Reflection type encoder alignment device and alignment method thereof

Abstract

The invention provides a reflective encoder alignment device and method, and the device comprises a fixing clamp which is used for accommodating and fixing a reflective encoder body, and is provided with a fixing groove for accommodating the reflective encoder body; the positioning plate is provided with a plurality of alignment holes, the plurality of alignment holes are located on the same circumference coaxial with the positioning plate, and when the positioning plate and the reflective encoder body are coaxially arranged, the alignment holes and a light source of the reflective encoder body are located on the same cylindrical surface; the alignment adjusting mechanism is used for coaxially and oppositely arranging the reflective encoder body and the positioning plate and simultaneously adjusting the relative positions of the reflective encoder body and the positioning plate with the code disc, so that the light source and the alignment hole are aligned with the code channel of the code disc; the detection display module is used for acquiring code channel information of the coded disc projected at the alignment hole of the positioning plate, restoring the position of the coded disc and the shape of a code channel on the coded disc and displaying the information; and confirming an alignment result through the displayed position of the code disc and the shape of the code channel on the code disc.

Description

Technical Field

[0001] The present invention relates to the technical field of encoder installation, and more particularly to a reflective encoder alignment device and an alignment method thereof. Background Art

[0002] A reflective encoder is a photoelectric device that detects rotation or linear displacement by reflecting light signals. It is widely used in industrial automation, medical equipment, aerospace and other fields for accurate measurement and feedback of position information. However, during the installation and use of traditional reflective encoders, there are often problems such as inaccurate alignment, complex installation, and susceptibility to external interference, which affects the accuracy and stability of the encoder.

[0003] Therefore, it is necessary to provide a reflective encoder alignment device and an alignment method thereof to effectively solve the above problems. Summary of the invention

[0004] The present invention provides a reflective encoder alignment device and an alignment method thereof, which realizes visual and precise alignment of a reflective encoder body and a code disk through a precise alignment adjustment mechanism and a real-time detection and display module.

[0005] An embodiment of the present invention provides a reflective encoder alignment device, wherein the reflective encoder comprises a reflective encoder body and a code disk, wherein a light source and a photoelectric detection chip are arranged in the reflective encoder body, and comprises: A fixing fixture, used to accommodate and fix the reflective encoder body, wherein the fixing fixture is provided with a fixing groove for accommodating the reflective encoder body and a fixing hole for fixing the reflective encoder body; the fixing groove allows the reflective encoder body to move within a certain range; The positioning plate is in the shape of a disk and has a plurality of alignment holes, wherein the plurality of alignment holes are located on the same circumference coaxial with the positioning plate, and when the positioning plate is coaxially arranged with the reflective encoder body, the alignment holes and the light source of the reflective encoder body are located on the same cylindrical surface; An alignment adjustment mechanism, used to coaxially arrange the reflective encoder body and the positioning plate relative to each other, and simultaneously adjust the relative positions of the reflective encoder body, the positioning plate and the code disk, so that the light source and the alignment hole are aligned with the code track of the code disk; A detection and display module is used to obtain the code track information of the code disk projected at the alignment hole of the positioning plate, restore the position of the code disk and the shape of the code track on the code disk and display them; The alignment result is confirmed by displaying the position of the code disk and the morphology of the code track on the code disk.

[0006] Preferably, the code disc is fixed on a motor shaft of a rotating motor, the reflective encoder body and the positioning plate are respectively arranged on two sides of the code disc, and the reflective encoder body is arranged on a side close to the rotating motor.

[0007] Preferably, the alignment adjustment mechanism is provided with a fixed connection structure and a transmission structure, the fixed connection structure realizes the coaxial relative arrangement of the reflective encoder body and the positioning plate, and the transmission structure is provided with a position fine-tuning knob and an angle fine-tuning knob, and the relative positions of the reflective encoder body, the positioning plate and the code disk are adjusted at the same time by adjusting the position fine-tuning knob, and the relative angles of the reflective encoder body, the positioning plate and the code disk are adjusted by adjusting the angle fine-tuning knob.

[0008] Preferably, the alignment adjustment mechanism is further provided with a displacement sensor, and the displacement sensor detects the displacement of the reflective encoder body.

[0009] Preferably, the positioning plate has three alignment holes, which are arranged at intervals.

[0010] Preferably, the detection and display module includes an image acquisition unit, a signal processing unit and a display unit, the image acquisition unit acquires the image of the positioning plate and / or the code disk, the signal processing unit processes the image acquired by the image acquisition unit, and the display unit displays the image output by the signal processing unit after image processing.

[0011] Based on the same concept, an embodiment of the present invention also provides an alignment method of the above-mentioned reflective encoder alignment device, comprising the following steps: The code disc is fixedly mounted on the motor shaft of the rotating motor; the fixing fixture is mounted on the mounting platform, and the reflective encoder body is placed in the positioning groove of the fixing fixture to achieve preliminary positioning of the reflective encoder body; Installing an alignment adjustment mechanism, setting a positioning plate to the alignment adjustment mechanism so that the positioning plate and the reflective encoder body are coaxially arranged relative to each other; setting a detection display module; Adjust the alignment adjustment mechanism to adjust the relative position and angle of the reflective encoder body, the positioning plate and the code disk, so that the light source of the reflective encoder body and the alignment hole of the positioning plate are aligned with the code track of the code disk; The detection and display module collects the code track information of the code disk projected at the plurality of alignment holes of the positioning plate, restores the position of the code disk and the shape of the code track on the code disk, and displays them; Adjusting the relative positions and angles of the reflective encoder body, the positioning plate, and the code disk for multiple times until the displayed position of the code disk and the shape of the code track on the code disk meet the alignment requirements; Fixing the reflective encoder body to the positioning hole of the fixing fixture; The positioning plate and the alignment adjustment mechanism are removed to complete the alignment.

[0012] Preferably, the detection and display module includes an image acquisition unit, a signal processing unit and a display unit, and further includes the following steps: The image acquisition unit acquires images of the plurality of alignment holes of the positioning plate; The signal processing unit processes the image of the alignment hole acquired by the image acquisition unit, acquires the position of the code disk and the shape of the code track on the code disk, and displays them through the display unit.

[0013] Preferably, the signal processing unit pre-stores a standard pattern of the code disk, and the signal processing unit processes the image of the alignment hole acquired by the image acquisition unit to obtain the position of the code disk and the shape of the code track, including the following steps: Converting the acquired image at the alignment hole into a grayscale image; Performing edge detection on the grayscale image using an edge detection algorithm to obtain the contour lines of the code channel projected in the alignment hole; Perform polygonal approximation on the contour lines of the code channel in the image, and select the stripes that meet the set conditions as the code channel stripes; Calculating and outputting the coordinates of the code stripes in the alignment hole; The pre-stored standard pattern of the code disk is matched with the code track stripes in the plurality of alignment holes, and the position of the code disk and the shape of the code track are determined by the coordinates of the code track stripes in the alignment holes.

[0014] Preferably, the image acquisition unit pre-acquires an image of the code disk, and the signal processing unit processes the image of the alignment hole acquired by the image acquisition unit to obtain the position of the code disk and the morphology of the code track, including the following steps: Converting the acquired image at the alignment hole and the pre-collected image of the code disc into a grayscale image; Performing edge detection on the grayscale image at the alignment hole and the grayscale image of the code disk using an edge detection algorithm to obtain the contour lines of the projected code track in the grayscale image at the alignment hole and the contour lines of the code disk and the code track in the grayscale image of the code disk; Perform polygonal approximation on the contour lines of the code channel in the grayscale image at the alignment hole, and select stripes that meet the set conditions as code channel stripes; calculate and output the coordinates of the code channel stripes in the alignment hole; Performing polygonal approximation on the contour lines of the code channel in the grayscale image of the code disk, selecting stripes that meet set conditions as code channel stripes, and generating a code disk template; The code disk template is matched with the code track stripes in the plurality of alignment holes, and the position of the code disk and the shape of the code track are determined by the coordinates of the code track stripes in the alignment holes.

[0015] Compared with the prior art, the technical solution of the embodiment of the present invention has the following beneficial effects: A reflective encoder alignment device and an alignment method thereof are provided in an embodiment of the present invention. A positioning plate is provided, and an alignment hole is formed on the positioning plate at a position concentric with a light source. An alignment adjustment mechanism is provided, and the reflective encoder body and the positioning plate are coaxially arranged relative to each other through the alignment adjustment mechanism, and the relative positions of the reflective encoder body, the positioning plate and the code disk are adjusted simultaneously, so that the alignment hole can equivalently replace the position of the light source, and the alignment of the light source and the code disk is achieved through the alignment of the alignment hole and the code disk; a detection display module is provided, and the position of the code disk and the morphology of the code track on the code disk are obtained and displayed by acquiring the code track information of the code disk projected at the alignment hole of the positioning plate; the actual position of the encoder is ensured to be consistent with the expected position by real-time observation of the displayed information, and the visual and precise alignment of the reflective encoder body and the code disk is achieved.

[0016] Furthermore, the detection and display module includes an image acquisition unit, a signal processing unit and a display unit. The image acquisition unit acquires images of multiple alignment holes of the positioning plate; the signal processing unit processes the images of the alignment holes acquired by the image acquisition unit, obtains the position of the code disk and the morphology of the code channel on the code disk, and displays them through the display unit. The detection result is more accurate, which is conducive to accurate alignment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are some embodiments of the present invention, not all embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor.

[0018] Figure 1 A schematic structural diagram of a reflective encoder alignment device provided by an embodiment of the present invention; Figure 2 A diagram showing the structure of a reflective encoder alignment device provided by one embodiment of the present invention; Figure 3A flow chart of an alignment method for a reflective encoder alignment device provided in one embodiment of the present invention.

[0019] In the figure: 11. Reflective encoder body; 12. Code disk; 21. Fixing fixture; 22. Positioning plate; 221. Alignment hole; 23. Alignment adjustment mechanism; 231. Fixed connection structure; 24. Detection and display module; 241. Image acquisition unit; 242. Signal processing unit; 243. Display unit; 31. Rotating motor; 311. Motor shaft. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0021] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0022] Based on the problems existing in the prior art, an embodiment of the present invention provides a reflective encoder alignment device and an alignment method thereof, which realizes visual and precise alignment of the reflective encoder body and the code disk through a precise alignment adjustment mechanism and a real-time detection and display module.

[0023] Figure 1 A schematic structural diagram of a reflective encoder alignment device provided by an embodiment of the present invention; Figure 2 A diagram showing the structure of a reflective encoder alignment device provided by one embodiment of the present invention; Figure 3 A flow chart of an alignment method for a reflective encoder alignment device provided in one embodiment of the present invention.

[0024] View now Figure 1 to Figure 2 The embodiment of the present invention provides a reflective encoder alignment device, the reflective encoder includes a reflective encoder body 11 and a code disk 12, the reflective encoder body 11 is provided with a light source and a photoelectric detection chip, including: The fixing fixture 21 is used to accommodate and fix the reflective encoder body 11. The fixing fixture 21 is provided with a fixing groove for accommodating the reflective encoder body 11 and a fixing hole for fixing the reflective encoder body 11. The fixing groove allows the reflective encoder body 11 to move within a certain range. The positioning plate 22 is disc-shaped and has a plurality of alignment holes 221. The plurality of alignment holes 221 are located on the same circumference coaxial with the positioning plate 22. When the positioning plate 22 is coaxially arranged with the reflective encoder body 11, the alignment holes 221 and the light source of the reflective encoder body 11 are located on the same cylindrical surface; The alignment adjustment mechanism 23 is used to coaxially arrange the reflective encoder body 11 and the positioning plate 22 relative to each other, and adjust the relative positions of the reflective encoder body 11, the positioning plate 22 and the code disk 12 so that the light source and the alignment hole 221 are aligned with the code track of the code disk 12; The detection and display module 24 is used to obtain the code track information of the code disk projected at the alignment hole 221 of the positioning plate 22, restore the position of the code disk 12 and the shape of the code track on the code disk 12 and display them; The alignment result is confirmed by the displayed position of the code disk 12 and the shape of the code track on the code disk 12.

[0025] In a specific implementation, the specific structure of the fixing fixture 21 is not limited, as long as it can achieve the above functions.

[0026] In some embodiments, the code disc 12 is fixed on the motor shaft 311 of the rotating motor 31 , the reflective encoder body 11 and the positioning plate 22 are respectively disposed on both sides of the code disc 12 , and the reflective encoder body 11 is disposed on a side close to the rotating motor 31 .

[0027] In some embodiments, the alignment adjustment mechanism 23 is provided with a fixed connection structure 231 and a transmission structure (not shown). The fixed connection structure 231 realizes the coaxial relative arrangement of the reflective encoder body 11 and the positioning plate 22. The transmission structure is provided with a position fine-tuning knob and an angle fine-tuning knob. By adjusting the position fine-tuning knob, the relative positions of the reflective encoder body 11, the positioning plate 22 and the code disk 12 are adjusted at the same time. By adjusting the angle fine-tuning knob, the relative angles of the reflective encoder body 11, the positioning plate 22 and the code disk 12 are adjusted.

[0028] In a specific implementation, the specific structure of the alignment adjustment mechanism 23 is not limited, as long as it can achieve the above functions.

[0029] In some embodiments, the alignment adjustment mechanism 23 is further provided with a displacement sensor (not shown), and the displacement sensor detects the displacement of the reflective encoder body 11 .

[0030] In some embodiments, the positioning plate 22 has three alignment holes 221 , and the three alignment holes 221 are arranged at intervals.

[0031] In some embodiments, the detection and display module 24 includes an image acquisition unit 241, a signal processing unit 242 and a display unit 243. The image acquisition unit 241 acquires images of the positioning plate 22 and / or the code disk 12, the signal processing unit 242 processes the images acquired by the image acquisition unit 241, and the display unit 243 displays the images output by the signal processing unit 242 after image processing.

[0032] See also Figure 3 The embodiment of the present invention provides a method for aligning a reflective encoder alignment device, comprising the following steps: S101: The code disc 12 is fixedly mounted on the motor shaft 311 of the rotating motor 31; the fixing fixture 21 is mounted on the mounting platform, and the reflective encoder body 11 is placed in the positioning groove of the fixing fixture 21 to achieve preliminary positioning of the reflective encoder body 11; S102: Install the alignment adjustment mechanism 23, and set the positioning plate 22 to the alignment adjustment mechanism 23, so that the positioning plate 22 and the reflective encoder body 11 are coaxially arranged relative to each other; set the detection display module 24; S103: adjusting the alignment adjustment mechanism 23 to adjust the relative positions and angles of the reflective encoder body 11 and the positioning plate 22 and the code disk 12, so that the light source of the reflective encoder body 11 and the alignment hole 221 of the positioning plate 22 are aligned with the code track of the code disk 12; S104: the detection and display module 24 collects the code track information of the code disk 12 projected at the multiple alignment holes 221 of the positioning plate 22, restores the position of the code disk 12 and the shape of the code track on the code disk 12, and displays them; S105: repeatedly adjusting the relative positions and angles of the reflective encoder body 11 and the positioning plate 22 and the code disk 12 until the displayed position of the code disk 12 and the shape of the code track on the code disk 12 meet the alignment requirements; S106: Fixing the reflective encoder body 11 to the positioning hole of the fixing fixture 21; S107: Remove the positioning plate 22 and the alignment adjustment mechanism 23 to complete the alignment.

[0033] In some embodiments, the detection and display module 24 includes an image acquisition unit 241, a signal processing unit 242 and a display unit 243, and further includes the following steps: The image acquisition unit 241 acquires images of the plurality of alignment holes 221 of the positioning plate 22; The signal processing unit 242 processes the image of the alignment hole 221 acquired by the image acquisition unit 241 , obtains the position of the code disk 12 and the shape of the code track on the code disk 12 , and displays them through the display unit 243 .

[0034] In some embodiments, the signal processing unit 242 pre-stores a standard pattern of the code disk 12. The signal processing unit 242 processes the image of the alignment hole 221 acquired by the image acquisition unit 241 to acquire the position of the code disk 12 and the shape of the code channel, including the following steps: Converting the acquired image at the alignment hole 221 into a grayscale image; An edge detection algorithm is used to perform edge detection on the grayscale image to obtain the contour lines of the code channel projected in the alignment hole 221; Perform polygonal approximation on the contour lines of the code channel in the image, and select the stripes that meet the set conditions as the code channel stripes; Calculate and output the coordinates of the code stripes in the alignment hole 221; The pre-stored standard pattern of the code disk 12 is matched with the code track stripes in the plurality of alignment holes 221 , and the position of the code disk 12 and the shape of the code track are determined by the coordinates of the code track stripes in the alignment holes 221 .

[0035] In some embodiments, the image acquisition unit 241 pre-acquires an image of the code disk 12, and the signal processing unit 242 processes the image of the alignment hole 221 acquired by the image acquisition unit 241 to obtain the position of the code disk 12 and the shape of the code channel, including the following steps: Convert the acquired image at the alignment hole 221 and the pre-collected image of the code disc 12 into a grayscale image; An edge detection algorithm is used to perform edge detection on the grayscale image at the alignment hole 221 and the grayscale image of the code disk 12 to obtain the contour lines of the projected code track in the grayscale image at the alignment hole 221 and the contour lines of the code disk 12 and the code track in the grayscale image of the code disk 12; Perform polygonal approximation on the contour lines of the code channel in the grayscale image at the alignment hole 221, and select the stripes that meet the set conditions as the code channel stripes; calculate and output the coordinates of the code channel stripes in the alignment hole 221; Perform polygonal approximation on the contour lines of the code channel in the grayscale image of the code disk 12, select the stripes that meet the set conditions as the code channel stripes, and generate a code disk template; The code disk template is matched with the code track stripes in the plurality of alignment holes 221 , and the position of the code disk 12 and the shape of the code track are determined by the coordinates of the code track stripes in the alignment holes 221 .

[0036] By aligning the alignment holes 221 of the positioning plate 22, accurately adjusting the alignment adjustment mechanism 23, and detecting, feeding back, and displaying the real-time code disk position information by the real-time detection display module 24, high-precision alignment of the reflective encoder is achieved, and the alignment is more accurate and efficient, which greatly improves the accuracy and stability of the encoder; simplifies the installation process, reduces the difficulty of installation, and improves work efficiency; is suitable for reflective encoders of different models and specifications, and has a wide range of applicability.

[0037] In summary, an embodiment of the present invention provides a reflective encoder alignment device and an alignment method thereof, wherein a positioning plate 22 is provided, and an alignment hole 221 is formed on the positioning plate 22 at a position concentric with the light source; an alignment adjustment mechanism 23 is provided, and the reflective encoder body 11 and the positioning plate 22 are coaxially arranged relative to each other through the alignment adjustment mechanism 23, and the relative positions of the reflective encoder body 11, the positioning plate 22 and the code disk 12 are adjusted at the same time, so that the alignment hole 221 can equivalently replace the position of the light source, and the alignment of the light source and the code disk 12 is achieved through the alignment of the alignment hole 221 and the code disk 12; a detection display module 24 is provided, and the position of the code disk 12 and the morphology of the code disk 12 are obtained and displayed by acquiring the code channel information of the code disk 12 projected at the alignment hole 221 of the positioning plate 22; and the actual position of the encoder is ensured to be consistent with the expected position by real-time observation of the displayed information, so as to achieve visual and precise alignment of the reflective encoder body 11 and the code disk 12.

[0038] Furthermore, the detection and display module 24 includes an image acquisition unit 241, a signal processing unit 242 and a display unit 243. The image acquisition unit 241 acquires images of multiple alignment holes 221 of the positioning plate 22; the signal processing unit 242 processes the images of the alignment holes 221 acquired by the image acquisition unit 241, obtains the position of the code disk 12 and the morphology of the code track on the code disk 12, and displays them through the display unit 243. The detection result is more accurate, which is conducive to accurate alignment.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A reflective encoder alignment device, the reflective encoder comprising a reflective encoder body and a code disk, wherein the reflective encoder body is provided with a light source and a photoelectric detection chip, characterized in that: include: A fixing fixture, used to accommodate and fix the reflective encoder body, wherein the fixing fixture is provided with a fixing groove for accommodating the reflective encoder body and a fixing hole for fixing the reflective encoder body; the fixing groove allows the reflective encoder body to move within a certain range; The positioning plate is in the shape of a disk and has a plurality of alignment holes, wherein the plurality of alignment holes are located on the same circumference coaxial with the positioning plate, and when the positioning plate is coaxially arranged with the reflective encoder body, the alignment holes and the light source of the reflective encoder body are located on the same cylindrical surface; An alignment adjustment mechanism, used to coaxially arrange the reflective encoder body and the positioning plate relative to each other, and simultaneously adjust the relative positions of the reflective encoder body, the positioning plate and the code disk, so that the light source and the alignment hole are aligned with the code track of the code disk; A detection and display module is used to obtain the code track information of the code disk projected at the alignment hole of the positioning plate, restore the position of the code disk and the shape of the code track on the code disk and display them; The alignment result is confirmed by displaying the position of the code disk and the morphology of the code track on the code disk.

2. The reflective encoder alignment device according to claim 1, characterized in that: The code disc is fixed on the motor shaft of the rotating motor, the reflective encoder body and the positioning plate are respectively arranged on both sides of the code disc, and the reflective encoder body is arranged on a side close to the rotating motor.

3. The reflective encoder alignment device according to claim 1, characterized in that: The alignment adjustment mechanism is provided with a fixed connection structure and a transmission structure. The fixed connection structure realizes the coaxial relative arrangement of the reflective encoder body and the positioning plate. The transmission structure is provided with a position fine-tuning knob and an angle fine-tuning knob. The relative positions of the reflective encoder body, the positioning plate and the code disk are adjusted simultaneously by adjusting the position fine-tuning knob, and the relative angles of the reflective encoder body, the positioning plate and the code disk are adjusted by adjusting the angle fine-tuning knob.

4. The reflective encoder alignment device according to claim 3, characterized in that: The alignment adjustment mechanism is also provided with a displacement sensor, and the displacement sensor detects the displacement of the reflective encoder body.

5. The reflective encoder alignment device according to claim 1, characterized in that: The positioning plate has three alignment holes, which are arranged at intervals.

6. The reflective encoder alignment device according to claim 1, characterized in that: The detection and display module includes an image acquisition unit, a signal processing unit and a display unit. The image acquisition unit acquires images of the positioning plate and / or the code disk, the signal processing unit processes the images acquired by the image acquisition unit, and the display unit displays the images output by the signal processing unit after image processing.

7. A method for aligning a reflective encoder according to any one of claims 1 to 6, characterized in that: The steps include: The code disc is fixedly mounted on the motor shaft of the rotating motor; the fixing fixture is mounted on the mounting platform, and the reflective encoder body is placed in the positioning groove of the fixing fixture to achieve preliminary positioning of the reflective encoder body; Installing an alignment adjustment mechanism, setting a positioning plate to the alignment adjustment mechanism so that the positioning plate and the reflective encoder body are coaxially arranged relative to each other; setting a detection display module; Adjust the alignment adjustment mechanism to adjust the relative position and angle of the reflective encoder body, the positioning plate and the code disk, so that the light source of the reflective encoder body and the alignment hole of the positioning plate are aligned with the code track of the code disk; The detection and display module collects the code track information of the code disk projected at the plurality of alignment holes of the positioning plate, restores the position of the code disk and the shape of the code track on the code disk, and displays them; Adjusting the relative positions and angles of the reflective encoder body, the positioning plate, and the code disk for multiple times until the displayed position of the code disk and the shape of the code track on the code disk meet the alignment requirements; Fixing the reflective encoder body to the positioning hole of the fixing fixture; The positioning plate and the alignment adjustment mechanism are removed to complete the alignment.

8. The alignment method according to claim 7, characterized in that: The detection and display module includes an image acquisition unit, a signal processing unit and a display unit, and also includes the following steps: The image acquisition unit acquires images of the plurality of alignment holes of the positioning plate; The signal processing unit processes the image of the alignment hole acquired by the image acquisition unit, acquires the position of the code disk and the shape of the code track on the code disk, and displays them through the display unit.

9. The alignment method according to claim 8, characterized in that: The signal processing unit pre-stores a standard pattern of the code disk, and the signal processing unit processes the image of the alignment hole acquired by the image acquisition unit to obtain the position of the code disk and the shape of the code channel, including the following steps: Converting the acquired image at the alignment hole into a grayscale image; Performing edge detection on the grayscale image using an edge detection algorithm to obtain the contour lines of the code channel projected in the alignment hole; Perform polygonal approximation on the contour lines of the code channel in the image, and select the stripes that meet the set conditions as the code channel stripes; Calculating and outputting the coordinates of the code stripes in the alignment hole; The pre-stored standard pattern of the code disk is matched with the code track stripes in the plurality of alignment holes, and the position of the code disk and the shape of the code track are determined by the coordinates of the code track stripes in the alignment holes.

10. The alignment method according to claim 8, characterized in that: The image acquisition unit pre-acquires an image of the code disk, and the signal processing unit processes the image of the alignment hole acquired by the image acquisition unit to obtain the position of the code disk and the morphology of the code track, including the following steps: Converting the acquired image at the alignment hole and the pre-collected image of the code disc into a grayscale image; Performing edge detection on the grayscale image at the alignment hole and the grayscale image of the code disk using an edge detection algorithm to obtain the contour lines of the projected code track in the grayscale image at the alignment hole and the contour lines of the code disk and the code track in the grayscale image of the code disk; Performing polygonal approximation on the contour lines of the code channel in the grayscale image at the alignment hole, and selecting stripes that meet set conditions as code channel stripes; Calculating and outputting the coordinates of the code stripes in the alignment hole; Performing polygonal approximation on the contour lines of the code channel in the grayscale image of the code disk, selecting stripes that meet set conditions as code channel stripes, and generating a code disk template; The code disk template is matched with the code track stripes in the plurality of alignment holes, and the position of the code disk and the shape of the code track are determined by the coordinates of the code track stripes in the alignment holes.

Images