Rotary table precision measuring method and measuring device

Abstract

The invention relates to the field of high-precision rotary tables, in particular to a rotary table precision measuring method and a rotary table precision measuring device. The turntable precision measurement method comprises the following steps: setting first running time, first rotating speed and second rotating speed of a turntable; according to the first operation time and the first rotating speed, the turntable positively rotates from the first position to the second position, and a first measurement result is obtained; obtaining the positioning precision of the turntable according to the first measurement result; according to the second rotating speed, the turntable rotates reversely from the second position to the first position, and a second measurement result is obtained; and obtaining the rotary table repeated positioning precision according to the second measurement result. According to the turntable precision measurement method and the turntable precision measurement device, the measurement precision of the turntable precision can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of high-precision turntables, and in particular to a turntable precision measurement method and a turntable precision measurement device. Background Art

[0002] High-precision turntable equipment is indispensable in many fields such as precision manufacturing and high-precision measurement technology. It is usually used as a key carrying equipment to provide precise positioning, rotation and angle adjustment in the manufacturing process to meet the strict requirements of accuracy and stability. Therefore, the accuracy of the turntable is its core performance indicator, and measuring the turntable accuracy is of great significance.

[0003] In the related art, there is a contradiction between the measurement accuracy and the measurement cost in the measurement of turntable accuracy. There is a problem that the measurement accuracy of the turntable accuracy is not high, or the measurement cost is too high.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] The purpose of the present disclosure is to provide a turntable accuracy measurement method and a measurement device, which can improve the measurement accuracy of the turntable accuracy.

[0006] According to one aspect of the present disclosure, a turntable accuracy measurement method is provided, comprising:

[0007] Setting the first operating time, the first speed and the second speed of the turntable;

[0008] According to the first running time and the first rotation speed, the turntable runs forward from the first position to the second position to obtain a first measurement result;

[0009] Acquire the positioning accuracy of the turntable according to the first measurement result;

[0010] According to the second rotation speed, the turntable reverses from the second position to the first position to obtain a second measurement result;

[0011] The turntable repeatability positioning accuracy is obtained according to the second measurement result.

[0012] In an exemplary embodiment of the present disclosure, the first rotation speed is not greater than 1 rpm.

[0013] In an exemplary embodiment of the present disclosure, the first rotation speed is equal to the second rotation speed.

[0014] In an exemplary embodiment of the present disclosure, the first running time is 4-6 seconds.

[0015] In an exemplary embodiment of the present disclosure, the first measurement result includes the motor forward rotation timing time t1, the turntable forward rotation timing time t2, and the turntable forward rotation number n1;

[0016] Obtaining positioning accuracy includes:

[0017] According to the motor forward rotation timing time t1 and the turntable forward rotation timing time t2, the first and last stage operation lag time Δt1 of the turntable is obtained;

[0018] The turntable positioning accuracy s1 is calculated based on the turntable forward rotation number n1, the turntable forward rotation timing time t2 and the first final stage operation lag time Δt1.

[0019] In an exemplary embodiment of the present disclosure, the second measurement result includes the motor reverse timing time t1', the turntable reverse timing time t2' and the turntable reverse number of turns n2;

[0020] Obtaining repeat positioning accuracy includes:

[0021] According to the motor reverse timing time t1' and the turntable reverse timing time t2', the second final stage operation lag time Δt2 of the turntable is obtained;

[0022] The repeated positioning accuracy s2 is calculated based on the number of positive rotations of the turntable n1, the number of negative rotations of the turntable n2, the positive rotation timing time t2, the negative rotation timing time t2' of the turntable and the second final stage operation lag time Δt2.

[0023] In an exemplary embodiment of the present disclosure, the number of positive rotations n1 of the turntable is not equal to the number of negative rotations n2 of the turntable.

[0024] In an exemplary embodiment of the present disclosure, before the turntable rotates forward from the first position, the turntable accuracy measurement method further includes:

[0025] Set the final encoder of the turntable to zero.

[0026] In an exemplary embodiment of the present disclosure, the motor encoder of the turntable is used to send a speed feedback signal to the speed loop control regulator of the turntable, and the speed loop control regulator is used to output a torque command to the current loop control regulator according to a given speed command, a position feedback signal of the final encoder, and a speed feedback signal of the motor encoder;

[0027] Before the turntable rotates forward from the first position, the turntable accuracy measurement method also includes:

[0028] Set the motor encoder to zero.

[0029] According to one aspect of the present disclosure, there is provided a turntable accuracy measuring device, comprising:

[0030] The signal acquisition processing unit is connected to the final encoder and the motor of the turntable through an electrical connector signal, and is used to input operating parameters to the turntable so that the turntable can operate according to the operating parameters; the operating parameters include a first operating time, a first speed, and a second speed; the signal acquisition processing unit is also used to obtain a first measurement result after the turntable completes forward operation according to the first operating time and the first speed; and obtain a second measurement result after the turntable completes reverse operation according to the second speed;

[0031] The accuracy measurement calculation unit is connected to the signal acquisition processing unit for obtaining the positioning accuracy of the turntable according to the first measurement result and for obtaining the repeat positioning accuracy of the turntable according to the second measurement result.

[0032] The turntable accuracy measurement method disclosed in the present invention first operates the turntable based on a set first operating time and a first rotation speed to measure the positioning accuracy of the turntable, and then controls the turntable to reverse based on a set second rotation speed until it returns to its original position, so as to measure the repeatability of the turntable. The turntable accuracy measurement method disclosed in the present invention has a simple measurement operation, and two important indicators of the turntable accuracy, namely, the positioning accuracy and repeatability of the turntable, can be obtained by rotating the turntable forward and reversely. Therefore, the measurement cost is low, and the requirements on the measurement site and the technical level of the operator are low. The method disclosed in the present invention is not only applicable to the measurement of the zero-load accuracy of the turntable, but also applicable to the measurement of the rigidity accuracy of the turntable under the loaded state of the turntable. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0034] In order to better understand the present disclosure, reference may be made to the embodiments shown in the following drawings. The components in the drawings are not necessarily to scale, and related elements may be omitted in order to emphasize and clearly illustrate the technical features of the present disclosure. In addition, related elements or components may have different arrangements as known in the art. In addition, in the drawings, the same reference numerals represent the same or similar components in each drawing. Among them:

[0035] Figure 1 It is a structural schematic diagram of an open-loop control turntable;

[0036] Figure 2 It is a control principle diagram of an open-loop control turntable;

[0037] Figure 3 It is a structural schematic diagram of a closed-loop control turntable;

[0038] Figure 4 It is a control principle diagram of a closed-loop control turntable;

[0039] Figure 5 A schematic diagram of meshing transmission between a motor gear and a final gear in an exemplary embodiment of the turntable accuracy measurement method disclosed in the present invention;

[0040] Figure 6 A flowchart of an open-loop control turntable accuracy measurement program in an exemplary embodiment of the turntable accuracy measurement method disclosed in the present invention;

[0041] Figure 7 A flowchart of a closed-loop control turntable accuracy measurement program in an exemplary embodiment of the turntable accuracy measurement method disclosed in the present invention;

[0042] Figure 8 It is a schematic diagram of an exemplary embodiment of the turntable accuracy measuring device disclosed in the present invention.

[0043] The following are the descriptions of the reference numerals:

[0044] 1. Turntable body; 11. DC motor; 12. Speed ​​reducer; 13. Motor gear; 2. Turntable; 21. Final gear; 22. Final encoder; 23. Motor encoder; 24. Electrical connector; 31. Signal acquisition and processing unit; 32. Precision measurement and calculation unit. DETAILED DESCRIPTION

[0045] The following will be combined with the accompanying drawings in the exemplary embodiments of the present disclosure to clearly and completely describe the technical solutions in the exemplary embodiments of the present disclosure. The exemplary embodiments described herein are only for illustrative purposes and are not intended to limit the scope of protection of the present disclosure. Therefore, it should be understood that various modifications and changes can be made to the exemplary embodiments without departing from the scope of protection of the present disclosure.

[0046] Unless otherwise specified or explained, the technical terms or scientific terms used in the present disclosure shall have the usual meanings understood by people with ordinary skills in the field to which the present disclosure belongs. The present disclosure uses "first" and "second" etc. only as labels, and does not limit the quantity, importance or order of its objects. The words "include" or "comprise" mean that the elements appearing before the word include the elements listed after the word and their equivalents, without excluding other elements. The terms "connected", "fixed" etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, or a movable connection, or an integral connection, or a detachable connection, and can be directly connected or indirectly connected through an intermediate medium. "Communication connection" can be a wired communication connection or a wireless communication connection, and can be direct communication or indirect signal connectivity through an intermediate medium.

[0047] Some methods for measuring turntable accuracy in related technologies can measure various indicators of the turntable and perform certain geometric calculations through high-precision measuring tools such as micrometers and micrometers, which can provide a more accurate measurement structure. However, this method is relatively primitive and is easily affected by tools, sites, and personnel's technical level. There are also some methods that compare the turntable to be tested with a turntable of known accuracy level to evaluate its performance, but this cannot obtain accurate indicators of the turntable's accuracy. There are also some methods that use the principle of laser interference to measure the rotation accuracy of the turntable, but this method is only suitable for the measurement of extremely high-precision turntables, and the measurement cost is also high.

[0048] The present invention discloses a turntable accuracy measurement method and a turntable accuracy measurement device. In order to facilitate understanding of the solution of the present application, first refer to Figure 1 Schematic diagram of the turntable structure shown.

[0049] The turntable includes a turntable body 1 and a turntable 2 arranged on the top of the turntable body 1. A DC motor 11 is arranged inside the turntable body 1, which is used to drive the turntable 2 to rotate relative to the turntable body 1. Specifically, the DC motor 11 is connected to the motor gear 13 through a reducer 12, and the final gear 21 fixedly connected to the turntable is meshed with the motor gear 13. The power output by the DC motor 11 is transmitted to the final gear 21 through the reducer 12 and the motor gear 13, thereby driving the rotation of the turntable 2. A final encoder 22 is also arranged inside the turntable body 1, which can be used to measure the angle of rotation of the turntable 2 relative to the turntable body 1.

[0050] Figure 1 shows an open-loop control turntable, Figure 2 Shows Figure 1 The control principle diagram of the open-loop control turntable. During the turntable operation control process, the speed command is obtained through the position command, and the speed command is fed back to the speed loop PID regulator through the position loop speed feedforward. At the same time, the position command is connected to the position loop PID regulator, and the speed command is determined together with the position loop speed feedforward and fed back to the speed loop PID regulator. The speed loop PID regulator generates a torque command and connects it to the current loop PID regulator, which is then transmitted to the driver and DC motor 11 in sequence, thereby driving the turntable 2 to operate according to the given position and speed. In addition, the driver current is also fed back to the front end of the current loop PID regulator, and the torque command is determined together with the speed loop PID regulator and connected to the current loop PID regulator. The final encoder 22 also feeds back a signal to the front end of the position loop PID regulator, and controls the output of the position loop PID regulator together with the position command.

[0051] refer to Figure 3 A closed-loop control turntable is shown. For the closed-loop control turntable, Figure 1Compared with the open-loop control turntable shown in the figure, a motor encoder 23 is further provided in the turntable body 1, which can be used to measure the rotation angle of the DC motor 11.

[0052] Figure 4 Shows Figure 3 The control principle diagram of the closed-loop control turntable. During the turntable operation control process, the speed command given is obtained through the position command given, and the speed command is fed back to the speed loop PID regulator through the position loop speed feedforward. At the same time, the position command given is connected to the position loop PID regulator, and the speed command is determined together with the position loop speed feedforward to be fed back to the speed loop PID regulator. The speed loop PID regulator generates a torque command connected to the current loop PID regulator, and then sequentially transmitted to the driver and DC motor 11, thereby driving the turntable 2 to operate according to the given position and speed. In addition, the driver current is also fed back to the front end of the current loop PID regulator, and the torque command is determined together with the speed loop PID regulator to be connected to the current loop PID regulator. The final encoder 22 also feeds back a signal to the front end of the position loop PID regulator, and controls the output of the position loop PID regulator together with the position command given. The motor encoder 23 also feeds back a speed signal to the front end of the speed loop PID regulator, and determines the speed command to be connected to the speed loop PID regulator together with the position loop PID regulator and the position loop speed feedforward.

[0053] Those skilled in the art will appreciate that a PID regulator is also called a PID controller, where PID stands for proportional-integral-differential.

[0054] Based on the above turntable, the present disclosure provides a turntable accuracy measurement method and a measurement device, which can improve the measurement accuracy of the turntable accuracy.

[0055] According to one aspect of the present disclosure, a turntable accuracy measurement method is provided, comprising:

[0056] Step S100: setting a first operating time, a first rotation speed, and a second rotation speed of the turntable.

[0057] Step S200: According to the first running time and the first rotation speed, the turntable rotates forward from the first position to the second position to obtain a first measurement result.

[0058] Step S300: Obtaining the positioning accuracy of the turntable according to the first measurement result.

[0059] Step S400: According to the second rotation speed, the turntable reverses from the second position to the first position to obtain a second measurement result.

[0060] Step S500: Obtain the turntable repeatability accuracy according to the second measurement result.

[0061] The turntable accuracy measurement method disclosed in the present invention first operates the turntable based on a set first operating time and a first rotation speed to measure the positioning accuracy of the turntable, and then controls the turntable to reverse based on a set second rotation speed until it returns to its original position, so as to measure the repeatability of the turntable. The turntable accuracy measurement method disclosed in the present invention has a simple measurement operation, and two important indicators of the turntable accuracy, namely, the positioning accuracy and repeatability of the turntable, can be obtained by rotating the turntable forward and reversely. Therefore, the measurement cost is low, and the requirements on the measurement site and the technical level of the operator are low. The method disclosed in the present invention is not only applicable to the measurement of the zero-load accuracy of the turntable, but also applicable to the measurement of the rigidity accuracy of the turntable under the loaded state of the turntable.

[0062] For example, in step S200, the first measurement result includes the motor forward timing time t1, the turntable forward timing time t2, and the turntable forward rotation number n1. Step S300 obtains the turntable positioning accuracy including: obtaining the first final stage operation lag time Δt1 of the turntable according to the motor forward timing time t1 and the turntable forward timing time t2; calculating the turntable positioning accuracy s1 according to the turntable forward rotation number n1, the turntable forward timing time t2, and the first final stage operation lag time Δt1.

[0063] Specifically, at the last stage of the gear transmission, there is a gap Wc in the gear transmission. When the previous stage gear starts to rotate, the last stage gear 21 will lag behind for a certain period of time before it starts to rotate. Figure 5 The motor gear 13 and the final gear 21 are meshed transmission diagrams. The motor gear 13 is the driving wheel, and the final gear 21 is the driven wheel. Taking the clockwise rotation of the motor gear 13 as an example, the arrows in the figure show the rotation direction of the motor gear 13 and the final gear 21. Figure 5 Only the tooth profile of the meshing area between the motor gear 13 and the final gear 21 is shown. The existence of the tooth side clearance Wc between the motor gear 13 and the final gear 21 causes the final gear 21 to lag behind the motor gear 13 in rotation.

[0064] Therefore, the high-speed controller counter can be used to record the start of operation and signal output time of the DC motor 11 and the final encoder 22 respectively. For the set first operation time, the DC motor 11 starts to run earlier than the final encoder 22. After the set first operation time, the timing stops, and the motor forward timing time t1 and the turntable forward timing time t2 are obtained. Since the rotation of the final gear 21 is delayed compared with the motor gear 13, t1>t2, and the first final operation lag time Δt1=t1-t2. The number of positive rotations of the turntable n1 can be measured by the final encoder 22. The positioning accuracy of the turntable s1=n1 / t2*Δt1*360°. It should be noted that n1 / t2 is the number of unit rotations of the turntable. The difference between it and the first speed is that the set first speed is the input turntable speed, and the number of unit rotations of the turntable n1 / t2 is the measured actual speed.

[0065] In an exemplary embodiment of the present disclosure, in step S400, the second measurement result includes the motor reverse timing time t1', the turntable reverse timing time t2' and the turntable reverse number of turns n2. Step S500 obtains the turntable repetitive positioning accuracy includes: obtaining the second final stage operation lag time Δt2 of the turntable according to the motor reverse timing time t1' and the turntable reverse timing time t2'; calculating the repetitive positioning accuracy s2 according to the turntable forward number of turns n1, the turntable reverse number of turns n2, the turntable forward timing time t2, the turntable reverse timing time t2' and the second final stage operation lag time Δt2.

[0066] Specifically, unlike the step S200 to step S300 in which the positioning accuracy of the turntable is measured in the forward direction and the first operating time and the first rotation speed are given, in step S400 , the stroke of the turntable and the second rotation speed are given to obtain the second measurement result.

[0067] The motor reverse timing time t1' and the turntable reverse timing time t2' can also be obtained by recording the high-speed controller counter. The turntable reverse number n2 can be measured by the final encoder 22. Turntable repeat positioning accuracy s2 = (n1 / t2-n2 / t2')*Δt2*360°. Exemplarily, in some embodiments, due to factors such as manufacturing differences and assembly differences, the turntable forward number n1 and the turntable reverse number n2 are not equal.

[0068] In an exemplary embodiment of the present disclosure, the first rotational speed is not greater than 1 rpm. For example, the first rotational speed may be 0.5 to 1 rpm, and the turntable 2 runs at a lower rotational speed, which can make the measured turntable positioning accuracy more accurate. The second rotational speed may also be not greater than 1 rpm. For example, the second rotational speed may be 0.5 to 1 rpm, and the turntable 2 runs at a lower rotational speed when it is reversed, which can make the measured turntable repeat positioning accuracy more accurate. In an exemplary embodiment of the present disclosure, the first rotational speed and the second rotational speed may be equal.

[0069] In an exemplary embodiment of the present disclosure, the first operation time is 4-6s. This ensures that the first final operation lag time Δt1 can be measured, and the turntable 2 rotates at a lower speed through a smaller angle, which can reduce the error in calculating the turntable positioning accuracy and improve the measurement efficiency.

[0070] In an exemplary embodiment of the present disclosure, before the turntable rotates forward from the first position, the turntable accuracy measurement method further includes: setting the final encoder 22 of the turntable to zero.

[0071] Specifically, for the open-loop control turntable, refer to Figure 6The open-loop control turntable accuracy measurement program flowchart shown in the figure sets the final encoder 22 to zero before the turntable rotates forward from the first position, so that the first and second measurement results are more accurate, and the calculated turntable positioning accuracy s1 and repeat positioning accuracy s2 are also more accurate.

[0072] For closed-loop control of the rotary table, refer to Figure 7 The closed-loop control turntable accuracy measurement program flowchart shown in the figure, before the turntable rotates forward from the first position, the final encoder 22 is first reset to zero, and the motor encoder 23 is also reset to zero, so that the measured first measurement result and the second measurement result are more accurate, and the calculated turntable positioning accuracy s1 and repeat positioning accuracy s2 are also more accurate. The motor encoder 23 can be reset to zero at the same time as the final encoder 22, or it can be completed one after another, as long as the motor encoder 23 and the final encoder 22 are reset to zero before the turntable rotates forward from the first position.

[0073] In addition, although Figure 6 and Figure 7 In the turntable accuracy measurement program flowchart shown, the step of zeroing the final encoder 22 of the turntable (and zeroing the motor encoder 23) is performed before setting the first operating time, the first rotation speed, and the second rotation speed of the turntable in step S100. However, the order of zeroing the final encoder 22 of the turntable (and zeroing the motor encoder 23) and step S100 can be reversed. For example, the first operating time, the first rotation speed, and the second rotation speed of the turntable are set first, and then the final encoder 22 is zeroed, or the final encoder 22 and the motor encoder 23 are zeroed. For another example, the final encoder 22 is zeroed first, or the final encoder 22 and the motor encoder 23 are zeroed, and then the first operating time, the first rotation speed, and the second rotation speed of the turntable are set. As long as the step of zeroing the final encoder 22 (and zeroing the motor encoder 23) is performed before the turntable rotates forward from the first position, it will be sufficient.

[0074] According to one aspect of the present disclosure, a turntable accuracy measuring device is provided, referring to Figure 8 As shown, including:

[0075] The signal acquisition processing unit 31 is connected to the final encoder 22 of the turntable and the DC motor 11 through the electrical connector 24, and is used to input operating parameters to the turntable so that the turntable can operate according to the operating parameters; the operating parameters include the aforementioned first operating time, first speed and second speed; the signal acquisition processing unit 31 is also used to obtain a first measurement result after the turntable has completed forward operation according to the first operating time and the first speed; and obtain a second measurement result after the turntable has completed reverse operation according to the second speed;

[0076] The accuracy measurement calculation unit 32 is signal-connected to the signal acquisition processing unit 31, and is used to obtain the positioning accuracy of the turntable according to the first measurement result, and is also used to obtain the repeat positioning accuracy of the turntable according to the second measurement result.

[0077] It can be seen that the turntable accuracy measuring device provided by the present invention first operates the turntable based on a set first operating time and a first rotational speed to measure the positioning accuracy of the turntable, and then controls the turntable to reverse based on a set second rotational speed until it returns to its original position, so as to measure the repeatability of the turntable.

[0078] The turntable accuracy measuring device disclosed in the present invention is easy to operate, and can obtain two important indicators of turntable accuracy, namely, turntable positioning accuracy and repeat positioning accuracy, by rotating the turntable forward and reversely. Therefore, the measurement cost is low, and the requirements on the measurement site and the technical level of the operator are low. The turntable accuracy measuring device disclosed in the present invention is not only suitable for measuring the zero-load accuracy of the turntable, but also suitable for measuring the rigidity accuracy of the turntable under the load state of the turntable.

[0079] It should be noted that, although several units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided into multiple units to be embodied.

[0080] Since the various functional units of the turntable accuracy measurement device of the example embodiment of the present application correspond to the steps of the example embodiment of the turntable accuracy measurement method described above, for details not disclosed in the device embodiment of the present application, please refer to the above-mentioned corresponding method embodiment of the present application.

[0081] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0082] It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from its scope. The scope of protection of the present disclosure is limited only by the appended claims.

Claims

1. A method for measuring turntable accuracy, characterized in that: include: Setting the first operating time, the first speed and the second speed of the turntable; According to the first running time and the first speed, the turntable runs forward from the first position to the second position to obtain a first measurement result; Acquire the positioning accuracy of the turntable according to the first measurement result; According to the second rotation speed, the turntable reverses and runs from the second position to the first position to obtain a second measurement result; The turntable repeatability positioning accuracy is obtained according to the second measurement result.

2. The turntable accuracy measurement method according to claim 1, characterized in that: The first rotation speed is no greater than 1 rpm.

3. The turntable accuracy measurement method according to claim 1, characterized in that: The first rotation speed is equal to the second rotation speed.

4. The turntable accuracy measurement method according to claim 1, characterized in that: The first running time is 4-6s.

5. The turntable accuracy measurement method according to any one of claims 1 to 4, characterized in that: The first measurement result includes the motor forward rotation timing time t1, the turntable forward rotation timing time t2 and the turntable forward rotation number n1; Acquiring the positioning accuracy includes: According to the forward rotation timing time t1 of the motor and the forward rotation timing time t2 of the turntable, the first final stage operation lag time Δt1 of the turntable is obtained; The positioning accuracy s1 is calculated according to the number of positive rotations of the turntable n1, the positive rotation timing time t2 of the turntable and the first final stage operation lag time Δt1.

6. The turntable accuracy measurement method according to claim 5, characterized in that: The second measurement result includes the motor reverse timing time t1', the turntable reverse timing time t2' and the turntable reverse number n2; Obtaining the repeated positioning accuracy includes: According to the motor reverse timing time t1' and the turntable reverse timing time t2', the second final stage operation lag time Δt2 of the turntable is obtained; The repeated positioning accuracy s2 is calculated according to the number of positive rotations of the turntable n1, the number of negative rotations of the turntable n2, the positive rotation timing time t2, the negative rotation timing time t2' of the turntable and the second final stage operation lag time Δt2.

7. The turntable accuracy measurement method according to claim 6, characterized in that: The number of positive rotations n1 of the turntable is not equal to the number of negative rotations n2 of the turntable.

8. The turntable accuracy measurement method according to claim 1, characterized in that: Before the turntable rotates forward from the first position, the turntable accuracy measurement method further includes: The final encoder of the turntable is set to zero.

9. The turntable accuracy measurement method according to claim 8, characterized in that: The motor encoder of the turntable is used to send a speed feedback signal to the speed loop control regulator of the turntable, and the speed loop control regulator is used to output a torque command to the current loop control regulator according to a given speed command, a position feedback signal of the final encoder and the speed feedback signal of the motor encoder; Before the turntable rotates forward from the first position, the turntable accuracy measurement method further includes: Zero the motor encoder.

10. A turntable precision measuring device, characterized in that: include: A signal acquisition processing unit is connected to the final encoder and the motor of the turntable through an electrical connector signal, and is used to input operating parameters to the turntable so that the turntable operates according to the operating parameters; the operating parameters include a first operating time, a first rotation speed, and a second rotation speed; The signal acquisition processing unit is further used to obtain a first measurement result after the turntable completes forward rotation according to the first operation time and the first speed; Acquiring a second measurement result after the turntable completes reverse operation at the second speed; The accuracy measurement calculation unit is signal-connected to the signal acquisition processing unit, and is used to obtain the turntable positioning accuracy according to the first measurement result, and is also used to obtain the turntable repeat positioning accuracy according to the second measurement result.

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