Shaft system angle measurement precision automatic detection device and method of rotary transformer shaft system

Abstract

The invention provides a shafting angle measurement precision automatic detection device and method for a rotary transformer shafting, and a fixing tool of the device comprises three layers of platforms, a servo motor drive controller is installed on the first layer of platform, a servo motor is fixedly installed on the second layer of platform, and a to-be-detected shafting is detachably installed on the third layer of platform. A shaft system rotor to be measured is connected to a servo motor rotor through a coupler, an azimuth shaft end or a pitch shaft end of the shaft system rotor to be measured is provided with an angle measurement tool, and the angle measurement tool is fixedly provided with a polyhedron and is connected with an angle measurement element; an autocollimator is fixedly mounted on the autocollimator mounting bracket and is flush with the polyhedron; the industrial personal computer outputs a rotation signal to enable the servo motor to drive the rotary transformer shaft system to rotate, the autocollimator detects the corresponding face of the polyhedron after each rotation, first angle measurement data, output by the angle measurement element, of all the faces and second angle measurement data, output by the autocollimator, of all the faces are collected, then the shaft system angle measurement precision is calculated, automatic detection is achieved, and the detection efficiency is improved. And the detection result is accurate and reliable.

Description

Technical Field

[0001] The invention belongs to the field of measurement technology, and in particular relates to a device and method for automatically detecting the angle measurement accuracy of a shaft system of a rotary shaft system. Background Art

[0002] The angle measurement accuracy of the shaft system refers to the difference between the angle displayed by the angular position measurement system (referred to as the angle measurement system) and the actual measured value during the rotation of the shaft system.

[0003] In the related art, the test method for the angular measurement accuracy of the resolver shaft system usually adopts a comprehensive test method. However, the rotation of the resolver shaft system, the recording of test data and the calculation of angular measurement accuracy all require manual operation, and the degree of automation is low. Summary of the invention

[0004] In a first aspect, an embodiment of the present invention provides an automatic detection device for the angular measurement accuracy of a resolver shaft system, comprising: a fixed tool, a servo motor drive controller, a servo motor, a coupling, an angular measurement tool, a polyhedron, an angular measurement element, an autocollimator mounting bracket, an autocollimator and an industrial computer; the fixed tool comprises a three-layer platform, the servo motor drive controller is installed on the first layer platform, the servo motor is fixedly installed on the second layer platform, the servo motor drive controller is connected to the servo motor, and the resolver shaft system to be detected is detachably installed on the third layer platform, the coupling is used to connect the rotor of the resolver shaft system to the rotor of the servo motor, the azimuth shaft end or the pitch shaft end of the rotor of the resolver shaft system is installed with an angular measurement tool, and the angular measurement tool is fixedly installed on the angular measurement tool The polyhedron is installed, and the angle measuring tool is connected to the angle measuring element; the autocollimator is fixedly installed on the autocollimator mounting bracket, and the autocollimator is flush with the polyhedron; the industrial computer is respectively connected to the servo motor drive controller, the angle measuring element and the autocollimator; the industrial computer is used to output a rotation signal to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate, and after each rotation, the autocollimator detects the corresponding face of the polyhedron; the industrial computer is used to collect the first angle measurement data of the corresponding face output by the angle measuring element and the second angle measurement data of the corresponding face output by the autocollimator, and calculate the shaft system angle measurement accuracy according to the first angle measurement data and the second angle measurement data corresponding to all faces of the polyhedron.

[0005] In some embodiments, the polyhedron is an icosahedron.

[0006] In some embodiments, the control accuracy of the servo motor is higher than a preset accuracy; the preset accuracy is determined based on a preset radius, an initial radius and the number of rotations of the servo motor, the preset radius refers to the maximum radius of the cross image formed by the autocollimator when detecting each face of the polyhedron at the center of the field of view, and the initial radius refers to the radius of the cross image formed by the autocollimator when detecting the first face of the polyhedron at the center of the field of view.

[0007] In some embodiments, the second-layer platform of the fixed tooling is provided with a first circular hole, the stator of the servo motor is fixed on the second-layer platform, and the rotor of the servo motor passes through the first circular hole; a second circular hole is provided on the third-layer platform of the fixed tooling at a position corresponding to the position of the first circular hole, the stator of the rotary shaft system is fixed on the third-layer platform, and the rotor of the rotary shaft system passes through the second circular hole.

[0008] In some embodiments, the fixing fixture, the autocollimator mounting bracket and the industrial computer are all arranged on an optical platform.

[0009] In a second aspect, an embodiment of the present invention provides a method for automatically detecting the angular measurement accuracy of a resolver shaft system, which is applied to a device for automatically detecting the angular measurement accuracy of a resolver shaft system as described in any one of the first aspects, and the method comprises: installing the resolver shaft system to be detected on the third-layer platform of the fixed fixture, and connecting the rotor of the resolver shaft system to the rotor of the servo motor through the coupling; installing the angular measurement fixture to the azimuth axis end or the pitch axis end of the rotor of the resolver shaft system, and fixing the polyhedron on the angular measurement fixture; longitudinally adjusting the autocollimator mounting bracket to allow the autocollimator to The collimator is flush with the polyhedron; the industrial computer is connected to the servo motor drive controller, the angle measuring element and the autocollimator respectively; the industrial computer outputs a rotation signal to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate, and the autocollimator detects the corresponding face of the polyhedron after each rotation; the industrial computer collects the first angle measurement data of the corresponding face output by the angle measuring element and the second angle measurement data of the corresponding face output by the autocollimator, and calculates the angle measurement accuracy of the shaft system according to the first angle measurement data and the second angle measurement data corresponding to all faces of the polyhedron.

[0010] In some embodiments, after longitudinally adjusting the autocollimator mounting bracket so that the autocollimator is flush with the polyhedron, the step further includes: rotating the rotor of the resolver axis system for one circle, and when the autocollimator is able to self-align when detecting each face of the polyhedron, and when the tilt error between the reflected image and the cross image of each face is less than a first preset value, executing the step of connecting the industrial computer to the servo motor drive controller, the angle measuring element and the autocollimator respectively, otherwise executing the step of longitudinally adjusting the autocollimator mounting bracket again.

[0011] In some embodiments, the calculating the angle measurement accuracy of the axis system according to the first angle measurement data and the second angle measurement data corresponding to all the faces of the polyhedron includes: determining the angle measurement accuracy of the angle measurement system corresponding to the angle measurement element on the corresponding face according to the first angle measurement data and the second angle measurement data corresponding to the corresponding face after each rotation; and calculating the root mean square value of the angle measurement accuracy of all the faces of the polyhedron to obtain the angle measurement accuracy of the axis system.

[0012] In some embodiments, when the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is not less than a preset ratio value of the preset axis system angle measurement accuracy requirement, the angle measurement accuracy of the angle measurement system on the corresponding face is calculated as follows:

[0013] e i =a i -a1-b i +b1-θ×(i-1)-Δ

[0014] When the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is less than the preset ratio value of the preset axis system angle measurement accuracy requirement, the angle measurement accuracy of the angle measurement system on the corresponding face is calculated as follows:

[0015] e i =a i -a1-b i +b1-θ×(i-1)

[0016] The calculation formula of the shaft system angle measurement accuracy is as follows:

[0017]

[0018] Among them, e i represents the angle measurement accuracy of the angle measurement system on the i-th surface, a i represents the first angle measurement data corresponding to the i-th surface, b i represents the second angle measurement data corresponding to the i-th face, θ represents the standard value of the angle between two adjacent faces of the polyhedron, Δ represents the calibration value of the current face relative to the first face, N represents the total number of faces of the polyhedron, and RMS represents the angle measurement accuracy of the axis system.

[0019] In a third aspect, an embodiment of the present invention further provides a method for automatically detecting the angular measurement accuracy of a resolver shaft system, which is applied to an industrial computer in a device for automatically detecting the angular measurement accuracy of a resolver shaft system as described in any one of the first aspects, the method comprising: outputting a rotation signal to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate, and after each rotation, the autocollimator detects the corresponding face of the polyhedron; collecting first angular measurement data of the corresponding face output by the angular measurement element and second angular measurement data of the corresponding face output by the autocollimator; and calculating the angular measurement accuracy of the shaft system based on the first angular measurement data and the second angular measurement data corresponding to all faces of the polyhedron.

[0020] The beneficial effects brought by the present invention are as follows:

[0021] It can be seen from the above scheme that an embodiment of the present invention provides an automatic detection device and method for the angular measurement accuracy of a resolver shaft system. The device installs the shaft system to be measured on a fixed tool, wherein the top end of the rotor of the shaft system to be measured is installed with a polyhedron through an angular measurement tool, and the angular measurement tool is connected to the angular measurement element. Under the control of the industrial computer, the servo motor rotates and drives the shaft system to be measured to rotate synchronously, so that the autocollimator can detect each face of the polyhedron. In this process, the industrial computer automatically collects the angular measurement data of each face measured by the angular measurement system and the angular measurement data of each face measured by the autocollimator, and automatically calculates the angular measurement accuracy of the shaft system of the resolver shaft system based on the angular measurement data of all faces. The entire detection process is fully automated, human errors are reduced, and the detection results are accurate and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic structural diagram of a device for automatically detecting the angular measurement accuracy of a shaft system of a resolver shaft system provided by an embodiment of the present invention;

[0023] Figure 2 A structural schematic diagram of a fixing tool provided in an embodiment of the present invention;

[0024] Figure 3 A schematic flow chart of a method for automatically detecting the angular measurement accuracy of a shaft system of a resolver shaft system provided by an embodiment of the present invention;

[0025] Figure 4 A schematic flow chart of another method for automatically detecting the angular measurement accuracy of a shaft system of a resolver shaft system provided by an embodiment of the present invention;

[0026] Figure 5 A schematic flow chart of another method for automatically detecting the angular measurement accuracy of a shaft system of a resolver shaft system provided by an embodiment of the present invention;

[0027] Figure 6 A schematic diagram of the structure of an industrial computer provided by an embodiment of the present invention;

[0028] Figure 7 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention;

[0029] 1-fixed tooling, 2-servo motor drive controller, 3-coupling, 4-angle measuring tooling, 5-polyhedron, 6-angle measuring element, 7-autocollimator mounting bracket, 8-autocollimator, 9-industrial computer, 10-rotor of servo motor, 11-stator of servo motor, 12-rotor of resolver shaft system, 13-stator of resolver shaft system. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] Figure 1 A schematic diagram of the structure of a device for automatically detecting the angular measurement accuracy of a rotary shaft system provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the device comprises:

[0032] Fixed fixture 1, servo motor drive controller 2, servo motor, coupling 3, angle measuring fixture 4, polyhedron 5, angle measuring element 6, autocollimator mounting bracket 7, autocollimator 8 and industrial computer 9;

[0033] The fixed fixture 1 includes three platforms, the servo motor drive controller 2 is installed on the first platform, the servo motor is fixedly installed on the second platform, the servo motor drive controller 2 is connected to the servo motor, and the third platform is detachably installed with the resolver shaft system to be detected, the coupling 3 is used to connect the rotor 12 of the resolver shaft system to the rotor 10 of the servo motor, the azimuth axis end or the pitch axis end of the rotor 12 of the resolver shaft system is installed with an angle measuring fixture 4, the polyhedron 5 is fixedly installed on the angle measuring fixture 4, and the angle measuring fixture 4 is connected to the angle measuring element 6; the autocollimator 8 is fixedly installed on the autocollimator mounting bracket 7, The autocollimator 8 is flush with the polyhedron 5; the industrial computer 9 is respectively connected to the servo motor drive controller 2, the angle measuring element 6 and the autocollimator 8; the industrial computer 9 is used to output a rotation signal to the servo motor drive controller 2 to control the servo motor to drive the resolver shaft system to rotate, and after each rotation, the autocollimator 8 detects the corresponding face of the polyhedron 5; the industrial computer 9 is used to collect the first angle measurement data of the corresponding face output by the angle measuring element 6 and the second angle measurement data of the corresponding face output by the autocollimator 8, and calculate the angle measurement accuracy of the shaft system according to the first angle measurement data and the second angle measurement data corresponding to all faces of the polyhedron 5.

[0034] Specifically, the servo motor includes a servo motor stator and a servo motor rotor, and the rotating shaft system to be detected (hereinafter referred to as the shaft to be tested) includes the shaft to be tested stator and the shaft to be tested rotor. Figure 2 A structural schematic diagram of a fixing tool provided by an embodiment of the present invention is shown in FIG. Figure 1 and 2As shown, the structure of the fixed tooling 1 is a three-layer platform. The servo motor drive controller 2, DC switching power supply, etc. can be placed or fixedly installed on the first platform. The servo motor is fixedly installed on the second platform. The servo motor drive controller 2 is connected to the servo motor and can be used to forward various control signals sent by the industrial computer 9. The third platform can be detachably installed on the rotating shaft system to be tested (referred to as the shaft system to be tested, the tested shaft system), and the rotor of the shaft system to be tested is connected to the rotor of the servo motor through a coupling 3, so that when the servo motor rotates, the rotor of the shaft system to be tested is driven to rotate synchronously.

[0035] In some embodiments, the second-layer platform of the fixed tool 1 is provided with a first circular hole, the stator 11 of the servo motor is fixed on the second-layer platform, and the rotor 10 of the servo motor passes through the first circular hole; a second circular hole is provided on the third-layer platform of the fixed tool 1 at a position corresponding to the position of the first circular hole, the stator 13 of the resolver shaft system is fixed on the third-layer platform, and the rotor 12 of the resolver shaft system passes through the second circular hole.

[0036] Continue to refer Figure 1 , 2 A circular hole with a diameter slightly larger than the diameter of the raised part on the surface of the servo motor is reserved at the center of the second-layer platform of the fixed tool 1, and four through holes are drilled according to the size and position of the four holes on the servo motor stator. The servo motor stator is fixed to the second-layer platform by screws and nuts to ensure that the servo electronic rotor is basically coaxial with the central circular hole of the second-layer platform; a circular hole with a diameter of 300mm is also reserved at the center of the third-layer platform of the fixed tool 1 to adapt to the shaft system to be tested with a rotor diameter of less than 300mm. The inner diameter adjustment plate is fixed to the third layer by threaded connection, and the stator of the shaft system to be tested and the inner diameter adjustment plate are fixed together by screws and nuts. The screws on the inner diameter adjustment plate can be loosened to adjust the position of the inner diameter adjustment plate to adjust the axis of the shaft system to be tested to be coaxial with the servo motor rotor. At the same time, it can adapt to shaft systems to be tested of different sizes.

[0037] An angle measuring fixture 4 is installed at the azimuth axis end or the pitch axis end of the shaft system rotor to be measured, and a polyhedron 5 is fixedly installed on the angle measuring fixture 4. The horizontal direction or the pitch angle of the polyhedron 5 can be adjusted by the angle measuring fixture 4. In some embodiments, the polyhedron 5 is an icosahedron.

[0038] The angle measuring tool 4 is also connected to the angle measuring element 6. The angle measuring element 6 can obtain the angle of the polyhedron 5 by measuring the angle of the angle measuring tool 4, that is, the angle measurement data measured by the angle measurement system. The angle measuring element 6 is connected to the industrial computer 9, and the angle measurement data measured by the angle measurement system can be uploaded to the industrial computer 9.

[0039] An autocollimator 8 is fixedly mounted on the upper platform of the autocollimator mounting bracket 7 , and the bracket can be adjusted up and down so that the autocollimator 8 and the polyhedron 5 are substantially aligned, ensuring that the autocollimator 8 can detect each face of the polyhedron 5 .

[0040] The industrial computer 9 is connected to the control cable of the servo motor drive controller 2. The industrial computer 9 outputs a rotation signal to the servo motor drive controller 2. The servo motor drive controller 2 then drives the servo motor to rotate, driving the rotor of the shaft system to be measured to rotate synchronously. After each rotation, the autocollimator 8 can detect a certain face of the polyhedron 5. Taking the 23-hedron as an example, the servo motor rotates 23 times, and the autocollimator 8 detects 23 faces of the polyhedron 5. At the same time, the data acquisition port of the industrial computer 9 is respectively connected to the data output port of the angle measurement system corresponding to the angle measurement element 6 and the detection data output port of the autocollimator 8, so as to collect the angle measurement data of each face measured by the angle measurement system and the angle measurement data of each face measured by the autocollimator 8, and finally calculate the angle measurement accuracy of the shaft system according to the angle measurement data of all faces.

[0041] In some embodiments, the control accuracy of the servo motor is higher than a preset accuracy; the preset accuracy is determined based on a preset radius, an initial radius and the number of rotations of the servo motor, the preset radius refers to the maximum radius of the cross image formed by the autocollimator 8 when detecting each face of the polyhedron 5 at the center of the field of view, and the initial radius refers to the radius of the cross image formed by the autocollimator 8 when detecting the first face of the polyhedron 5 at the center of the field of view.

[0042] Specifically, the preset radius is pre-set and is used to indicate the maximum radius of the cross image formed by the autocollimator 8 when detecting each face of the polyhedron 5 at the center of the field of view; the initial radius is the radius of the cross image formed by the autocollimator 8 at the center of the field of view during the initial detection, that is, when detecting the first face of the polyhedron 5; the number of rotations of the servo motor is equal to the total number of faces of the polyhedron 5. Taking the 23-hedron as an example, for example, the staff pre-sets that the autocollimation cross image of the autocollimator 8 for each face of the 23-hedron is preferably within a circle with a radius of 600" at the center of the field of view, and determines that when the autocollimator 8 detects the first face of the polyhedron 5, its autocollimation cross image is within a 200" ring in the center of the field of view. The control accuracy of the servo motor should be higher than 400" / 23≈17", so a servo motor with a rotation control accuracy higher than 17" should be selected to drive the rotation of the axis system to be measured.

[0043] In some embodiments, the fixed fixture 1, the autocollimator mounting bracket 7 and the industrial computer 9 are all arranged on an optical platform. Specifically, the fixed fixture 1, the autocollimator mounting bracket 7 and the industrial computer 9 are integrated into an optical platform to improve the stability of each component, reduce the position adjustment and calibration between the components, and facilitate the operation of the staff.

[0044] The automatic detection device for the angular measurement accuracy of the shaft system of the resolver shaft system provided in the present embodiment installs the shaft system to be measured on a fixed tooling, wherein the top end of the rotor of the shaft system to be measured is installed with a polyhedron through the angular measurement tooling, and the angular measurement tooling is connected to the angular measurement element. Under the control of the industrial computer, the servo motor rotates and drives the shaft system to be measured to rotate synchronously, so that the autocollimator can detect each face of the polyhedron. In this process, the industrial computer automatically collects the angular measurement data of each face measured by the angular measurement system and the angular measurement data of each face measured by the autocollimator, and automatically calculates the angular measurement accuracy of the shaft system of the resolver shaft system based on the angular measurement data of all faces. The entire detection process is fully automated, human errors are reduced, and the detection results are accurate and reliable.

[0045] Figure 3 A schematic diagram of a flow chart of a method for automatically detecting the angular measurement accuracy of a rotary shaft system provided by an embodiment of the present invention, which is applied to Figure 1 The automatic detection device for the angular measurement accuracy of the rotating shaft system shown in FIG. Figure 3 As shown, the automatic detection method of the shaft angle measurement accuracy of the rotary shaft system includes:

[0046] Step S301: Install the resolver shaft system to be tested on the third platform of the fixed fixture, and connect the rotor of the resolver shaft system to the rotor of the servo motor through the coupling.

[0047] Specifically, the stator of the shaft system to be tested is fixedly installed on the third-layer platform, and the rotor of the shaft system to be tested is connected to the rotor of the servo motor through a coupling to ensure that the servo motor rotor can drive the rotor of the shaft system to be tested to rotate synchronously. It should be noted that the working state of the product of the shaft system to be tested should be kept consistent as much as possible.

[0048] Step S302: Install the angle measuring tool to the azimuth axis end or the pitch axis end of the rotor of the resolver shaft system, and fix the polyhedron to the angle measuring tool.

[0049] Specifically, the angle measuring tool is installed on the azimuth axis end or pitch axis end of the rotor of the resolver shaft system, the 23-hedron is fixed on the angle measuring tool, the angle measuring tool is adjusted to ensure that the axis of the 23-hedron is parallel to the rotation axis of the shaft system to be measured, and the center of the first face of the 23-hedron is adjusted to the resolver angle value of 0±2°.

[0050] Step S303: longitudinally adjust the autocollimator mounting bracket to make the autocollimator flush with the polyhedron.

[0051] Specifically, the autocollimator is fixedly mounted on the autocollimator mounting bracket, and the bracket can be adjusted up and down so that the position of the autocollimator is flush with the position of the 23-hedron and is roughly aligned with the center of the first face of the 23-hedron.

[0052] In some embodiments, step S303 further includes: rotating the rotor of the resolver shaft system for one circle, and when the autocollimator can self-align when detecting each face of the polyhedron, and the tilt error between the reflected image and the cross image of each face is less than a first preset value, executing the step of connecting the industrial computer to the servo motor drive controller, the angle measuring element and the autocollimator respectively; otherwise, executing the step of longitudinally adjusting the autocollimator mounting bracket again.

[0053] Specifically, after adjusting the autocollimator and the polyhedron to be basically flush, the rotor of the shaft system to be tested can be rotated clockwise for one circle. If it is detected that the autocollimator can self-collimate each face of the 23-hedron within the rotation range, and the reflected image of each face has no obvious tilt relative to the cross phase, it means that the position of the autocollimator has been adjusted. Otherwise, continue to adjust the bracket up and down.

[0054] Step S304: connecting the industrial computer to the servo motor drive controller, the angle measuring element and the autocollimator respectively.

[0055] Specifically, the control cable of the servo motor drive controller is connected to the industrial computer, and the data output of the angle measurement system of the axis system to be measured and the data output of the autocollimator are connected to the data acquisition port of the industrial computer.

[0056] Step S305: Based on the industrial computer outputting a rotation signal to the servo motor drive controller, the servo motor is controlled to drive the resolver shaft system to rotate, and after each rotation, the autocollimator detects the corresponding face of the polyhedron.

[0057] Step S306: Based on the first angle measurement data of the corresponding surface output by the angle measurement element and the second angle measurement data of the corresponding surface output by the autocollimator collected by the industrial computer, the axis system angle measurement accuracy is calculated according to the first angle measurement data and the second angle measurement data corresponding to all the surfaces of the polyhedron.

[0058] Specifically, the industrial computer is deployed with shaft angle measurement accuracy analysis software, which outputs a rotation signal to the servo motor drive controller through the RS485 interface, thereby controlling the servo motor to drive the rotor of the measured shaft to rotate synchronously, so that the autocollimator can detect each face of the polyhedron; at the same time, the industrial computer samples and verifies the angle measurement data of the corresponding face measured by the angle measurement system after each rotation and the angle measurement data of the corresponding face measured by the autocollimator through the serial communication protocol, and stores them in the list control until the required sampled data are completely sampled and stored; finally, the industrial computer calculates the shaft angle measurement accuracy based on the angle measurement system data and autocollimator data of all faces.

[0059] Taking the 23-sided body as an example, the industrial computer automatically controls the servo motor to rotate 23 times at a step distance of 15°39′7.8″. At the same time, the industrial computer collects the angle measurement data of the corresponding surface measured by the angle measurement system after each rotation. i , and the angle measurement data b of the corresponding surface measured by the autocollimator i (i represents the i-th face detected, i = 1 to 23), finally, according to the a corresponding to these multiple faces i and b i Automatically calculate the shaft system angle measurement accuracy and complete the test.

[0060] In some embodiments, the step S306 of calculating the angle measurement accuracy of the axis system according to the first angle measurement data and the second angle measurement data corresponding to all the faces of the polyhedron includes: determining the angle measurement accuracy of the angle measurement system corresponding to the angle measurement element on the corresponding face according to the first angle measurement data and the second angle measurement data corresponding to the corresponding face after each rotation; and calculating the root mean square value of the angle measurement accuracy of all the faces of the polyhedron to obtain the angle measurement accuracy of the axis system.

[0061] In some embodiments, when the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is not less than a preset ratio value of the preset axis system angle measurement accuracy requirement, the angle measurement accuracy of the angle measurement system on the corresponding face is calculated as follows:

[0062] e i =a i -a1-b i +b1-θ×(i-1)-Δ (1)

[0063] When the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is less than the preset ratio value of the preset axis system angle measurement accuracy requirement, the angle measurement accuracy of the angle measurement system on the corresponding face is calculated as follows:

[0064] e i =a i -a1-b i +b1-θ×(i-1) (2)

[0065] The calculation formula of the shaft system angle measurement accuracy is as follows:

[0066]

[0067] Among them, e i represents the angle measurement accuracy of the angle measurement system on the i-th surface, a i represents the first angle measurement data corresponding to the i-th surface, b irepresents the second angle measurement data corresponding to the i-th face, θ represents the standard value of the angle between two adjacent faces of the polyhedron, Δ represents the calibration value of the current face relative to the first face, N represents the total number of faces of the polyhedron, and RMS represents the angle measurement accuracy of the axis system. It should be noted that e1 is directly determined based on a1 and b1, e i , i≥2 is determined according to formula (1) or formula (2).

[0068] Taking the 23-hedron as an example, substitute θ=56347.83 into formula (1) or (2) to calculate e2, e3, ...e 23 , substitute N=23 into formula (3) to calculate the angular measurement accuracy of the axis system.

[0069] Optionally, after step S306, the step further includes: saving the first angle measurement data and the second angle measurement data corresponding to all the faces of the polyhedron and the angle measurement accuracy of the axis system into a target file. Specifically, when the staff needs to output the inspection report, the angle measurement data of each face measured by the angle measurement system, the angle measurement data of each face measured by the autocollimator and the calculated angle measurement accuracy of the axis system can be saved into a file, and the file is named by the industrial computer, and the output file format is .xlsx file.

[0070] The method for automatically detecting the angular measurement accuracy of a resolver shaft system provided in the present embodiment comprises the following steps: installing the shaft system to be measured, installing an angular measurement tool and a polyhedron on an automatic detection device for the angular measurement accuracy of a resolver shaft system, adjusting the autocollimator to align with the polyhedron, wiring the industrial computer, and finally rotating the shaft system to be measured under the control of the industrial computer, and calculating the angular measurement accuracy of the shaft system through the collected angular measurement system data and the autocollimator data, thereby realizing automated detection, effectively reducing the possibility of errors in detection data caused by human operating errors, effectively improving the detection efficiency of the angular measurement accuracy of the shaft system, and achieving accurate and reliable detection results.

[0071] Figure 4 A schematic diagram of a flow chart of another automatic detection method for the angular measurement accuracy of a rotary shaft system provided by an embodiment of the present invention. Figure 4 The present invention is described in detail by taking the shaft system angle measurement accuracy detection of a certain type of azimuth rotation shaft system as an example.

[0072] Step 1: 23-sided installation.

[0073] Specifically, fix the 23-hedron on the angle measuring fixture, install the angle measuring fixture to the end of the azimuth axis, adjust the fixture to ensure that the axis of the 23-hedron is parallel to the rotation axis of the axis system to be measured, and adjust the center of the first face of the 23-hedron to the rotation angle value of 0±2°.

[0074] Step 2: Install the shaft system to be tested.

[0075] The shaft system to be measured is firmly mounted on the optical platform through a fixing fixture, and the rotor of the shaft system to be measured is connected to the rotor of the servo motor through a coupling to ensure that the rotor of the servo motor can drive the rotor of the shaft system to be measured to rotate synchronously.

[0076] Step 3: Adjust the position of the autocollimator and the 23-hedron.

[0077] The autocollimator is placed on the mounting bracket, and the position of the autocollimator is adjusted to be flush with the position of the 23-hedron by adjusting the bracket up and down, and roughly aligned with the center of the first face of the 23-hedron. Adjust the 23-hedron and rotate the shaft system rotor to be measured clockwise for one circle to ensure that the autocollimator can self-collimate each face of the 23-hedron within the rotation range, and the reflected image has no obvious tilt relative to the cross scale.

[0078] Step 4: Connect the industrial computer.

[0079] Connect the data output of the angle measurement system of the axis system to be measured and the data output of the autocollimator to the data acquisition port of the industrial computer, and connect the control cable of the servo motor drive control device to the industrial computer.

[0080] Step 5: Setting the hardware parameters of the angle measurement module.

[0081] For the angle measuring element and autocollimator, open the software "FB930HR Series Serial Port Parameter Setting Software" and set the roughing and finishing machine ratio to the number of pole pairs in the product specification of the axis system to be measured in the parameter setting.

[0082] Step 6: Open the angle measurement software and fill in the axis parameters.

[0083] For the shaft system angle measurement accuracy software on the industrial computer, such as "Multi-pole resolver angle measurement software", open the software, first click "Query serial port" in the parameter setting area, then click "Open serial port", and fill in the pole pair number of the resolver shaft system in the box after "Set pole pair number".

[0084] Step 7: Perform shaft system angle measurement accuracy test.

[0085] Adjust the position of the autocollimator so that the center of the autocollimation cross image on the first surface of the 23-hedron appears within the 200" circle on the autocollimator display screen. After the autocollimator reading stabilizes, select "Automatic Mode" in the "Mode Selection" of the "Multiple Pole Rotation Angle Measurement Software". First click "Configure Angle Measurement Parameters" and then click "Get Angle". The industrial computer collects the measurement data of the angle measurement system and the detection data of the autocollimator at this time, and then automatically controls the servo motor to rotate 23 times at a step distance of 15°39′7.8". At the same time, the industrial computer collects the measurement data of the angle measurement system and the detection data of the autocollimator after each rotation. The angle value output by the angle measurement element is recorded as a i , the reading of the autocollimator is recorded as b i; Then click "Accuracy Calculation", the software will automatically calculate the axis angle measurement accuracy and complete the test.

[0086] In summary, this embodiment realizes automatic detection of the angular measurement accuracy of the resolver shaft system through the automatic detection device for the angular measurement accuracy of the resolver shaft system and the angular measurement accuracy software deployed on the industrial computer, reduces human errors, and effectively improves the detection efficiency of the angular measurement accuracy of the resolver shaft system and the accuracy and reliability of the detection results.

[0087] Figure 5 A flowchart of another method for automatically detecting the angular measurement accuracy of a rotary shaft system provided by an embodiment of the present invention is applied to Figure 1 The industrial computer in the automatic detection device for the shaft angle measurement accuracy of the rotary shaft system shown in the figure, the method includes:

[0088] Step S501: output a rotation signal to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate, and after each rotation, the autocollimator detects the corresponding face of the polyhedron.

[0089] Step S502: collecting first angle measurement data of the corresponding surface output by the angle measurement element and second angle measurement data of the corresponding surface output by the autocollimator.

[0090] Step S503: Calculate the angle measurement accuracy of the axis system according to the first angle measurement data and the second angle measurement data corresponding to all the faces of the polyhedron.

[0091] In some embodiments, the step S503 includes:

[0092] Determine the angle measurement accuracy of the angle measurement system corresponding to the angle measurement element on the corresponding surface according to the first angle measurement data and the second angle measurement data corresponding to the corresponding surface after each rotation;

[0093] The root mean square value of the angle measurement accuracy of all faces of the polyhedron is calculated to obtain the angle measurement accuracy of the axis system.

[0094] In some embodiments, when the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is not less than a preset ratio value of the preset axis system angle measurement accuracy requirement, the angle measurement accuracy of the angle measurement system on the corresponding face is calculated as follows:

[0095] e i =a i -a1-b i +b1-θ×(i-1)-Δ

[0096] When the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is less than the preset ratio value of the preset axis system angle measurement accuracy requirement, the angle measurement accuracy of the angle measurement system on the corresponding face is calculated as follows:

[0097] e i =a i -a1-b i +b1-θ×(i-1)

[0098] The calculation formula of the shaft system angle measurement accuracy is as follows:

[0099]

[0100] Among them, e i represents the angle measurement accuracy of the angle measurement system on the i-th surface, a i represents the first angle measurement data corresponding to the i-th surface, b i represents the second angle measurement data corresponding to the i-th face, θ represents the standard value of the angle between two adjacent faces of the polyhedron, Δ represents the calibration value of the current face relative to the first face, N represents the total number of faces of the polyhedron, and RMS represents the angle measurement accuracy of the axis system.

[0101] In some embodiments, after step S503, the method further includes: saving the first angle measurement data and the second angle measurement data corresponding to all faces of the polyhedron and the angle measurement accuracy of the axis system into a target file.

[0102] The technicians in the related field can clearly understand that for the convenience and simplicity of description, the specific working process and corresponding beneficial effects of the automatic detection method for the shaft angle measurement accuracy of the rotary shaft system of the industrial computer described above can refer to the aforementioned Figure 3 or Figure 4 The corresponding process in the method example shown will not be repeated here.

[0103] Figure 6 A schematic diagram of the structure of an industrial computer provided by an embodiment of the present invention is shown in FIG. Figure 6 As shown, the industrial computer includes:

[0104] A signal output unit 601 is used to output a rotation signal to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate, and after each rotation, the autocollimator detects the corresponding face of the polyhedron;

[0105] A data acquisition unit 602 is used to acquire first angle measurement data of the corresponding surface output by the angle measurement element and second angle measurement data of the corresponding surface output by the autocollimator;

[0106] The data processing unit 603 calculates the angle measurement accuracy of the axis system according to the first angle measurement data and the second angle measurement data corresponding to all the faces of the polyhedron.

[0107] In some embodiments, the data processing unit 603 is specifically used to:

[0108] Determine the angle measurement accuracy of the angle measurement system corresponding to the angle measurement element on the corresponding surface according to the first angle measurement data and the second angle measurement data corresponding to the corresponding surface after each rotation;

[0109] The root mean square value of the angle measurement accuracy of all faces of the polyhedron is calculated to obtain the angle measurement accuracy of the axis system.

[0110] In some embodiments, when the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is not less than a preset ratio value of the preset axis system angle measurement accuracy requirement, the angle measurement accuracy of the angle measurement system on the corresponding face is calculated as follows:

[0111] e i =a i -a1-b i +b1-θ×(i-1)-Δ

[0112] When the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is less than the preset ratio value of the preset axis system angle measurement accuracy requirement, the angle measurement accuracy of the angle measurement system on the corresponding face is calculated as follows:

[0113] e i =a i -a1-b i +b1-θ×(i-1)

[0114] The calculation formula of the shaft system angle measurement accuracy is as follows:

[0115]

[0116] Among them, e i represents the angle measurement accuracy of the angle measurement system on the i-th surface, a i represents the first angle measurement data corresponding to the i-th surface, b i represents the second angle measurement data corresponding to the i-th face, θ represents the standard value of the angle between two adjacent faces of the polyhedron, Δ represents the calibration value of the current face relative to the first face, N represents the total number of faces of the polyhedron, and RMS represents the angle measurement accuracy of the axis system.

[0117] In some embodiments, the industrial computer further includes a data output unit 604, and the data output unit 604 is used to save the first angle measurement data and the second angle measurement data corresponding to all faces of the polyhedron and the angle measurement accuracy of the axis system into a target file.

[0118] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the industrial computer described above and the corresponding beneficial effects can refer to the corresponding process in the aforementioned method example and will not be repeated here.

[0119] like Figure 7As shown, an embodiment of the present invention provides an electronic device, including a processor 701, a communication interface 702, a memory 703 and a communication bus 704, wherein the processor 701, the communication interface 702, and the memory 703 communicate with each other through the communication bus 704.

[0120] Memory 703, used for storing computer programs;

[0121] In one embodiment of the present invention, the processor 701 is used to implement the steps of the method for automatically detecting the shaft angle measurement accuracy of the resolver shaft system provided by any one of the aforementioned method embodiments when executing the program stored in the memory 703 .

[0122] The implementation principle and technical effect of the electronic device provided by the embodiment of the present invention are similar to those of the above embodiment and will not be described in detail here.

[0123] The above-mentioned memory 703 can be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. The memory 703 has a storage space for program codes for executing any method steps in the above-mentioned method. For example, the storage space for program codes may include various program codes for implementing various steps in the above method respectively. These program codes can be read from or written into one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are usually portable or fixed storage units. The storage unit may have a storage segment or storage space arranged similarly to the memory 703 in the above-mentioned electronic device. The program code can be compressed, for example, in an appropriate form. Generally, the storage unit includes a program for executing the method steps according to an embodiment of the present invention, that is, a code that can be read by a processor such as 701, which, when run by an electronic device, causes the electronic device to execute various steps in the method described above.

[0124] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the automatic detection method for the angular measurement accuracy of a resolver shaft system as described above.

[0125] The computer-readable storage medium may be included in the device / apparatus described in the above embodiment; or it may exist independently without being assembled into the device / apparatus. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present invention is implemented.

[0126] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

[0127] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0128] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. An automatic detection device for the angular measurement accuracy of a rotary shaft system, characterized in that: include: Fixture, servo motor drive controller, servo motor, coupling, angle measuring fixture, polyhedron, angle measuring element, autocollimator mounting bracket, autocollimator and industrial computer; The fixed tooling comprises three-layer platforms, the servo motor drive controller is installed on the first-layer platform, the servo motor is fixedly installed on the second-layer platform, the servo motor drive controller is connected to the servo motor, and the third-layer platform is detachably installed with the resolver shaft system to be detected, the coupling is used to connect the rotor of the resolver shaft system to the rotor of the servo motor, an angle measuring tooling is installed at the azimuth shaft end or the pitch shaft end of the rotor of the resolver shaft system, the polyhedron is fixedly installed on the angle measuring tooling, and the angle measuring tooling is connected to the angle measuring element; The autocollimator is fixedly mounted on the autocollimator mounting bracket, and the autocollimator is flush with the polyhedron; The industrial computer is respectively connected to the servo motor drive controller, the angle measuring element and the autocollimator; The industrial computer is used to output a rotation signal to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate, and after each rotation, the autocollimator detects the corresponding face of the polyhedron; The industrial computer is used to collect first angle measurement data of the corresponding surface output by the angle measurement element and second angle measurement data of the corresponding surface output by the autocollimator, and calculate the axis system angle measurement accuracy according to the first angle measurement data and the second angle measurement data corresponding to all surfaces of the polyhedron.

2. The automatic detection device for the angular measurement accuracy of a rotary shaft system according to claim 1 is characterized in that: The polyhedron is an icosahedron.

3. The automatic detection device for the angular measurement accuracy of a rotary shaft system according to claim 1 is characterized in that: The control accuracy of the servo motor is higher than the preset accuracy; The preset accuracy is determined based on a preset radius, an initial radius and the number of rotations of the servo motor. The preset radius refers to the maximum radius of the cross image formed by the autocollimator when detecting each face of the polyhedron at the center of the field of view. The initial radius refers to the radius of the cross image formed by the autocollimator when detecting the first face of the polyhedron at the center of the field of view.

4. The automatic detection device for the angular measurement accuracy of a rotary shaft system according to claim 1 is characterized in that: The second platform of the fixing tool is provided with a first circular hole, the stator of the servo motor is fixed on the second platform, and the rotor of the servo motor passes through the first circular hole; A second circular hole is provided on the third platform of the fixed tooling and at a position corresponding to the first circular hole. The stator of the resolver shaft system is fixed on the third platform, and the rotor of the resolver shaft system passes through the second circular hole.

5. The automatic detection device for the shaft angle measurement accuracy of a resolver shaft system according to any one of claims 1 to 4, characterized in that: The fixing fixture, the autocollimator mounting bracket and the industrial computer are all arranged on the optical platform.

6. A method for automatically detecting the angular measurement accuracy of a rotary shaft system, characterized in that: The automatic detection device for the shaft system angle measurement accuracy of the resolver shaft system according to any one of claims 1 to 5, the method comprising: Installing the resolver shaft system to be tested on the third platform of the fixed fixture, and connecting the rotor of the resolver shaft system to the rotor of the servo motor through the coupling; Installing the angle measuring tool to the azimuth axis end or the pitch axis end of the rotor of the resolver shaft system, and fixing the polyhedron to the angle measuring tool; longitudinally adjusting the autocollimator mounting bracket so that the autocollimator is flush with the polyhedron; Connecting the industrial computer to the servo motor drive controller, the angle measuring element and the autocollimator respectively; Based on the industrial computer outputting a rotation signal to the servo motor drive controller, the servo motor is controlled to drive the resolver shaft system to rotate, and after each rotation, the autocollimator detects the corresponding face of the polyhedron; The industrial computer collects first angle measurement data of the corresponding surface output by the angle measurement element and second angle measurement data of the corresponding surface output by the autocollimator, and calculates the axis system angle measurement accuracy according to the first angle measurement data and the second angle measurement data corresponding to all surfaces of the polyhedron.

7. The automatic detection method for the angular measurement accuracy of the resolver shaft system according to claim 6 is characterized in that: After longitudinally adjusting the autocollimator mounting bracket to make the autocollimator flush with the polyhedron, the method further comprises: The rotor of the resolver shaft system is rotated for one circle. When the autocollimator can self-align when detecting each face of the polyhedron, and the tilt error between the reflected image of each face and the cross image is less than a first preset value, the step of connecting the industrial computer to the servo motor drive controller, the angle measuring element and the autocollimator respectively is performed. Otherwise, the step of longitudinally adjusting the autocollimator mounting bracket is performed again.

8. The automatic detection method for the angular measurement accuracy of a resolver shaft system according to claim 6, characterized in that: The step of calculating the angle measurement accuracy of the axis system according to the first angle measurement data and the second angle measurement data corresponding to all the faces of the polyhedron comprises: Determine the angle measurement accuracy of the angle measurement system corresponding to the angle measurement element on the corresponding surface according to the first angle measurement data and the second angle measurement data corresponding to the corresponding surface after each rotation; The root mean square value of the angle measurement accuracy of all faces of the polyhedron is calculated to obtain the angle measurement accuracy of the axis system.

9. The automatic detection method for the angular measurement accuracy of the resolver shaft system according to claim 8, characterized in that: When the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is not less than the preset ratio value of the preset axis system angle measurement accuracy requirement, the calculation formula of the angle measurement system on the corresponding face is as follows: e i =a i -a1-b i +b1-θ×(i-1)-Δ When the autocollimator detects that the calibration value of the current face of the polyhedron relative to the first face is less than the preset ratio value of the preset axis system angle measurement accuracy requirement, the angle measurement accuracy of the angle measurement system on the corresponding face is calculated as follows: e i =a i -a1-b i +b1-θ×(i-1) The calculation formula of the shaft system angle measurement accuracy is as follows: Among them, e i represents the angle measurement accuracy of the angle measurement system on the i-th surface, a i represents the first angle measurement data corresponding to the i-th surface, b i represents the second angle measurement data corresponding to the i-th face, θ represents the standard value of the angle between two adjacent faces of the polyhedron, Δ represents the calibration value of the current face relative to the first face, N represents the total number of faces of the polyhedron, and RMS represents the angle measurement accuracy of the axis system.

10. A method for automatically detecting the angular measurement accuracy of a rotary shaft system, characterized in that: The industrial computer used in the automatic detection device for the shaft angle measurement accuracy of the resolver shaft system according to any one of claims 1 to 5, the method comprising: Outputting a rotation signal to the servo motor drive controller to control the servo motor to drive the resolver shaft system to rotate, and after each rotation, the autocollimator detects the corresponding face of the polyhedron; Collecting first angle measurement data of the corresponding surface output by the angle measurement element and second angle measurement data of the corresponding surface output by the autocollimator; The angle measurement accuracy of the axis system is calculated according to the first angle measurement data and the second angle measurement data corresponding to all the faces of the polyhedron.

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