Encoder system capable of realizing error self-detection and detection method

Abstract

The invention discloses an encoder system capable of realizing error self-detection and a detection method. The system comprises a central rotating shaft, an upper-layer induction type hollow encoder, a lower-layer induction type hollow encoder, an upper fixing frame and a lower fixing frame, a stator of the lower-layer induction type hollow encoder is fixedly connected with the lower fixing frame, and a rotor of the lower-layer induction type hollow encoder is fixedly connected with the central rotating shaft and rotates along with the central rotating shaft; a stator of the upper-layer induction type hollow encoder is fixedly connected with the upper fixing frame, and a rotor of the upper-layer induction type hollow encoder is connected or not connected with the central rotating shaft through a screw. By means of the scheme, under the condition that no high-precision angle measurement equipment exists, error separation can be achieved through the designed encoder system and mutual comparison measurement of the two encoders with the same precision, and high measurement precision can be achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of encoder error detection, and in particular relates to an encoder system capable of realizing error self-detection and a detection method. Background Art

[0002] An encoder is a device that uses electromagnetic principles to convert linear displacement or angular displacement into electrical signals. The former is called a yardstick and the latter is called a code disk. According to the readout method, encoders can be divided into contact and non-contact types; according to the working principle, encoders can be divided into incremental and absolute types. Incremental encoders convert displacement into periodic electrical signals, and then convert this electrical signal into counting pulses, using the number of pulses to represent the size of the displacement. Each position of an absolute encoder corresponds to a certain digital code, so its indication is only related to the starting and ending positions of the measurement, but not to the intermediate process of the measurement.

[0003] When the incremental encoder is working, it sends out a pulse signal for each unit angle rotation. It also sends out sine and cosine signals, which are then subdivided and chopped into pulses with higher frequencies, usually output as phase A, phase B, and phase Z. Phase A and phase B are pulse outputs with mutually delayed periods. The positive and reverse rotations can be distinguished according to the delay relationship, and the frequency can be doubled or quadrupled by taking the rising and falling edges of phase A and phase B; phase Z is a single-turn pulse, that is, one pulse is sent out for each turn. Incremental encoders in the general sense have no internal storage devices, so they do not have the function of power-off data retention. When the absolute encoder is working, it corresponds to one turn, and each reference angle sends out a unique binary value corresponding to the angle. Multiple positions can be recorded and measured by counting the number of turns through external devices. The output of the absolute encoder can directly reflect the absolute angle within the range of 360°, and the absolute position can be identified by the amplitude of the output signal or the physical encoding scale of the grating.

[0004] Currently, encoder position measurement will introduce errors. The accuracy measurement of high-precision encoders often places higher requirements on the accuracy of the measuring equipment, which is often difficult to achieve. Summary of the invention

[0005] The object of the present invention is to provide an encoder system and a detection method capable of realizing error self-detection, so as to meet the demand for the accuracy measurement of the encoder.

[0006] To achieve the purpose of the present invention, the technical solution provided by the present invention is as follows:

[0007] First aspect

[0008] The present invention provides an encoder system capable of realizing error self-detection, comprising a central rotating shaft, an upper layer inductive hollow encoder and a lower layer inductive hollow encoder, an upper fixing frame and a lower fixing frame;

[0009] The stator of the lower inductive hollow encoder is fixedly connected to the lower fixing frame, and the rotor of the lower inductive hollow encoder is fixedly connected to the central rotating shaft and rotates with the central rotating shaft;

[0010] The stator of the upper inductive hollow encoder is fixedly connected to the upper fixing frame, and the rotor of the upper inductive hollow encoder is connected to the central rotating shaft by screws or is not connected, and can rotate with the central rotating shaft or rotate independently;

[0011] When rotating with the central rotating shaft, the rotor of the upper inductive hollow encoder is connected to the central rotating shaft by screws;

[0012] When rotating independently, the rotor of the upper inductive hollow encoder is disconnected from the central rotating shaft, and after the rotor of the upper inductive hollow encoder moves downward, it is fixedly connected to the upper fixing frame.

[0013] Second aspect

[0014] The present invention provides an encoder system detection method capable of realizing error self-detection, the method comprising the following steps:

[0015] Step 1: construct an encoder system capable of realizing error self-detection according to any one of claims 1 to 8;

[0016] Step 2: Use the encoder system that can realize self-detection of errors to perform detection. The detection process includes multiple measurement rounds. After each measurement round starts, the upper inductive hollow encoder and the lower inductive hollow encoder can rotate with the central shaft, and output the corresponding angle position signal in real time through the angle measurement circuit at n measurement positions. The readings of the master and slave encoders are directly read from the angle display device, and the difference between the two is filled in the error table for use.

[0017] Compared with the prior art, the technical effects of the technical solution of the present invention are as follows:

[0018] By utilizing the scheme of the present invention, in the absence of a high-precision angle measuring device, the designed encoder system can realize error separation and achieve higher measurement accuracy by only comparing two sets of encoders with equal accuracy.

[0019] In addition, by using this solution, the error introduced by adjusting the relative position between the stator and the rotor can be reduced, thereby ensuring the accuracy of the measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic cross-sectional structure diagram of an encoder system capable of realizing error self-detection provided by this embodiment;

[0021] In the figure, the central rotating shaft 1, the stator 2 of the upper inductive hollow encoder, the upper fixing frame 3, the lower fixing frame 4, the stator 5 of the lower inductive hollow encoder, the rotor 6 of the lower inductive hollow encoder, the rotor 7 of the upper inductive hollow encoder, and the pad 8;

[0022] Figure 2 A schematic diagram of the structure of the central rotating shaft provided in this embodiment;

[0023] Figure 3 This is a schematic diagram of the encoder system structure when the upper inductive hollow encoder provided in this embodiment rotates independently. DETAILED DESCRIPTION

[0024] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Figure 1-Figure 3 It is a structural schematic diagram of this embodiment.

[0026] Example 1

[0027] like Figure 1 As shown, this embodiment provides an encoder system capable of realizing error self-detection, including a central rotating shaft 1, an upper inductive hollow encoder and a lower inductive hollow encoder, an upper fixing frame 3 and a lower fixing frame 4;

[0028] The stator 5 of the lower inductive hollow encoder is fixedly connected to the lower fixing frame 4, and the rotor 6 of the lower inductive hollow encoder is fixedly connected to the central rotating shaft 1 and rotates with the central rotating shaft 1;

[0029] The stator 2 of the upper inductive hollow encoder is fixedly connected to the upper fixing frame 3, and the rotor 7 of the upper inductive hollow encoder is connected to the central rotating shaft 1 by screws or is not connected, and can rotate with the central rotating shaft 1 or rotate independently;

[0030] When rotating with the central rotating shaft 1, the rotor 7 of the upper inductive hollow encoder is connected to the central rotating shaft 1 by screws;

[0031] When rotating independently, the rotor 7 of the upper inductive hollow encoder is disconnected from the central rotating shaft 1 , and after the rotor 7 of the upper inductive hollow encoder moves downward, it is fixedly connected to the upper fixing frame 3 .

[0032] It should be noted that the encoder system can be installed in electromechanical equipment, such as AGV, and used as an angle measurement system.

[0033] It should be noted that the central shaft 1 is rotatable, and an auxiliary rotating mechanism may be provided to drive the central shaft 1 to rotate, such as a dividing table, etc., using existing technology, which will not be described in detail here.

[0034] It should be noted that the upper fixing frame 3 and the lower fixing frame 4 are connected to the components of the corresponding electromechanical equipment, and the fixing method thereof can be screw connection or welding, etc., all of which adopt the existing technology and will not be repeated here.

[0035] It should be noted that the stator 2 of the upper inductive hollow encoder can be fixedly connected to the upper fixing frame 3 by screws.

[0036] The stator 5 of the lower inductive hollow encoder can be fixedly connected to the lower fixing frame 4 by screws.

[0037] Preferably, when rotating with the central shaft 1, a cushion block 8 is provided between the lower end of the rotor 7 of the upper inductive hollow encoder and the annular support block of the central shaft 1. The cushion block 8 is used to ensure the horizontal relative position of the rotor.

[0038] Preferably, a specific fixing method is provided. The rotor 7 of the upper inductive hollow encoder and the central rotating shaft 1 are respectively provided with a first transverse hole and a second transverse hole corresponding in position, and the screw passes through the first transverse hole and is threadedly connected with the second transverse hole, so as to fix the rotor 7 of the upper inductive hollow encoder with the central rotating shaft 1.

[0039] Preferably, the air gap between the stator of the bottom inductive hollow encoder and the rotor of the bottom inductive hollow encoder is 0.2 mm.

[0040] When rotating with the central shaft 1, the air gap between the stator of the upper inductive hollow encoder and the rotor of the upper inductive hollow encoder is 0.2 mm.

[0041] Preferably, the outer diameter of the upper inductive hollow encoder and the lower inductive hollow encoder are both 72 mm, the inner diameter is 45 mm, and the accuracy is 3.

[0042] Example 2

[0043] This embodiment provides an encoder system detection method capable of realizing error self-detection, the method comprising the following steps:

[0044] Step 1: Build the above-mentioned encoder system that can realize error self-detection;

[0045] Step 2: Use the encoder system that can realize self-detection of errors to perform detection. The detection process includes multiple measurement rounds. After each measurement round starts, the upper inductive hollow encoder and the lower inductive hollow encoder can rotate with the central shaft 1, and output the corresponding angle position signal in real time through the angle measurement circuit at n measurement positions. The readings of the master and slave encoders are directly read from the angle display device, and the difference between the two is filled in the error table for use.

[0046] It should be noted that the value of n can be selected according to actual needs.

[0047] Preferably, after one measurement is completed, the spacer 8 is removed, and the rotor of the upper inductive hollow encoder is moved downward by removing the screws, separated from the central rotating shaft 1, and fixedly connected to the upper fixing frame 3, and the central axis system is rotated to make the rotors of the two inductive hollow encoders staggered by a relative angle.

[0048] Specifically, the zero position of the upper inductive hollow encoder is selected as the reference zero, and the actual measurement of 8 rounds with 45° as the interval angle of each round is taken as an example to illustrate the actual test method based on the combined mutual comparison method.

[0049] Before the first measurement, both the upper inductive hollow encoder and the lower inductive hollow encoder are adjusted to a state where the digital display reading is zero, and 8 comparison measurements are performed with 0° as the starting position, and the readings of the upper inductive hollow encoder and the lower inductive hollow encoder are read out respectively. In the second measurement, the upper inductive hollow encoder still starts at 0°, and the lower inductive hollow encoder is rotated clockwise by an angle relative to the upper inductive hollow encoder. A new set of data is measured, and the readings of the upper inductive hollow encoder and the lower inductive hollow encoder are read out respectively; and so on, to the eighth measurement. In this way, the measurement of 8 measurement rounds is completed, and each measurement round contains 8 measurement values ​​of the upper inductive hollow encoder and 8 measurement values ​​of the lower inductive hollow encoder. Then, the data of the upper inductive hollow encoder and the lower inductive hollow encoder at the same position point in each measurement round are compared to obtain an 8×8-order matrix, and then the error data of the upper inductive hollow encoder and the lower inductive hollow encoder can be separated by the combined comparison method.

[0050] After a measurement, the pad 8 is removed, and the rotor 7 of the upper inductive hollow encoder is separated from the central shaft 1 by adjusting the screw, and moved down to be fixedly connected with the upper fixing frame 3, so that the rotor 7 of the upper inductive hollow encoder and the central shaft 1 are independent. When the rotor 6 of the lower inductive hollow encoder is driven by the central shaft 1 to rotate a certain angle, while the rotor 7 of the upper inductive hollow encoder remains unchanged, the two move relative to each other at a certain angle.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate and explain the present invention, and are not intended to limit the present invention to the scope of the described embodiments. In addition, those skilled in the art can understand that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of the protection claimed by the present invention.

Claims

1. An encoder system capable of realizing error self-detection, characterized in that: It comprises a central rotating shaft (1), an upper layer inductive hollow encoder, a lower layer inductive hollow encoder, an upper fixing frame (3) and a lower fixing frame (4); The stator (5) of the lower inductive hollow encoder is fixedly connected to the lower fixed frame (4), and the rotor (6) of the lower inductive hollow encoder is fixedly connected to the central rotating shaft (1) and rotates with the central rotating shaft (1); The stator (2) of the upper inductive hollow encoder is fixedly connected to the upper fixing frame (3), and the rotor (7) of the upper inductive hollow encoder is connected to the central rotating shaft (1) by screws or is not connected, and can rotate with the central rotating shaft (1) or rotate independently; When rotating with the central rotating shaft (1), the rotor (7) of the upper inductive hollow encoder is connected to the central rotating shaft (1) via screws; When rotating independently, the rotor (7) of the upper inductive hollow encoder is disconnected from the central rotating shaft (1); after the rotor (7) of the upper inductive hollow encoder moves downward, it is fixedly connected to the upper fixing frame (3).

2. An encoder system capable of realizing error self-detection according to claim 1, characterized in that: When rotating with the central rotating shaft (1), a cushion block (8) is arranged between the lower end of the rotor (7) of the upper inductive hollow encoder and the annular support block of the central rotating shaft (1).

3. An encoder system capable of realizing error self-detection according to claim 1, characterized in that: The rotor (7) of the upper inductive hollow encoder and the central rotating shaft (1) are respectively provided with a first transverse hole and a second transverse hole corresponding in position, and the screw passes through the first transverse hole and is threadedly connected with the second transverse hole, so as to be used for fixing the rotor (7) of the upper inductive hollow encoder to the central rotating shaft (1).

4. The encoder system capable of realizing error self-detection according to claim 1, characterized in that: The air gap between the stator of the lower inductive hollow encoder and the rotor of the lower inductive hollow encoder is 0.2 mm.

5. The encoder system capable of realizing error self-detection according to claim 1, characterized in that: When rotating with the central shaft (1), the air gap between the stator of the upper inductive hollow encoder and the rotor of the upper inductive hollow encoder is 0.2 mm.

6. The encoder system capable of realizing error self-detection according to claim 1, characterized in that: The outer diameter of the upper inductive hollow encoder and the lower inductive hollow encoder are both 72mm, the inner diameter is 45mm, and the accuracy is 3.

7. An encoder system capable of realizing error self-detection according to claim 1, characterized in that: The stator (2) of the upper inductive hollow encoder is fixedly connected to the upper fixing frame (3) by means of screws.

8. An encoder system capable of realizing error self-detection according to claim 1, characterized in that: The stator (5) of the lower inductive hollow encoder is fixedly connected to the lower fixing frame (4) via screws.

9. A method for detecting an encoder system capable of realizing self-detection of errors, characterized in that: The method comprises the following steps: Step 1: construct an encoder system capable of realizing error self-detection according to any one of claims 1 to 8; Step 2: Detection is performed using the encoder system that can realize error self-detection. The detection process includes multiple measurement rounds. After each measurement round starts, the upper inductive hollow encoder and the lower inductive hollow encoder can rotate with the central shaft (1) and output corresponding angle position signals in real time through the angle measurement circuit at n measurement positions. The readings of the master and slave encoders are directly read from the angle display device, and the difference between the two is filled in the error table for use.

10. The encoder system detection method capable of realizing error self-detection according to claim 9, characterized in that: After one measurement is completed, the spacer (8) is removed, and the rotor of the upper inductive hollow encoder is moved downward by removing the screws, separated from the central rotating shaft (1), and fixedly connected to the upper fixing frame (3), and the central axis system is rotated so that the rotors of the two inductive hollow encoders are staggered by a relative angle.

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