Automatic encoder group detection device and detection method thereof

Abstract

The invention provides an encoder automatic group detection device and a detection method thereof, the device comprises a control module, a reference driving module, a data acquisition module and a detection platform, the detection platform comprises a rack, a rack, a main transmission shaft, a detection seat and a transmission assembly, the rack is erected on the top of the rack, and the transmission assembly is arranged on the rack. A transmission space is defined between the rack top plate and the rack top plate, the reference driving module is arranged on the rack, one end of the main transmission shaft is connected with the driving end of the reference driving module, the other end of the main transmission shaft is in shaft connection with the rack, and the detection seat is arranged on the rack around the main transmission shaft. The reference driving module is used for bearing the to-be-tested encoders to be synchronously linked with the main transmission shaft in the transmission space through the transmission assembly, the data acquisition module is respectively connected with the to-be-tested encoders and the reference driving module, and the control module is respectively connected with the reference driving module and the data acquisition module. Therefore, standardization, automation and grouping of encoder detection are realized.

Description

Technical Field

[0001] The present invention relates to encoder detection technology, and in particular to an encoder automatic group detection system and method. Background Art

[0002] With the rapid development of industrial automation, intelligent manufacturing, and other fields, encoders, as core sensors for precisely measuring angle, position, and speed, are becoming increasingly important. The accuracy and efficiency of their performance testing are crucial. In practical applications, comprehensive testing of all key encoder parameters is necessary to ensure reliable operation. However, due to the complex and labor-intensive testing process and the high level of operator expertise required, the demand for automatic encoder testing systems is becoming increasingly urgent.

[0003] Current encoder testing solutions typically combine manual testing with simple instrumentation. During manual testing, technicians use basic instruments like oscilloscopes to manually connect the encoder, observe the encoder's output signal, and based on experience, determine whether the encoder's communication protocol is functioning properly. They also manually record the encoder's position and angle information. Resolution and absolute accuracy testing also often relies on multiple manual measurements and averaging.

[0004] It can be seen that the existing scheme has many shortcomings: First, the detection efficiency is extremely low, the manual operation process is cumbersome, and each detection consumes a lot of time and manpower, which cannot meet the needs of large-scale production detection; Second, the detection results are greatly affected by human factors, and the measurement error is large. It is difficult to accurately judge whether the encoder code disk defects, absolute accuracy, repeatability accuracy, and resolution meet the standards, and reading deviations are prone to occur when recording the encoder position; Third, it is usually impossible to perform group detection on multiple encoders at the same time, which seriously restricts the detection efficiency. Summary of the Invention

[0005] To this end, the main purpose of the present invention is to provide an automatic group detection device for encoders and a detection method thereof, so as to achieve standardization, automation and groupization of encoder detection.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided an automatic group inspection device for encoders, which includes: a control module, a reference drive module, a data acquisition module, and a detection platform, wherein the detection platform includes: a frame, a table, a main transmission shaft, a detection seat, and a transmission assembly, wherein the table is mounted on the top of the frame to define a transmission space between the table top plate and the frame top plate, the reference drive module is arranged on the frame, one end of the main transmission shaft is connected to the driving end of the reference drive module, and the other end is connected to the table shaft, the detection seat is arranged on the frame around the main transmission shaft to carry each encoder to be tested to be synchronously linked with the main transmission shaft in the transmission space through the transmission assembly, the data acquisition module is respectively connected to each encoder to be tested and the reference drive module, and the control module is respectively connected to the reference drive module and the data acquisition module.

[0007] In a possible preferred embodiment, the detection seat includes: a bearing platform, a suspension frame, a bearing seat, and a support shaft. The transmission assembly includes a synchronous wheel, a driven wheel, and a transmission belt. The bearing platform is arranged on the frame, and each of the synchronous wheels is sequentially connected in series on the main transmission shaft. The suspension frame is fixed on the bearing platform to carry the encoder to be tested. One end of the support shaft is connected to the detection end of the encoder to be tested, and the other end is connected to the bearing seat shaft fixed on the bearing platform. The driven wheel is arranged on the support shaft, and each of the driven wheels is respectively connected to the synchronous wheel via a transmission belt.

[0008] In a possible preferred embodiment, the detection seat further includes: an adjustment seat, an adjustment member, wherein the bearing platform is provided with a first adjustment portion, the frame is provided with a second adjustment portion, the bearing platform is matched with the second adjustment portion of the frame via the first adjustment portion, the adjustment seat is fixed on the frame, and the bearing platform and the adjustment seat are matched via the adjustment member to form a displacement-adjustable connection to adjust the distance between the driven wheel and the synchronous wheel.

[0009] In a possible preferred embodiment, a flat key is provided on the main transmission shaft, a keyway is provided in the shaft hole of the synchronous wheel, and a locking hole is provided on the radial side of the wheel body. The synchronous wheel is sequentially sleeved on the main transmission shaft, radially fixed by the keyway and the flat key, and axially fixed by the top screw and the locking hole.

[0010] In a possible preferred embodiment, a flat key is provided on the support shaft, a keyway is provided in the shaft hole of the driven wheel, and a locking hole is provided on the radial side of the wheel body. The driven wheel is sleeved on the support shaft, and is radially fixed by the keyway and the flat key, and is axially fixed by the top screw and the locking hole.

[0011] In a possible preferred embodiment, each of the supporting platforms is provided with a seat height corresponding to the height of each synchronous wheel in the transmission space, so as to lift the driven wheel thereon and arrange it flush with the corresponding synchronous wheel.

[0012] In a possible preferred embodiment, the control module includes: a main controller, a servo driver, and the reference drive module includes: a servo motor, a reference encoder, wherein the servo driver is connected to the main controller, and the servo motor is connected to the servo driver. The servo motor is respectively connected to the main transmission shaft and the reference encoder to drive the reference encoder and the encoder to be tested to rotate synchronously, and the data acquisition module is respectively connected to the reference encoder and each encoder to be tested to collect monitoring data and upload it to the main controller.

[0013] In order to achieve the above object, according to another aspect of the present invention, there is also provided a detection method of any of the above-mentioned encoder automatic group detection devices, the steps comprising:

[0014] Step S1: The reference drive module executes the detection instruction issued by the control module, initializes the reference encoder and the encoder to be tested, and rotates the main transmission shaft accordingly;

[0015] Step S2: The data acquisition module acquires the reference data of the reference encoder and the detection data of each encoder to be tested;

[0016] In step S3, the control module calculates the error of each encoder to be tested based on the reference data and the detection data.

[0017] In a possible preferred embodiment, the steps of executing the detection instruction, initializing the reference encoder and the encoder to be tested, and rotating the main transmission shaft include:

[0018] Execute zero return to determine the reference encoder code value , encoder code value to be tested ;

[0019] Divide 360° into i points, and let the reference drive module rotate the main transmission shaft in sections.

[0020] In a possible preferred embodiment, the step of calculating the error of each encoder to be tested based on the reference data and the detection data includes:

[0021] Calculate the reference encoder reference angle: ;

[0022] Calculate the measured angle of each encoder to be tested: ;

[0023] Calculate the error of each encoder under test: ;

[0024] in is the reference data code value of the reference encoder at point i, is the detection data code value of the encoder to be tested at point i.

[0025] The encoder automatic group inspection device and method provided by this invention utilizes a cleverly designed inspection platform structure. Using a single reference driver module, a single reference driver module can drive at least four encoders under test to operate synchronously with a reference encoder, completing automated inspection. This design overcomes the limitations of traditional approaches, which often prevent group inspection. This significantly improves inspection efficiency and completely eliminates human interference with inspection results, thereby achieving a standardized, automated, and group-based encoder inspection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0027] Figure 1 Schematic diagram of the overall structure of the automatic group detection device for encoders of the present invention (the transmission belt is represented by a dotted line in the figure);

[0028] Figure 2 A schematic diagram of a half-section structure of an automatic group detection device for encoders according to the present invention;

[0029] Figure 3 This is a schematic diagram of the series structure of the main transmission shaft and the synchronous wheel in the encoder automatic group detection device of the present invention;

[0030] Figure 4 for Figure 3 A schematic diagram of the half-section structure of the series connection between the middle main transmission shaft and the synchronous wheel;

[0031] Figure 5 This is a schematic diagram of the assembly structure of an example detection seat in the encoder automatic group detection device of the present invention;

[0032] Figure 6 This is a schematic top view of the structure of the automatic group detection device for encoders of the present invention, wherein the suspension frame is in a perspective shape;

[0033] Figure 7 This is a schematic diagram of a data processing block diagram of a data acquisition module in the encoder automatic group detection device of the present invention;

[0034] Figure 8 This is a system diagram showing the connection relationship between the functional modules in the encoder automatic group detection device of the present invention;

[0035] Figure 9 Schematic diagram of the detection method steps of the encoder automatic group detection device of the present invention.

[0036] Description of Reference Numerals

[0037] Control module 1, reference drive module 2, data acquisition module 3, detection platform 4, host computer 5, flat key 8, encoder to be tested 9, main controller 11, servo driver 12, encoder data collector 31, data storage device 32, frame 41, stand 42, main transmission shaft 43, detection seat 44, transmission assembly 45, servo motor 21, reference encoder 22, locking hole 81, bearing platform 441, suspension frame 442, bearing seat 443, support shaft 444, adjustment seat 445, adjustment member 446, synchronous wheel 451, driven wheel 452, transmission belt 453. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the specific technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments to help those skilled in the art further understand the present invention. Obviously, the embodiments described in this case are only embodiments of a part of the present invention, rather than all embodiments. It should be pointed out that, for those of ordinary skill in the art, the embodiments in this application and the features in the embodiments can be combined with each other without departing from the concept of the present invention and without conflicting with each other. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work should fall within the disclosure and protection scope of the present invention.

[0039] In addition, the terms "first," "second," "S1," "S2," and the like in the specification, claims, and drawings of the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential sequence. It should be understood that the features used in this manner are interchangeable where appropriate, such that the embodiments of the present invention described herein can be implemented in an order other than that described herein. Furthermore, the stages described in each step are not necessarily implemented in the same step. It should be understood that the order of implementation of the contents of each step can be adjusted and interchanged without violating the inventive concept, such that the step embodiments of the present invention described herein can be implemented in an order other than that described herein. Furthermore, the terms "including," "having," and any variations thereof, as used herein, are intended to cover non-exclusive inclusions. Unless otherwise expressly specified or limited, the terms "disposed," "arranged," "installed," "connected," and "connected" should be interpreted broadly, for example, to mean fixed, removable, or integral; mechanical or electrical; direct or indirect through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this case based on specific circumstances and in conjunction with prior art.

[0040] In order to achieve standardization, automation and group detection of encoders, such as Figures 1 to 6 As shown, the present invention provides an automatic group inspection device for encoders, which includes: a control module 1, a reference drive module 2, a data acquisition module 3, and a detection platform 4.

[0041] Among them Figure 1 As shown, in order to support multi-encoder group detection, the detection platform 4 example includes: a frame 41, a stand 42, a main transmission shaft 43, a detection seat 44, and a transmission assembly 45, wherein the stand 42 is provided with columns around it for setting up the stand 42 and fixing it on the top of the frame 41, so that a drop is formed between the stand 42 and the frame 41, so as to define a transmission space between the top plate of the stand 42 and the top plate of the frame 41.

[0042] The reference drive module 2 is set on the frame 41, wherein the reference drive module 2 includes: a servo motor 21, a reference encoder 22, wherein the reference encoder 22 is preferably built into the servo motor 21, wherein one end of the main transmission shaft 43 is connected to the driving end of the reference drive module 2 and the other end is connected to the frame 42 so that its shaft body is set in the transmission space. Figure 1 As shown, it is preferably arranged around the main transmission shaft 43 in four directions of the frame 41 to carry four encoders to be tested 9 through the transmission component 45, and synchronously linked with the main transmission shaft 43 in the transmission space, thereby supporting synchronous and automated group detection of at least four encoders to be tested 9.

[0043] In an optional embodiment, Figure 2 As shown, the detection seat 44 example includes: a supporting platform 441, a suspension frame 442, a bearing seat 443, and a support shaft 444. The transmission assembly 45 includes a synchronous wheel 451, a driven wheel 452, and a transmission belt 453. The supporting platform 441 is set on the frame 41 to be arranged around the main transmission shaft 43. Each of the synchronous wheels 451 is connected in series on the main transmission shaft 43 in sequence. The suspension frame 442 is fixed on the supporting platform 441 to carry the encoder 9 to be tested. One end of the support shaft 444 is connected to the detection end of the encoder 9 to be tested, and the other end is axially connected to the bearing seat 443 fixed on the supporting platform 441. The driven wheel 452 is set on the support shaft 444. Each of the driven wheels 452 is respectively driven and linked with each synchronous wheel 451 through a transmission belt 453, so that the main transmission shaft 43 is driven by the servo motor 21 to synchronously drive the reference encoder 22 and other encoders to be tested 9 to rotate synchronously, providing a transmission structure basis for synchronous group detection.

[0044] Furthermore, in order to improve the synchronous rotation accuracy of the encoder to be tested 9 and the reference encoder 22, as shown in FIG. Figures 5 and 6As shown, in an optional embodiment, the detection seat 44 further includes: an adjustment seat 445, an adjustment member 446, wherein the bearing platform 441 is provided with a first adjustment portion, which is exemplified by a waist hole and a limit bolt, and the frame 41 is provided with a second adjustment portion, which is exemplified by a screw hole, and the bearing platform 441 is matched with the screw hole of the frame 41 through the waist hole and the limit bolt to limit the displacement direction and stroke of the bearing platform 441. The adjustment seat 445 is fixed to the frame 41, and the bearing platform 441 and the adjustment seat 445 are matched through an adjustment member 446, such as an adjustment bolt, to form a displacement-adjustable connection for the bearing platform 441, so as to adjust the distance between the driven wheel 452 and the synchronous wheel 451, thereby tightening the transmission belt 453 to ensure that the rotating shaft of each encoder 9 to be tested rotates smoothly.

[0045] In addition, in other optional embodiments, the first adjustment portion and the second adjustment portion may also be provided with a slide rail connection mechanism in which a track groove and a guide block are matched, or a guide rail and a slider are matched.

[0046] Furthermore, in order to ensure the synchronous motion accuracy of the main transmission shaft 43 and the synchronous wheel 451, in an optional embodiment, as Figures 3 and 4 As shown, a flat key 8 is provided on the main transmission shaft 43, a keyway is provided in the shaft hole of the synchronous wheel 451, and a locking hole 81 is provided on the radial side of the wheel body. The synchronous wheel 451 is sequentially sleeved on the main transmission shaft 43, and is radially fixed by matching the keyway and the flat key 8 to prevent radial movement, and is matched with the main transmission shaft 43 by matching the top screw and the locking hole 81 to abut against the main transmission shaft 43 for axial fixation to prevent axial movement of the synchronous wheel 451 and the main transmission shaft 43.

[0047] Furthermore, in order to ensure the synchronous movement accuracy of the support shaft 444 and the driven wheel 452, in an optional embodiment, a flat key 8 is provided on the support shaft 444, a keyway is provided in the shaft hole of the driven wheel 452, and a locking hole 81 is provided on the radial side of the wheel body. The driven wheel 452 is sleeved on the support shaft 444, and is radially fixed by the keyway and the flat key 8 to prevent radial movement, and is axially fixed by the top screw and the locking hole 81 to resist the support shaft 444 to prevent axial movement of the driven wheel 452 and the support shaft 444.

[0048] Furthermore, in order to ensure the stability of the pulley transmission mechanism, as Figure 2 、 Figure 6 As shown, in an optional embodiment, the base height of each supporting platform 441 is set to correspond to the height of each synchronous wheel 451 in the transmission space, so as to lift the driven wheel 452 thereon and arrange it flush with the corresponding synchronous wheel 451, so that the transmission belt 453 can be placed flat, and the heights of the encoders 9 to be tested are staggered, and the transmission belts 453 can be arranged in an interlaced manner using the transmission space without interfering with each other.

[0049] Further, such as Figures 7 and 8 As shown, the data acquisition module 3 is connected to each encoder 9 to be tested and the reference driving module 2 respectively, and the control module 1 is connected to the reference driving module 2 and the data acquisition module 3 respectively.

[0050] Specifically, the control module 1 includes: a main controller 11, a servo driver 12, the reference drive module 2 includes: a servo motor 21, a reference encoder 22, and the data acquisition module 3 includes: an encoder data collector 31, and a data storage device 32. The servo driver 12 is connected to the main controller 11, and the servo motor 21 is connected to the servo driver 12. The servo motor 21 is respectively connected to the main transmission shaft 43 and the reference encoder 22, driving the reference encoder 22 and the encoder to be tested 9 to rotate synchronously. The data acquisition module 3 is respectively connected to the reference encoder 22 and each encoder to be tested 9 to collect monitoring data and upload it to the main controller 11.

[0051] For example, when performing a detection task, such as Figure 8 As shown, the host computer 5 sends a start detection instruction to the main controller 11, the main controller 11 controls the servo motor 21 to rotate, and the reference encoder 22 rotates synchronously with the encoder to be tested 9; the real-time code value data of the five encoders are transmitted to the data storage device 32 through the encoder data collector 31, and the real-time collected data is calculated and stored for the main controller 11 to read and process the collected data and then make an evaluation and judgment.

[0052] In this example, the main controller 11 can be developed in the ROS2 environment of the KR260. Its external interfaces include a power supply, RS232, and communication interfaces, and it supports EtherCAT. The main controller 11 controls the rotation of the servo motor 21 through commands and reads real-time encoder data from the data memory 32 for processing.

[0053] Among them, the servo driver 12 can use the DS1-G4806N-M of Action Element, which has a current sampling accuracy of 12 bits and can achieve high-precision current monitoring and control. The peripheral interfaces of the servo driver 12 include a power interface, an RS485 interface, a communication interface, etc. In terms of communication capabilities, the driver supports the EtherCAT bus protocol and is compatible with a variety of encoder communication protocols such as BISS-C, EnDat2.2, SSI, Tamagawa, Nikon, etc. It can adapt to high-precision encoders of different brands and models to achieve precise feedback control of position and speed. When the device is working, the servo driver 12 receives instructions from the main controller 11 and accurately controls the movement of the motor through the built-in algorithm to ensure that the motor performs high-precision motion according to the preset trajectory.

[0054] The servo motor 21 uses the Inovance IS620N-200-21 as the power source and the HD26048A 26-bit (18-bit single-turn, 8-bit multi-turn) multi-turn absolute encoder as the reference encoder 22. The servo motor 21 has a rated power of 200W and a rated speed of 3000rpm, meeting load application requirements and providing fast dynamic response. The reference encoder 22 has a resolution of 0.00137°, meeting the testing requirements of most encoders.

[0055] The encoder data collector 31 can be implemented using an FPGA. This FPGA integrates decoding routines for various protocols, including BISS-C, EnDat2.2, SSI, Tamagawa, Nikon, and PROFIBUS DP. During operation, the main controller 11 intelligently invokes the corresponding decoding routine based on the encoder's configuration information to decode the encoder's transmitted data, thereby obtaining the encoder's current code disk value in real time.

[0056] The data storage 32 example is built based on the IS61LV25616 high-performance SRAM chip, forming a high-speed data storage and processing system. The system has peripheral interfaces, including a power supply interface, an RS232 communication interface, and an EtherCAT bus interface, supporting multi-protocol data interaction and transmission. During operation, the encoder data collector 31 transmits the real-time encoder data to the data storage 32 via the EtherCAT bus. The system writes the data frames into the SRAM in timestamp order, forming a continuous historical data set. The host computer 5 establishes a communication link with the data storage 32 via the RS232 or EtherCAT interface, allowing real-time access to cached data for in-depth processing.

[0057] Furthermore, corresponding to the above device example, Figure 9 As shown, the present invention also provides a detection method for an encoder automatic group detection device, the steps of which include:

[0058] Step S1: The reference drive module 2 executes the detection instruction issued by the control module 1, initializes the reference encoder 22 and the encoder to be tested 9, and rotates the main transmission shaft 43 accordingly;

[0059] Step S2: the data acquisition module 3 acquires the reference data of the reference encoder 22 and the detection data of each encoder to be tested 9;

[0060] In step S3 , the control module 1 calculates the error of each encoder 9 to be tested according to the reference data and the detection data.

[0061] Specifically, before performing the test, first secure the encoders 9 to be tested to the test bases 44. Verify the synchronous rotation accuracy of the four encoders 9 and the reference encoder 22. Adjust the tension to ensure that the four timing belts are uniformly tensioned and meet the appropriate tension standard. Manually adjust the motors until all four encoder shafts rotate smoothly. Then, connect the four encoders 9 to the data acquisition module 3. Once installed, power on and test.

[0062] When the test starts, the servo driver 12 is used to control the reference drive module 2 to drive each encoder to rotate, and the resolution of the encoder to be tested 9 is preferably set to be one order of magnitude lower than that of the reference encoder 22. The upper computer 5 configures the communication information of these encoders. When it is determined that the communication is normal, the encoder data is allowed to be collected. At this time, the collected data of the reference encoder 22 and the encoder to be tested 9 are stored in the data storage device 32. The main controller 11 calls the collected data for algorithm analysis and determines whether one or all of the absolute accuracy, single-turn code disk defects, resolution, and repeat positioning accuracy errors of each encoder meet the requirements according to the preset requirements.

[0063] For example, when checking the absolute accuracy of the encoder and the defects of the code disc, first locate the reference point:

[0064] First perform zero return to determine the reference encoder 22 code value 、9 code value of the encoder to be tested ;

[0065] Segment marking: Divide 360° into i points (i=360, one point per 1°), make the reference drive module 2 rotate the main transmission shaft 43 to each point in segments, and record the reference data code value of the reference encoder 22 at point i , the detection data code value of the encoder 9 to be tested at point i .

[0066] Calculate the reference angle of the reference encoder 22: ;

[0067] Calculate the actual angle of each encoder 9 to be tested: ;

[0068] Set the encoder to be tested to 9 degrees Compared with the benchmark value Compare and calculate the absolute error of each encoder 9 to be tested: ;

[0069] Error requirements: Maximum absolute error of full scale ≤ ±(resolution / 2), linearity error ≤ 0.1% FS.

[0070] During one rotation, the difference between the actual reference angle and the encoder output is measured. The position where the difference exceeds the standard is recorded. After the test is completed, the position and number of errors in the absolute value of the encoder per rotation are displayed.

[0071] Resolution detection, collect the code value changes of the encoder 9 under test rotating at a constant speed of 0.5RPM for 1 circle. Repeat the measurement 10 times at the same position and calculate the standard deviation of the deviation. Take the code value change recorded by the encoder collector . , compared with the nominal value, the deviation should be ≤±0.5%.

[0072] Repeat the positioning accuracy test, select four test points (such as 0°, 90°, 180°, and 270°), and repeat positioning at each point 100 times. After each positioning, read the code value through the encoder collector and record the deviation from the reference value.

[0073] Finally, data processing is performed: the standard deviation of each point is calculated ( ), the typical value should be ≤1 count. Draw a deviation histogram to verify the normal distribution characteristics (99.7% of the data fall within ±3 The detection data of the absolute accuracy, single-turn code disc defect, resolution, and repeatability of the above examples are read and determined by the main controller 11, and the host computer 5 outputs the detection results.

[0074] In summary, the encoder automatic group detection device and detection method provided by the present invention, through the ingenious design of the detection platform 4 structure, can drive at least four encoders under test 9 and the reference encoder 22 to operate synchronously and complete automated detection using a single reference drive module 2. This solution also supports the detection of encoders with various communication protocols and shortens the test process from 60 minutes to just 10 minutes. This design overcomes the limitation of traditional solutions that cannot achieve group detection, significantly improving detection efficiency and completely eliminating human interference in detection results, thereby achieving a group-based, standardized, and automated encoder detection process.

[0075] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made based on the contents of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can better understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0076] Those skilled in the art will understand that, in addition to implementing the systems, devices, units, and their respective modules provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same programs in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. by logically programming the method steps. Therefore, the systems, devices, and their respective modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing the method and structures within the hardware component.

[0077] In addition, all or part of the steps in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a program. The program is stored in a storage medium and includes a number of instructions for causing a single-chip microcomputer, chip, or processor to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., various media that can store program code.

[0078] In addition, various implementations of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed in the embodiments of the present invention.

Claims

1. An automatic group detection device for encoders, comprising: A control module, a reference drive module, a data acquisition module, and a detection platform. The detection platform includes: a frame, a test stand, a main transmission shaft, a detection seat, and a transmission assembly. The test stand is mounted on the top of the frame to define a transmission space between the frame top plate and the frame top plate. The reference drive module is arranged on the frame. One end of the main transmission shaft is connected to the driving end of the reference drive module and the other end is connected to the test stand shaft. The detection seat is arranged on the frame around the main transmission shaft to carry each encoder to be tested and synchronously linked with the main transmission shaft through the transmission assembly in the transmission space. The data acquisition module is respectively connected to each encoder to be tested and the reference drive module. The control module is respectively connected to the reference drive module and the data acquisition module.

2. The automatic group detection device for encoders according to claim 1, wherein the detection seat comprises: The bearing platform, the suspension frame, the bearing seat, the support shaft, the transmission assembly includes a synchronous wheel, a driven wheel, and a transmission belt, wherein the bearing platform is arranged on the frame, and each of the synchronous wheels is sequentially connected in series on the main transmission shaft, the suspension frame is fixed on the bearing platform to carry the encoder to be tested, one end of the support shaft is connected to the detection end of the encoder to be tested, and the other end is connected to the bearing seat fixed on the bearing platform, the driven wheel is arranged on the support shaft, and each of the driven wheels is respectively connected to the synchronous wheel via a transmission belt.

3. The automatic group detection device for encoders according to claim 2, wherein the detection seat further comprises: Adjustment seat, adjustment part, wherein the bearing platform is provided with a first adjustment part, the frame is provided with a second adjustment part, the bearing platform is matched with the second adjustment part of the frame through the first adjustment part, the adjustment seat is fixed on the frame, and the bearing platform and the adjustment seat are matched through the adjustment part to form a displacement adjustable connection to adjust the distance between the driven wheel and the synchronous wheel.

4. The encoder automatic group inspection device according to claim 2, wherein the main transmission shaft is provided with a flat key, the shaft hole of the synchronous wheel is provided with a keyway, and the radial side of the wheel body is provided with a locking hole, and the synchronous wheel is sequentially sleeved on the main transmission shaft, and is radially fixed by matching the keyway and the flat key, and is axially fixed by matching the top screw and the locking hole to the main transmission shaft.

5. The encoder automatic group inspection device according to claim 2, wherein a flat key is provided on the support shaft, a keyway is provided in the shaft hole of the driven wheel, and a locking hole is provided on the radial side of the wheel body, and the driven wheel is sleeved on the support shaft, radially fixed by matching the keyway and the flat key, and axially fixed by matching the top screw and the locking hole to the support shaft.

6. The encoder automatic group inspection device according to any one of claims 2 to 5, wherein the base height of each support platform is set to correspond to the height of each synchronous wheel in the transmission space, so as to lift the driven wheel thereon and arrange it flush with the corresponding synchronous wheel.

7. The automatic group detection device for encoders according to claim 1, wherein the control module comprises: Main controller, servo driver, the reference drive module includes: a servo motor, a reference encoder, wherein the servo driver is connected to the main controller, the servo motor is connected to the servo driver, the servo motor is respectively connected to the main transmission shaft and the reference encoder drive, driving the reference encoder and the encoder to be tested to rotate synchronously, the data acquisition module is respectively connected to the reference encoder and each encoder to be tested, and collects monitoring data and uploads it to the main controller.

8. A detection method for the automatic group detection device of encoders according to any one of claims 1 to 7, comprising the steps of: Step S1: The reference drive module executes the detection instruction issued by the control module, initializes the reference encoder and the encoder to be tested, and rotates the main transmission shaft accordingly; Step S2: The data acquisition module acquires the reference data of the reference encoder and the detection data of each encoder to be tested; In step S3, the control module calculates the error of each encoder to be tested based on the reference data and the detection data.

9. The detection method according to claim 8, wherein the steps of executing the detection instruction, initializing the reference encoder and the encoder to be tested, and rotating the main transmission shaft include: Execute zero return to determine the reference encoder code value , encoder code value to be tested ; Divide 360° into i points, and let the reference drive module rotate the main transmission shaft in sections.

10. The detection method according to claim 9, wherein the step of calculating the error of each encoder to be tested based on the reference data and the detection data comprises: Calculate the reference encoder reference angle: ; Calculate the measured angle of each encoder to be tested: ; Calculate the error of each encoder under test: ; in is the reference data code value of the reference encoder at point i, is the detection data code value of the encoder to be tested at point i.

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