Multifunctional galvanometer motor manufacturing error measuring device and method

Abstract

The device comprises a galvanometer motor and a reflector arranged on the galvanometer motor, and further comprises a reference plane and a laser range finder arranged between the reference plane and the reflector, and the light emitting direction of the laser range finder is perpendicular to the reference plane; when the actual rotation angle of the galvanometer motor is 0 degree, the emergent light beam of the laser range finder is located in the center of the reflector and is perpendicular to the reflector. The invention further discloses a multifunctional galvanometer motor manufacturing error measurement method, high-precision measurement of the linearity and the repeated positioning precision of the galvanometer motor and the installation angle of a reflector can be achieved, a plurality of key technical indexes are provided for galvanometer motor production, the production quality of the galvanometer motor is guaranteed, and the consistency of galvanometer products is improved.

Description

Technical Field

[0001] The invention relates to the technical field of galvanometer motors, and in particular to a multifunctional galvanometer motor manufacturing error measurement device and method. Background Art

[0002] The production process of galvanometers has a low degree of automation, and most links rely on manual assembly by workers. In particular, the production of galvanometer motors relies heavily on manual work. Therefore, the consistency of galvanometer motors is generally not high. The resulting problem is that the consistency of galvanometer products is not high.

[0003] In the existing galvanometer production process, the linearity of the galvanometer motor and the installation angle of the reflector are usually not strictly controlled, because these two manufacturing errors are system errors that can be compensated by software. Multi-point calibration during galvanometer calibration can basically eliminate the impact of these two errors, but the calibration is very time-consuming and labor-intensive. Not only that, the lack of consistency in the galvanometer motor results in a different calibration compensation table for each galvanometer, which brings great difficulties to the maintenance of the galvanometer products.

[0004] In addition, the repeatability accuracy of galvanometer products is almost the most important technical indicator, which directly affects the quality of laser processing. However, due to the lack of fast and accurate measurement methods, galvanometer motors usually do not perform reasonable quality control on the repeatability accuracy during production. As a result, when the galvanometer products are assembled and marked, processing pattern defects such as uneven line thickness and uneven filling often occur, which objectively increases the probability of quality defects in galvanometer products.

[0005] The linearity, repeatability and installation angle of the galvanometer motor are very important indicators. If they can be controlled during motor production, the consistency of the galvanometer motor products can be significantly improved, and the workload of the galvanometer products during factory calibration can be reduced. Even in low and medium precision situations, all galvanometer products can use the same correction compensation table.

[0006] However, based on existing technical conditions, it is impossible to strictly control the linearity, repeatability accuracy and installation angle of the reflector in the galvanometer motor production process, which seriously affects the consistency of the galvanometer products. It is impossible to effectively prevent quality defects at the front end of production, affecting the yield of the final galvanometer products. Summary of the invention

[0007] In order to solve the problems existing in the prior art, the purpose of the present invention is to provide a multifunctional galvanometer motor manufacturing error measurement device and method. The present invention is low-cost and easy to operate, and can realize precise measurement of the linearity, repeatability and installation angle of the galvanometer motor on a set of devices. It can effectively eliminate defective products in the galvanometer motor production link, improve the consistency of the galvanometer motor, ensure the yield and consistency of the final delivered products from the incoming material end of the galvanometer product production, reduce the difficulty of the product's later maintenance, and shorten the working hours of the galvanometer product calibration.

[0008] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a multifunctional galvanometer motor manufacturing error measuring device, comprising a galvanometer motor and a reflector arranged on the galvanometer motor, and also comprising a reference plane and a laser rangefinder arranged between the reference plane and the reflector, the light emitting direction of the laser rangefinder being perpendicular to the reference plane; when the actual rotation angle of the galvanometer motor is 0°, the light emitting beam of the laser rangefinder is located at the center of the reflector and is perpendicular to the reflector.

[0009] As a further improvement of the present invention, it also includes a computer and a galvanometer control card, wherein the computer is used to install the measurement software, and the galvanometer control card is used to send computer instructions to the galvanometer motor to drive the motor to perform corresponding movements.

[0010] As a further improvement of the present invention, the reference plane is a steel strip.

[0011] As a further improvement of the present invention, one end of the steel belt is connected to a first steel belt fixed support, and the other end of the steel belt is connected to a second steel belt fixed support via a tensioning spring; a first pulley is provided on one side of the first steel belt fixed support, and a second pulley is provided on one side of the second steel belt fixed support, and the first pulley and the second pulley are used to tighten the steel belt into a reference plane.

[0012] As a further improvement of the present invention, a plurality of equidistant engraved lines are engraved on the steel belt along the length direction, and the engraved lines are used to measure the installation angle of the reflector of the galvanometer motor; when the installation angle error of the reflector of the galvanometer motor is lower than the error threshold, the landing point formed by the light beam of the laser rangefinder on the steel belt is located at the two threshold lines e on the steel belt. max + and e max - inside; when the installation angle error of the reflector of the galvanometer motor is higher than the error threshold, the light beam of the laser rangefinder falls on the steel belt at the two threshold lines e of the steel belt max + and e max -outside.

[0013] The present invention also provides a method for measuring manufacturing errors of a multifunctional galvanometer motor, which is implemented by using the multifunctional galvanometer motor manufacturing error measuring device as described above, and the method comprises:

[0014] When different rotation angle commands are sent to the galvanometer motor, the measurement results of the laser rangefinder are collected synchronously to obtain the relationship curve between the command angle and the actual angle, that is, the linearity of the galvanometer motor;

[0015] When sending a reciprocating motion command to the galvanometer motor, the measurement result of the laser rangefinder is synchronously collected to obtain the positioning deviation of the galvanometer motor at a fixed position, that is, the repeatability of the galvanometer motor.

[0016] The installation angle error of the reflector is calculated based on the deviation distance of the laser rangefinder's light spot on the reference plane.

[0017] As a further improvement of the present invention, the method for determining the linearity of the galvanometer motor is specifically as follows:

[0018] The rotation range of the galvanometer motor is divided into N-1 equal parts, and the N angle commands are θ cmd_1 ,θ cmd_2 ...θ cmd_N ;

[0019] The N angle instructions are sent to the galvanometer motor through the galvanometer control card to control the rotation of the galvanometer motor, and stay for a target time after each angle instruction ends to collect the measurement value of the laser rangefinder, and calculate the actual angle at each instruction angle according to the measurement value of the laser rangefinder, which is θ real_1 ,θ real_2 ...θ real_N ;

[0020] Repeat the above steps M-1 times to measure M actual angles at each command angle, and calculate the average value corresponding to each command angle to obtain N groups of average values;

[0021] Perform a straight line fitting on the N groups of average values ​​to obtain a fitting residual curve, and determine the linearity error L of the galvanometer motor according to the maximum value in the fitting residual curve. error .

[0022] As a further improvement of the present invention, the method for determining the repeatability of the galvanometer motor is as follows:

[0023] The rotation range of the galvanometer motor is divided into N-1 equal parts, and the N angle commands are θ cmd_1 ,θ cmd_2 ...θ cmd_N ;

[0024] The N angle instructions are sent to the galvanometer motor through the galvanometer control card to control the rotation of the galvanometer motor, and stay for a target time after each angle instruction ends to collect the measurement value of the laser rangefinder, and calculate the actual angle at each instruction angle according to the measurement value of the laser rangefinder, which is θ real_1 ,θ real_2 ...θ real_N ;

[0025] The above steps are repeated M-1 times to measure M actual angles at each command angle, and the variance corresponding to each command angle is calculated to obtain N groups of variances σ;

[0026] Get the maximum value σ among the N groups of variance σ max , and according to the maximum value σ max According to the target credibility, the repeatability error of the galvanometer motor is ±2σ. max .

[0027] As a further improvement of the present invention, the actual rotation angle θ of the galvanometer motor is obtained by the following formula:

[0028]

[0029] Among them, c represents the distance between the measurement starting point of the laser rangefinder and the reference plane, a represents the distance between the laser rangefinder and the reflector, b represents the distance from the outgoing light beam of the laser rangefinder to the reference plane after being reflected by the reflector, and a+b forms the measurement value of the laser rangefinder.

[0030] As a further improvement of the present invention, the method for determining the installation angle error of the reflector is specifically as follows:

[0031] Sending a fixed angle instruction to the galvanometer motor, and recording the measurement value of the laser rangefinder under the fixed angle instruction, and the distance between the landing point formed by the light beam and the center mark line of the steel strip;

[0032] According to the measurement value of the laser rangefinder under the fixed angle instruction and the distance between the landing point formed by the light beam and the center line of the steel belt, the installation angle error of the reflector of the galvanometer motor is calculated:

[0033]

[0034] Wherein, e represents the distance between the landing point and the central scale line of the reference plane, and the reference plane represents the distance from the light beam of the laser rangefinder to the reference plane after being reflected by the reflector.

[0035] The beneficial effects of the present invention are:

[0036] 1. The present invention can achieve high-precision measurement of the linearity, repeatability and installation angle of the galvanometer motor, provide several key technical indicators for the production of the galvanometer motor, ensure the production quality of the galvanometer motor, and improve the consistency of the galvanometer products.

[0037] 2. The present invention uses low-cost materials to construct a high-precision and multifunctional measurement system. For example, a millimeter-resolution laser rangefinder that is easily available on the market can be used to collect data, and a high-precision reference plane can be constructed using extremely low-cost steel belts and tensioning wheels. The laser rangefinder and the high-precision reference plane can be used to achieve high-precision galvanometer angle measurement with the help of simple trigonometric formulas, and the engraved lines on the steel belt can be used to achieve measurement of the lens installation angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of the measurement principle of the linearity and repeatability of the galvanometer motor in an embodiment of the present invention;

[0039] Figure 2 Schematic diagram of the reflector installation angle error measurement principle in an embodiment of the present invention;

[0040] Figure 3 It is a measurement curve diagram of the command angle and the actual angle of the galvanometer motor in an embodiment of the present invention;

[0041] Figure 4 In the embodiment of the present invention, Figure 3 Residual curve after straight line fitting.

[0042] Reference numerals:

[0043] 1. Steel belt, 2. Laser rangefinder, 3. Reflector, 4. Galvanometer motor, 5. Second pulley, 6. First pulley, 7. Tension spring, 8. Second steel belt fixed support, 9. First steel belt fixed support, 10. Computer, 11. Galvanometer control card. DETAILED DESCRIPTION

[0044] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0045] Example

[0046] like Figure 1 As shown, a multifunctional galvanometer motor manufacturing error measuring device comprises:

[0047] A steel belt 1, one end of which is connected to a first steel belt fixing support 9, and the other end of which is connected to a second steel belt fixing support 8 via a tension spring 7;

[0048] A first pulley 6 and a second pulley 5, wherein the first pulley 6 is located on one side of the first steel belt fixing support 9, and the second pulley 5 is located on one side of the second steel belt fixing support 8, for supporting the steel belt 1;

[0049] A laser rangefinder 2 is spaced at a preset distance from the steel strip 1, and its light emitting direction is perpendicular to the steel strip 1;

[0050] A galvanometer motor 4, on which a reflector 3 is arranged, the reflector 3 is located in the light emitting direction of the laser rangefinder 2, and the galvanometer motor 4 drives the reflector to rotate;

[0051] A computer 10 and a galvanometer control card 11 , wherein the computer is installed with measurement software, and the galvanometer control card is responsible for sending computer instructions to the galvanometer motor to drive the motor to perform corresponding movements.

[0052] The first pulley 6 and the second pulley 5 are respectively located on both sides of the steel belt 1 so that the steel belt 1 is tightened into a reference plane.

[0053] When the actual rotation angle of the galvanometer motor 4 is 0, the light beam of the laser rangefinder 2 is located at the center of the reflector and is perpendicular to the reflector.

[0054] The actual rotation angle θ of the galvanometer motor 4 is obtained by the following formula:

[0055]

[0056] Among them, c represents the distance between the measurement starting point of the laser rangefinder 2 and the reference plane, a represents the distance between the laser rangefinder 2 and the reflector 3, b represents the distance from the outgoing light beam of the laser rangefinder 2 to the reference plane reflected by the reflector 3, and a+b forms the measurement value of the laser rangefinder 2.

[0057] The steel belt 1 is engraved with a plurality of equidistant engraved lines along the length direction; the engraved lines are used to measure the installation angle of the reflector of the galvanometer motor 4;

[0058] When the installation angle error of the reflector of the galvanometer motor 4 is lower than the error threshold, the point formed by the light beam of the laser rangefinder 2 on the steel belt 1 is located between the two threshold lines e on the steel belt 1. max + and e max -Inside;

[0059] When the installation angle error of the reflector of the galvanometer motor 4 is higher than the error threshold, the light beam of the laser rangefinder 2 falls on the steel belt 1 at the two threshold lines e of the steel belt 1. max + and e max -outside.

[0060] The installation angle error of the reflector is obtained by the following formula:

[0061]

[0062] Wherein, e represents the distance between the landing point and the center mark line of the steel strip 1, and b represents the distance from the light beam of the laser rangefinder 2 to the reference plane after being reflected by the reflector.

[0063] This embodiment also provides a measurement method based on the multifunctional galvanometer motor manufacturing error measurement device as described above, the measurement method comprising:

[0064] Step S1: Divide the rotation range of the galvanometer motor into N-1 equal parts, and obtain N angle instructions, which are θ cmd_1 ,θ cmd_2 ...θ cmd_N ;

[0065] Step S2: The N angle instructions are sent to the galvanometer motor through the galvanometer control card to control the rotation of the galvanometer motor, and the motor stays for a target time after each angle instruction ends to collect the measurement value of the laser rangefinder, and the actual angle at each instruction angle is calculated according to the measurement value of the laser rangefinder, which is θ real_1 ,θ real_2 ...θ real_N , the measurement curve of the galvanometer motor command angle and actual angle is as follows Figure 3 As shown;

[0066] Step S3: Repeat the above steps S1 to S2 M-1 times to measure M actual angles at each command angle, and calculate the average value and variance corresponding to each command angle respectively to obtain N groups of average values ​​and N groups of variances σ;

[0067] Step S4: Obtain the maximum value σ among the N groups of variances σ max , and according to the maximum value σ max According to the target credibility, the repeatability error of the galvanometer motor is ±2σ. max ;

[0068] Step S5: Perform a straight line fit on the N groups of average values ​​to obtain a fitting residual curve, such as Figure 4 As shown, the linearity error L of the galvanometer motor is determined according to the maximum value in the fitting residual curve. error ; Figure 4 In the figure, the point with the largest variance takes a 95.4% confidence level, which is defined as the repeatability error of the galvanometer motor ±2σmax. The point with the largest absolute value of the thick black line in the figure is defined as the linearity error L of the galvanometer motor. error ;

[0069] Step S6: sending a fixed angle instruction to the galvanometer motor through the galvanometer control card, and recording the measurement value of the laser rangefinder under the fixed angle instruction, and the distance between the landing point formed by the light beam and the center mark of the steel strip;

[0070] Step S7: Calculate the installation angle error of the reflector of the galvanometer motor according to the measurement value of the laser rangefinder under the fixed angle instruction and the distance between the landing point formed by the light beam and the center line of the steel belt, such as Figure 2 shown.

[0071] The above-mentioned embodiments only express the specific implementation of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A multifunctional galvanometer motor manufacturing error measuring device, comprising a galvanometer motor and a reflector arranged on the galvanometer motor, characterized in that: It also includes a reference plane and a laser rangefinder arranged between the reference plane and the reflector, wherein the light emitting direction of the laser rangefinder is perpendicular to the reference plane; when the actual rotation angle of the galvanometer motor is 0°, the light emitting beam of the laser rangefinder is located at the center of the reflector and is perpendicular to the reflector.

2. The multifunctional galvanometer motor manufacturing error measuring device according to claim 1, characterized in that: It also includes a computer and a galvanometer control card, wherein the computer is used to install measurement software, and the galvanometer control card is used to send computer instructions to the galvanometer motor to drive the motor to perform corresponding movements.

3. The multifunctional galvanometer motor manufacturing error measuring device according to claim 1 or 2, characterized in that: The reference plane is a steel strip.

4. The multifunctional galvanometer motor manufacturing error measuring device according to claim 3, characterized in that: One end of the steel belt is connected to the first steel belt fixed support, and the other end of the steel belt is connected to the second steel belt fixed support through a tensioning spring; a first pulley is provided on one side of the first steel belt fixed support, and a second pulley is provided on one side of the second steel belt fixed support, and the first pulley and the second pulley are used to tighten the steel belt into a reference plane.

5. The multifunctional galvanometer motor manufacturing error measuring device according to claim 1, characterized in that: The steel belt is engraved with a plurality of equidistant engraved lines along the length direction, and the engraved lines are used to measure the installation angle of the reflector of the galvanometer motor; when the installation angle error of the reflector of the galvanometer motor is lower than the error threshold, the light beam of the laser rangefinder forms a landing point on the steel belt located at the two threshold lines e on the steel belt. max + and e max - inside; when the installation angle error of the reflector of the galvanometer motor is higher than the error threshold, the light beam of the laser rangefinder falls on the steel belt at the two threshold lines e of the steel belt max + and e max -outside.

6. A method for measuring manufacturing errors of a multifunctional galvanometer motor, characterized in that: The method is implemented by using the multifunctional galvanometer motor manufacturing error measuring device as described in any one of claims 1 to 5, wherein the method comprises: When different rotation angle commands are sent to the galvanometer motor, the measurement results of the laser rangefinder are collected synchronously to obtain the relationship curve between the command angle and the actual angle, that is, the linearity of the galvanometer motor; When sending a reciprocating motion command to the galvanometer motor, the measurement result of the laser rangefinder is synchronously collected to obtain the positioning deviation of the galvanometer motor at a fixed position, that is, the repeatability of the galvanometer motor. The installation angle error of the reflector is calculated based on the deviation distance of the laser rangefinder's light spot on the reference plane.

7. The method for measuring manufacturing errors of a multifunctional galvanometer motor according to claim 6, characterized in that: The method for determining the linearity of the galvanometer motor is specifically as follows: The rotation range of the galvanometer motor is divided into N-1 equal parts, and the N angle commands are θ cmd_1 ,θ cmd_2 ...θ cmd_N ; The N angle instructions are sent to the galvanometer motor through the galvanometer control card to control the rotation of the galvanometer motor, and stay for a target time after each angle instruction ends to collect the measurement value of the laser rangefinder, and calculate the actual angle at each instruction angle according to the measurement value of the laser rangefinder, which is θ real_1 ,θ real_2 ...θ real_N ; Repeat the above steps M-1 times to measure M actual angles at each command angle, and calculate the average value corresponding to each command angle to obtain N groups of average values; Perform a straight line fitting on the N groups of average values ​​to obtain a fitting residual curve, and determine the linearity error L of the galvanometer motor according to the maximum value in the fitting residual curve. error .

8. The method for measuring manufacturing errors of a multifunctional galvanometer motor according to claim 6, characterized in that: The method for determining the repeatability of the galvanometer motor is as follows: The rotation range of the galvanometer motor is divided into N-1 equal parts, and the N angle commands are θ cmd_1 ,θ cmd_2 ...θ cmd_N ; The N angle instructions are sent to the galvanometer motor through the galvanometer control card to control the rotation of the galvanometer motor, and stay for a target time after each angle instruction ends to collect the measurement value of the laser rangefinder, and calculate the actual angle at each instruction angle according to the measurement value of the laser rangefinder, which is θ real_1 ,θ real_2 ...θ real_N ; The above steps are repeated M-1 times to measure M actual angles at each command angle, and the variance corresponding to each command angle is calculated to obtain N groups of variances σ; Get the maximum value σ among the N groups of variance σ max , and according to the maximum value σ max According to the target credibility, the repeatability error of the galvanometer motor is ±2σ. max .

9. The method for measuring manufacturing errors of a multifunctional galvanometer motor according to claim 7 or 8, characterized in that: The actual rotation angle θ of the galvanometer motor is obtained by the following formula: Among them, c represents the distance between the measurement starting point of the laser rangefinder and the reference plane, a represents the distance between the laser rangefinder and the reflector, b represents the distance from the outgoing light beam of the laser rangefinder to the reference plane after being reflected by the reflector, and a+b forms the measurement value of the laser rangefinder.

10. The method for measuring manufacturing errors of a multifunctional galvanometer motor according to claim 6, characterized in that: The method for determining the installation angle error of the reflector is specifically as follows: Sending a fixed angle instruction to the galvanometer motor, and recording the measurement value of the laser rangefinder under the fixed angle instruction, and the distance between the landing point formed by the light beam and the center mark line of the steel strip; According to the measurement value of the laser rangefinder under the fixed angle instruction and the distance between the landing point formed by the light beam and the center line of the steel belt, the installation angle error of the reflector of the galvanometer motor is calculated: Wherein, e represents the distance between the landing point and the central scale line of the reference plane, and the reference plane represents the distance from the light beam of the laser rangefinder to the reference plane after being reflected by the reflector.

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