measurement system according to claim 1, wherein: The slewing bearing (03) is a bearing with an external tooth structure, and the driving unit (04) comprises a small gear meshing with the external teeth of the slewing bearing (03) and a power component driving the small gear to rotate.

8. An error control method for an integrated angle measurement system according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1, detecting the runout value of the outer ring (05A) of the rotary transformer (05) after the turntable (02) rotates one circle, and adjusting the position of the outer ring (05A) according to the detection result until the runout value meets the requirement; S2. Measure the gap between the inner ring (05B) and the outer ring (05A) of the resolver (05), and adjust the position of the inner ring (05B) according to the measurement result until the gap uniformity between the inner ring (05B) and the outer ring (05A) of the resolver (05) meets the requirement; S3, collecting angle values ​​when the turntable (02) rotates one circle, and forming an angle fitting curve based on the multiple angle values; S4. Calculate the difference between the fitting curve of the angle and the theoretical angle output value, and compensate the error value into the collected data to form a control of the angle accuracy.

9. The error control method of the integrated angle measurement system according to claim 8, characterized in that: In S2, the specific method for adjusting the gap between the inner ring (05B) and the outer ring (05A) of the resolver (05) is as follows: S21, setting four measuring points along the circumferential direction of the resolver (05), and making the four measuring points uniformly distributed in the circumferential direction; S22. Measure the gaps a1, a2, a3, and a4 between the inner ring (05B) and the outer ring (05A) at the four measuring points in sequence, move the inner ring (05B) according to the direction, and make the relationship between the movement value of the inner ring (05B) and the gap l1 = |a1-a3| / 2, l2 = |a2-a4| / 2.

10. The error control method of the integrated angle measurement system according to claim 8, characterized in that: In S1, the runout value of the outer ring (05A) of the resolver (05) is detected by a dial indicator installed on the turntable (02); In S2, the gap between the inner ring (05B) and the outer ring (05A) of the resolver (05) is measured using a feeler gauge.