Angle measurement system and precision control method thereof

Abstract

The invention provides an angle measurement system which comprises a final-stage gear, a driving unit, a clockwise rotation double-piece gear set, an anticlockwise rotation double-piece gear set, a solid shaft, a hollow shaft, a first encoder, a second encoder and a shell, and the final-stage gear is used for being connected with a load; the driving unit is connected with the last-stage gear to drive the last-stage gear to rotate; the clockwise rotation double-piece gear set is installed at one end of the solid shaft. The end, away from the clockwise rotation double-piece gear set, of the solid shaft is located in the hollow shaft and rotationally assembled together with the hollow shaft. The reverse rotation double-piece gear set is coaxially arranged on one side of the forward rotation double-piece gear set. The end, away from the reversing double-piece gear set, of the hollow shaft is located in the shell and rotationally assembled together with the shell. The first encoder is arranged in the shell and is connected with the solid shaft; and the second encoder is arranged in the shell and is connected with the hollow shaft. The problem of high-precision measurement during forward and reverse rotation can be effectively solved. And error compensation can be carried out on the angle, and high-precision angle measurement is completed.

Description

Technical Field

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

[0002] The coaxial installation of the turntable angle measurement system is often limited by the internal space size and layout of the turntable. Generally, the angle accuracy is not affected when rotating clockwise, but when reversing counterclockwise, it is easy to cause the angle acquisition to be offset. Therefore, the existing angle measurement device is generally suitable for continuous single-direction rotation or small reversing acceleration, and high-precision angle measurement cannot meet the requirements. Summary of the invention

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

[0004] The present invention provides an angle measuring system, comprising: a final gear, a driving unit, a clockwise double-piece gear set, a counterclockwise double-piece gear set, a solid shaft, a hollow shaft, a first encoder, a second encoder, and a housing, wherein:

[0005] The final gear is used to connect with the load; the driving unit is connected with the final gear to drive the final gear to rotate;

[0006] The clockwise double-piece gear set is installed at one end of the solid shaft, and includes a first lower piece gear and a first upper piece gear which are coaxially arranged, and a first tension spring which is arranged along the rotation direction of the first lower piece gear and the first upper piece gear and whose two ends are respectively connected to the first lower piece gear and the first upper piece gear, and the first lower piece gear is fixedly assembled with the solid shaft, and the first upper piece gear is rotatably installed on the first lower piece gear, and the first lower piece gear and the first upper piece gear are respectively meshed with the final gear, and the first tension spring is in a stressed state;

[0007] One end of the solid shaft away from the clockwise double-piece gear set is located in the hollow shaft and rotatably assembled with the hollow shaft, and the solid shaft and the hollow shaft are coaxial;

[0008] The reverse double-piece gear set is coaxially arranged on one side of the forward double-piece gear set and installed at one end of the hollow shaft, and comprises a second lower piece gear and a second upper piece gear which are coaxially arranged, and a second tension spring which is arranged along the rotation direction of the second lower piece gear and the second upper piece gear and whose two ends are respectively connected to the second lower piece gear and the second upper piece gear, and the second lower piece gear is fixedly assembled with the solid shaft, and the second upper piece gear is rotatably installed on the second lower piece gear, and the second lower piece gear and the second upper piece gear are respectively meshed with the final gear, and the second tension spring is in a stressed state;

[0009] One end of the hollow shaft away from the reverse double-piece gear set is located in the housing and is rotatably assembled with the housing;

[0010] The first encoder is installed in the housing and connected to the solid shaft; the second encoder is installed in the housing and connected to the hollow shaft.

[0011] Preferably, the first upper gear is provided with a first upper arc hole arranged along its circumference, and the first lower gear is located below the first upper arc hole and is provided with a first lower arc hole coaxially arranged with the first upper arc hole; one end of the first tension spring is located in the first upper arc hole and connected to the first upper gear, and the other end thereof is located in the first lower arc hole and connected to the first lower gear.

[0012] Preferably, the first upper gear is provided with a first upper hole at one end of its first upper arc hole; the first lower gear is provided with a first lower hole at the other end of its first lower arc hole away from the end where the first upper hole is located, and the two ends of the first tension spring are respectively hooked in the first upper hole and the first lower hole.

[0013] Preferably, the second upper gear is provided with a second upper arc hole arranged along its circumference, and the second lower gear is located below the second upper arc hole and is provided with a second lower arc hole coaxially arranged with the second upper arc hole; one end of the second tension spring is located in the second upper arc hole and connected to the second upper gear, and the other end thereof is located in the second lower arc hole and connected to the second lower gear.

[0014] Preferably, the second upper gear is provided with a second upper hole at one end of its second upper arc hole; the second lower gear is provided with a second lower hole at the other end of its second lower arc hole away from the end where the second upper hole is located, and the two ends of the second tension spring are respectively hooked in the second upper hole and the second lower hole.

[0015] Preferably, the solid shaft and the hollow shaft are rotatably assembled via a first bearing; and the hollow shaft and the housing are rotatably assembled via a second bearing.

[0016] Preferably, the first encoder is connected to an end of the solid shaft away from the clockwise double-piece gear set through a coupling.

[0017] Preferably, the second encoder is a hollow encoder, and one end of the hollow shaft away from the reverse double-piece gear set extends into the second encoder to form a connection between the second encoder and the hollow shaft.

[0018] Preferably, the first encoder and the second encoder are both installed in the housing via a transition bracket.

[0019] The present invention provides a precision control method for an angle measuring system, comprising the following steps:

[0020] A target is pre-set on the final gear and a laser tracker is provided for measuring the coordinate position of the target;

[0021] The initial state is measured by the laser tracker and the target coordinates are P1 =(X 1 ,Y 1 ), calibrate that the reading θ of the first encoder and the reading ψ of the second encoder are both 0;

[0022] When the final gear is rotated clockwise or counterclockwise, the coordinates P of the target are measured within one rotation range. i =(X i ,Y i ), and when the final gear is turned clockwise, record the reading of the first encoder θ i , while turning the final gear counterclockwise, record the reading of the second encoder ψ i , where i is the discrete point that the target passes through within one rotation of the final gear;

[0023] According to the coordinates of multiple points Pi = (Xi, Yi) to fit the standard circle, the center of the target rotating one circle O (X 0 , Y 0 ), then the theoretical measurement angle of clockwise or counterclockwise rotation satisfies:

[0024]

[0025] When the final gear is rotated clockwise, the error between the reading of the first encoder and the theoretical measurement angle is: Δ i =θ i -α i , and the continuous function Δ is fitted based on the discrete error value 1 ;

[0026] When the final gear is rotated counterclockwise, the error between the reading of the second encoder and the theoretical measurement angle is: Δ i =ψ i -α i , and the continuous function Δ is fitted based on the discrete error value 2 ;

[0027] When the final gear is rotated clockwise, the reading of the first encoder after error compensation is θ+Δ 1 The angle of the final gear that rotates continuously clockwise is corrected by the reading of the first encoder θ+Δ 1 To complete error compensation;

[0028] When the final gear is rotated counterclockwise, the reading of the second encoder after error compensation is ψ+Δ 2 The angle of the final gear that rotates continuously counterclockwise is corrected by the reading of the second encoder ψ+Δ 2 To complete the error compensation.

[0029] In the present invention, the final gear is connected to the load, and the driving unit (not shown) provides rotational power; the clockwise double-piece gear set and the counter-clockwise double-piece gear set are fitted with the final gear to complete the transmission of rotational motion; the clockwise double-piece gear set is connected to the first encoder through a solid shaft, and the counter-clockwise double-piece gear set is connected to the second encoder through a hollow shaft, and the rotational motions of the solid shaft and the hollow shaft are independent of each other. The clockwise double-piece gear set includes two first lower gears and a first upper gear with the same module and the same number of teeth. The first lower gear is fixed to the solid shaft, and the first upper gear can rotate around the first lower gear. When the clockwise double-piece gear set is meshed with the final gear, the first lower gear and the first upper gear are staggered by 2-3 teeth, and are fixed to the corresponding teeth of the final gear by the first tension spring, so as to eliminate the meshing clearance between the clockwise double gear and the final gear through the first tension spring. The reverse double-piece gear set includes two second lower gears with the same modulus and the same number of teeth and a second upper gear. The second lower gear is fixed to the hollow shaft, and the second upper gear can rotate around the second lower gear. When the reverse double-piece gear set is meshed with the final gear, the second lower gear and the second upper gear are staggered by 2-3 teeth, and are fixed on the corresponding teeth of the final gear by the second tension spring, so as to eliminate the meshing clearance between the reverse double-piece gear and the final gear through the second tension spring. When the final gear rotates clockwise, the angle value of the final gear is read by the first encoder. When the final gear rotates counterclockwise, the angle value of the final gear is read by the second encoder. This method, in which two sets of double-piece gear sets are respectively meshed with the final gear and rotate independently of each other, and both are respectively connected to two sets of encoders, can effectively solve the problem of high-precision measurement during forward and reverse motion. In addition, the angle is error compensated in combination with the corresponding measuring instrument to complete high-precision angle measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A structural schematic diagram of an angle measurement system proposed by the present invention;

[0031] Figure 2 This is a structural schematic diagram of the clockwise double-piece gear set in the angle measurement system proposed by the present invention;

[0032] Figure 3 This is a structural schematic diagram of the reverse double-piece gear set in the angle measurement system proposed by the present invention;

[0033] Figure 4 This is a structural schematic diagram of the housing in an angle measurement system proposed by the present invention;

[0034] Figure 5 This is an enlarged view of the meshing surface between the clockwise double-piece gear set and the final gear when the final gear in the angle measurement system proposed by the present invention rotates clockwise;

[0035] Figure 6It is an enlarged view of the meshing surface between the reverse double-piece gear set and the final gear when the final gear in the angle measurement system proposed by the present invention rotates counterclockwise;

[0036] Figure 7 This is the angle error compensation measurement diagram described in the accuracy control method of an angle measurement system proposed by the present invention. DETAILED DESCRIPTION

[0037] Reference Figure 1-4 The present invention proposes an angle measurement system, comprising: a final gear 01, a driving unit, a clockwise double-piece gear set 02, a counterclockwise double-piece gear set 03, a solid shaft 04, a hollow shaft 05, a first encoder 09, a second encoder 10, and a housing 06, wherein: the final gear 01 is used to connect with a load. The driving unit is connected to the final gear 01 to drive the final gear 01 to rotate.

[0038] The clockwise double-piece gear set 02 is installed at one end of the solid shaft 04, and includes a first lower piece gear 02A and a first upper piece gear 02B which are coaxially arranged, and a first tension spring 02C which is arranged along the rotation direction of the first lower piece gear 02A and the first upper piece gear 02B and whose two ends are respectively connected to the first lower piece gear 02A and the first upper piece gear 02B, and its first lower piece gear 02A is fixedly assembled with the solid shaft 04, and its first upper piece gear 02B is rotatably installed on the first lower piece gear 02A, so that the first upper piece gear 02B can rotate around the first lower piece gear 02A.

[0039] The first lower gear 02A and the first upper gear 02B are respectively meshed with the final gear 01, and the first tension spring 02C is in a stressed state, that is, when the clockwise double-piece gear set 02 is meshed with the final gear 01, the first lower gear 02A and the first upper gear 02B are staggered by several teeth, generally 2-3 teeth, and are respectively meshed with the corresponding teeth of the final gear 01 under the force of the first tension spring 02C.

[0040] One end of the solid shaft 04 away from the clockwise double-piece gear set 02 is located in the hollow shaft 05 and is rotatably assembled with the hollow shaft 05, and the solid shaft 04 and the hollow shaft 05 are coaxial so that the solid shaft 04 and the hollow shaft 05 can rotate relative to each other, thereby making the rotational motions of the two relatively independent.

[0041] The reverse double-piece gear set 03 is coaxially arranged on one side of the forward double-piece gear set 02 and installed at one end of the hollow shaft 05, and includes a coaxially arranged second lower piece gear 03A and a second upper piece gear 03B, and a second tension spring 03C arranged along the rotation direction of the second lower piece gear 03A and the second upper piece gear 03B and connected to the second lower piece gear 03A and the second upper piece gear 03B at both ends, and the second lower piece gear 03A is fixedly assembled with the solid shaft 04, and the second upper piece gear 03B is rotatably installed on the second lower piece gear 03A, so that the second upper piece gear 03B can rotate around the second lower piece gear 03A.

[0042] The second lower gear 03A and the second upper gear 03B are respectively meshed with the final gear 01, and the second tension spring 03C is in a stressed state, that is, when the reverse double-piece gear set 03 is meshed with the final gear 01, the second lower gear 03A and the second upper gear 03B are staggered by several teeth, generally 2-3 teeth, and are respectively meshed with the corresponding teeth of the final gear 01 under the force of the second tension spring 03C.

[0043] One end of the hollow shaft 05 away from the reverse double-piece gear set 03 is located in the housing 06 and is rotatably assembled with the housing 06 so that the hollow shaft 05 can rotate relative to the housing 06 .

[0044] The first encoder 09 is installed in the housing 06 and connected to the solid shaft 04 , and the second encoder 10 is installed in the housing 06 and connected to the hollow shaft 05 .

[0045] Reference Figure 5-6 During operation, when the final gear 01 rotates clockwise, the first lower gear 02A in the clockwise double-piece gear set 02 meshes with the tooth surface 011 on one side of the final gear 01, and at this time, the angle value of the final gear 01 is read by the first encoder 09; when the final gear 01 rotates counterclockwise, the second lower gear 03A in the reverse double-piece gear set 03 meshes with the tooth surface 012 on the other side of the final gear 01, and at this time, the angle value of the final gear 01 is read by the second encoder 10. This structural design can effectively solve the problem of high-precision measurement during forward and reverse motion.

[0046] Furthermore, in this embodiment, the first upper gear 02B is provided with a first upper arc hole arranged along its circumference, and the first lower gear 02A is provided with a first lower arc hole coaxially arranged with the first upper arc hole at a position below the first upper arc hole; one end of the first tension spring 02C is located in the first upper arc hole and connected to the first upper gear 02B, and the other end is located in the first lower arc hole and connected to the first lower gear 02A. When the first upper gear 02B rotates relative to the first lower gear 02A, its rotation angle is constrained by the first tension spring 02C, and then when meshing with the final gear 01, the first lower gear 02A and the first upper gear 02B can be respectively meshed with the corresponding teeth of the final gear 01 through the force of the first tension spring 02C.

[0047] Furthermore, the first upper gear 02B is provided with a first upper hole at one end of its first upper arc hole; the first lower gear 02A is provided with a first lower hole at the other end of its first lower arc hole away from the end where the first upper hole is located, and the two ends of the first tension spring 02C are hooked in the first upper hole and the first lower hole respectively. Thus, the first tension spring 02C is connected with the first upper gear 02B and the first lower gear 02A, and this structural design is easy to disassemble and replace.

[0048] Similarly, the second upper gear 03B is provided with a second upper arc hole arranged along its circumference, and the second lower gear 03A is provided with a second lower arc hole coaxially arranged with the second upper arc hole at a position below the second upper arc hole; one end of the second tension spring 03C03C is located in the second upper arc hole and connected to the second upper gear 03B, and the other end is located in the second lower arc hole and connected to the second lower gear 03A. When the second upper gear 03B rotates relative to the second lower gear 03A, its rotation angle is constrained by the second tension spring 03C, and then when meshing with the final gear 01, the second lower gear 03A and the second upper gear 03B can be subjected to force through the second tension spring 03C to respectively mesh with the corresponding teeth of the final gear 01.

[0049] Furthermore, the second upper gear 03B is provided with a second upper hole at one end of its second upper arc hole; the second lower gear 03A is provided with a second lower hole at the other end of its second lower arc hole away from the end where the second upper hole is located, and the two ends of the second tension spring 03C are hooked in the second upper hole and the second lower hole respectively. Thus, the second tension spring 03C is connected with the second upper gear 03B and the second lower gear 03A, and this structural design is easy to disassemble and replace.

[0050] In this embodiment, the solid shaft 04 and the hollow shaft 05 are rotatably assembled through two sets of first bearings 13 , and the hollow shaft 05 and the housing 06 are rotatably assembled through two sets of second bearings 14 .

[0051] In this embodiment, the first encoder 09 and the second encoder 10 are both installed in the housing 06 through the transition bracket 7, and the first encoder 09 is connected to the end of the solid shaft 04 away from the clockwise double-piece gear set 02 through the coupling 8. The second encoder 10 is a hollow encoder, and the end of the hollow shaft 05 away from the counterclockwise double-piece gear set 03 extends into the second encoder 10 to form a connection between the second encoder 10 and the hollow shaft 05.

[0052] Reference Figure 7 The present invention proposes a method for controlling the accuracy of an angle measuring system, comprising the following steps:

[0053] A target 11 is pre-arranged on the final gear 01 so that the target 11 rotates with the rotation of the final gear 1; and a laser tracker 12 is provided for measuring the coordinate position of the target 11;

[0054] The initial state is measured by the laser tracker 12 and the coordinates of the target are P 1 =(X 1 ,Y 1 ), calibrate that the reading θ of the first encoder 09 and the reading ψ of the second encoder 10 are both 0;

[0055] When the final gear 01 is rotated clockwise, the coordinates P of the target are measured within one rotation. i =(X i ,Y i ), and record the reading θ of the first encoder 09 i , where i is the discrete point that the target passes within one rotation of the final gear 01;

[0056] According to the coordinates of multiple points Pi = (Xi, Yi) to fit the standard circle, the center of the target rotating one circle O (X 0 , Y 0 ), then the theoretical measurement angle of clockwise rotation satisfies:

[0057]

[0058] Then the acquisition error between the reading of the first encoder 09 and the theoretical measurement angle is: Δ i =θ i -α i , and the continuous function Δ is fitted based on the discrete error value 1 ;

[0059] When the final gear 01 is rotated clockwise, the reading of the first encoder 09 after error compensation is θ+Δ 1 The angle of the final gear 01 that rotates continuously clockwise is corrected by the reading of the first encoder 09 by θ+Δ 1 To complete the error compensation.

[0060] When the final gear 01 is rotated counterclockwise, the coordinate P of the target is measured within one rotation range. i =(X i ,Y i ), and record the reading of the second encoder 10 ψ i , where i is the discrete point that the target passes within one rotation of the final gear 01;

[0061] According to the coordinates of multiple points Pi = (Xi, Yi) to fit the standard circle, the center of the target rotating one circle O (X 0 , Y 0 ), then the theoretical measurement angle of counterclockwise rotation satisfies:

[0062]

[0063] Then the acquisition error between the reading of the second encoder 10 and the theoretical measurement angle is: Δ i =ψ i -α i , and the continuous function Δ is fitted based on the discrete error value 2 ;

[0064] When the final gear 01 is rotated counterclockwise, the reading of the second encoder 10 after error compensation is ψ+Δ 2 The angle of the final gear 01 that rotates continuously counterclockwise is corrected by the reading of the second encoder 10 by ψ+Δ 2 To complete the error compensation.

[0065] As can be seen from the above, in the present invention, the final gear 01 is connected to the load, and the driving unit (not shown) provides rotational power; the clockwise double-piece gear set 02 and the counter-clockwise double-piece gear set 03 are fitted with the final gear 01 to complete the transmission of rotational motion; the clockwise double-piece gear set 02 is connected to the first encoder 09 through the solid shaft 04, and the counter-clockwise double-piece gear set 03 is connected to the second encoder 10 through the hollow shaft 05, and the rotational motions of the solid shaft 04 and the hollow shaft 05 are related and independent. The clockwise double-piece gear set 02 includes two first lower gears 02A and a first upper gear 02B with the same modulus and the same number of teeth. The first lower gear 02A is fixed to the solid shaft 04, and the first upper gear 02B can rotate around the first lower gear 02A. When the clockwise double-piece gear set 02 is engaged with the final gear 01, its first lower gear 02A and the first upper gear 02B are staggered by 2-3 teeth, and are fixed to the corresponding teeth of the final gear 01 by the first tension spring 02C. The reverse double-piece gear set 03 includes two second lower gears 03A with the same modulus and the same number of teeth and a second upper gear 03B. The second lower gear 03A is fixed to the hollow shaft 05, and the second upper gear 03B can rotate around the second lower gear 03A. When the reverse double-piece gear set 03 is engaged with the final gear 01, the second lower gear 03A and the second upper gear 03B are staggered by 2-3 teeth, and are fixed on the corresponding teeth of the final gear 01 by the second tension spring 03C. When the final gear 01 rotates clockwise, the angle value of the final gear 01 is read by the first encoder 09. When the final gear 01 rotates counterclockwise, the angle value of the final gear 01 is read by the second encoder 10. This method, in which two sets of double-piece gear sets are respectively engaged with the final gear 01 and rotate independently of each other, and both are respectively connected to two sets of encoders, can effectively solve the problem of high-precision measurement during forward and reverse motion. In addition, the angle is error compensated in combination with the corresponding measuring instrument to complete high-precision angle measurement.

[0066] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An angle measurement system, characterized in that: include: A final gear (01), a drive unit, a clockwise double-piece gear set (02), a counterclockwise double-piece gear set (03), a solid shaft (04), a hollow shaft (05), a first encoder (09), a second encoder (10), and a housing (06), wherein: The final gear (01) is used to be connected to a load; the driving unit is connected to the final gear (01) to drive the final gear (01) to rotate; The clockwise double-piece gear set (02) is installed at one end of the solid shaft (04), and comprises a first lower piece gear (02A) and a first upper piece gear (02B) which are coaxially arranged, and a first tension spring (02C) which is arranged along the rotation direction of the first lower piece gear (02A) and the first upper piece gear (02B) and whose two ends are respectively connected to the first lower piece gear (02A) and the first upper piece gear (02B), and the first lower piece gear (02A) is fixedly assembled with the solid shaft (04), and the first upper piece gear (02B) is rotatably installed on the first lower piece gear (02A), and the first lower piece gear (02A) and the first upper piece gear (02B) are respectively meshed with the final gear (01), and the first tension spring (02C) is in a stressed state; One end of the solid shaft (04) away from the clockwise double-piece gear set (02) is located in the hollow shaft (05) and is rotatably assembled with the hollow shaft (05), and the solid shaft (04) and the hollow shaft (05) are coaxial; The reverse double-piece gear set (03) is coaxially arranged on one side of the forward double-piece gear set (02) and installed on one end of the hollow shaft (05), and comprises a second lower piece gear (03A) and a second upper piece gear (03B) coaxially arranged, and a second tension spring (03C) arranged along the rotation direction of the second lower piece gear (03A) and the second upper piece gear (03B) and having two ends respectively connected to the second lower piece gear (03A) and the second upper piece gear (03B), and the second lower piece gear (03A) is fixedly assembled with the solid shaft (04), and the second upper piece gear (03B) is rotatably installed on the second lower piece gear (03A), and the second lower piece gear (03A) and the second upper piece gear (03B) are respectively meshed with the final gear (01), and the second tension spring (03C) is in a stressed state; One end of the hollow shaft (05) away from the reverse double-piece gear set (03) is located in the housing (06) and is rotatably assembled with the housing (06); The first encoder (09) is installed in the housing (06) and connected to the solid shaft (04); the second encoder (10) is installed in the housing (06) and connected to the hollow shaft (05).

2. The angle measurement system according to claim 1, characterized in that: The first upper gear (02B) is provided with a first upper arc hole arranged along its circumference, and the first lower gear (02A) is provided with a first lower arc hole coaxially arranged with the first upper arc hole at a position below the first upper arc hole; one end of the first tension spring (02C) is located in the first upper arc hole and connected to the first upper gear (02B), and the other end of the first tension spring is located in the first lower arc hole and connected to the first lower gear (02A).

3. The angle measurement system according to claim 2, characterized in that: The first upper gear (02B) is provided with a first upper hole at one end of its first upper arc hole; the first lower gear (02A) is provided with a first lower hole at the other end of its first lower arc hole away from the end where the first upper hole is located, and the two ends of the first tension spring (02C) are hooked in the first upper hole and the first lower hole respectively.

4. The angle measurement system according to claim 1, characterized in that: The second upper gear (03B) is provided with a second upper arc hole arranged along its circumference, and the second lower gear (03A) is provided with a second lower arc hole coaxially arranged with the second upper arc hole at a position below the second upper arc hole; one end of the second tension spring (03C) (03C) is located in the second upper arc hole and connected to the second upper gear (03B), and the other end is located in the second lower arc hole and connected to the second lower gear (03A).

5. The angle measurement system according to claim 4, characterized in that: The second upper gear (03B) is provided with a second upper hole at one end of its second upper arc hole; the second lower gear (03A) is provided with a second lower hole at the other end of its second lower arc hole away from the end where the second upper hole is located, and the two ends of the second tension spring (03C) are hooked in the second upper hole and the second lower hole respectively.

6. The angle measurement system according to claim 1, characterized in that: The solid shaft (04) and the hollow shaft (05) are rotatably assembled via a first bearing (13); the hollow shaft (05) and the housing (06) are rotatably assembled via a second bearing (14).

7. The angle measurement system according to claim 1, characterized in that: The first encoder (09) is connected to an end of the solid shaft (04) away from the clockwise double-piece gear set (02) through a coupling (8).

8. The angle measurement system according to claim 1, characterized in that: The second encoder (10) is a hollow encoder, and one end of the hollow shaft (05) away from the reverse double-piece gear set (03) extends into the second encoder (10) to form a connection between the second encoder (10) and the hollow shaft (05).

9. The angle measurement system according to claim 1, characterized in that: The first encoder (09) and the second encoder (10) are both installed in the housing (06) via a transition bracket (7).

10. A method for controlling the accuracy of an angle measuring system according to any one of claims 1 to 9, characterized in that: The following steps are involved: A target (11) is pre-arranged on the final gear (01), and a laser tracker (12) is provided for measuring the coordinate position of the target (11); In the initial state, the coordinates of the target measured by the laser tracker (12) are P1=(X1, Y1), and the reading θ of the first encoder (09) and the reading ψ of the second encoder (10) are calibrated to be 0; When the final gear (01) is rotated clockwise or counterclockwise, the coordinates P of the target are measured within one rotation range. i =(X i ,Y i ), and when the final gear (01) is rotated clockwise, record the reading of the first encoder (09) θ i , while rotating the final gear (01) counterclockwise, record the reading of the second encoder (10) ψ i , where i is the discrete point that the target passes through within one rotation of the final gear (01); According to the coordinates of multiple points Pi = (Xi, Yi) to fit the standard circle, the center of the target rotation O (X0, Y0) is obtained, then the theoretical measurement angle of clockwise or counterclockwise rotation satisfies: When the final gear (01) is rotated clockwise, the error between the reading of the first encoder (09) and the theoretical measurement angle is: Δ i =θ i -α i , and fit the continuous function Δ1 according to the discrete error value; When the final gear (01) is rotated counterclockwise, the error between the reading of the second encoder (10) and the theoretical measurement angle is: Δ i =ψ i -α i , and fit the continuous function Δ2 according to the discrete error value; When the final gear (01) rotates clockwise, the reading of the first encoder (09) after error compensation correction is θ+Δ1, and the angle of the final gear (01) that rotates continuously clockwise completes the error compensation through the correction value θ+Δ1 of the reading of the first encoder (09); When the final gear (01) rotates counterclockwise, the reading of the second encoder (10) after error compensation correction is ψ+Δ2, and the angle of the final gear (01) that rotates continuously counterclockwise completes the error compensation through the correction value ψ+Δ2 of the reading of the second encoder (10).

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