Calibration device for wheel speed encoder

Abstract

The utility model discloses a wheel speed encoder calibration device which comprises a coupler and encoders, the encoders comprise an absolute type encoder and an incremental type encoder, and the coupler is connected between the absolute type encoder and the incremental type encoder. The calibration method comprises an electric shaft-shaft calibration mode, a manual shaft-shaft calibration mode, an electric hole-shaft calibration mode and a manual hole-shaft calibration mode, different rotating speeds and different rotating directions can be simulated, a low-speed working condition can be simulated in a simple device, calibration of a shaft type incremental encoder and calibration of a hoop hole type incremental encoder are compatible, and the calibration precision is high. The anti-interference capacity is high, corresponding change making is not needed during startup, the number of revolutions is not limited, the three couplings are arranged and used for bridging different rotating devices on the two sides, the structure is simple, the building cost is low, the flexibility is high, the mode that the support and the bottom plate are fixed in a matched mode is adopted, and rapid disassembly and fixed installation are convenient.

Description

Technical Field

[0001] The utility model belongs to the technical field of encoders, relates to encoder calibration, and specifically relates to a wheel speed encoder calibration device. Background Art

[0002] As autonomous driving technology continues to develop, smart connected vehicles are equipped with various sensors to obtain external information; these sensors include wheel speed encoders, which are used for precise positioning of the vehicle, making it easier to calculate the position of the autonomous driving vehicle, and by analyzing the number of revolutions of the left and right wheels in each time period to calculate the vehicle's forward travel distance and deflection angle.

[0003] The wheel speed encoders commonly used on current vehicles include incremental wheel speed encoders and absolute encoders; among them, the use of incremental wheel speed encoders is not limited by the number of revolutions and is relatively cheap, but it has problems such as zero point cumulative deviation, poor anti-interference ability, and the need for corresponding zeroing or reference position when starting up; the defects of the above-mentioned incremental wheel speed encoders can all be solved by absolute encoders, but absolute encoders have the problem of number of revolutions limitation and high cost. Utility Model Content

[0004] In view of the above problems, the main purpose of the utility model is to design a wheel speed encoder calibration device to solve the technical problems such as poor anti-interference ability, the need for corresponding zeroing when starting up, and the existence of speed restrictions when using only absolute encoders and incremental wheel speed encoders.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A wheel speed encoder calibration device comprises a coupling and an encoder;

[0007] The encoder includes an absolute encoder and an incremental encoder;

[0008] The coupling is connected between the absolute encoder and the incremental encoder to form a wheel speed encoder calibration device.

[0009] As a further description of the utility model, it also includes a support and a base plate;

[0010] The support comprises ear plates arranged at both ends of the support plate, the support plate and the ear plates form a U shape, and threaded holes are provided on both the support plate and the ear plates;

[0011] The encoder is located between the ear plates of the support and is fixed by screws through threaded holes on the ear plates;

[0012] The support is fixed to the upper surface of the base plate through threaded holes on the support plate and screws.

[0013] As a further description of the utility model, a waist-shaped slot hole is arranged on the bottom plate, and the support plate is cross-fixed vertically with the waist-shaped slot hole.

[0014] As a further description of the utility model, the coupling includes a first coupling, a second coupling, and a third coupling;

[0015] The first coupling is a same-diameter hole coupling, and both ends of the coupling are connecting holes with the same diameter;

[0016] The second coupling is a different-diameter hole coupling, and both ends of the coupling are connecting holes with different diameters;

[0017] The third coupling is a hole-shaft matching coupling, one end of which is a connecting hole and the other end is a rotating shaft.

[0018] As a further description of the present invention, knurling patterns are arranged on the outer circumferences of the first coupling, the second coupling and the third coupling.

[0019] As a further description of the present invention, the incremental encoder includes a shaft-type incremental encoder and a clamp hole-type incremental encoder; the absolute encoder is a shaft-type absolute encoder.

[0020] As a further description of the utility model, it includes electric shaft-to-shaft calibration;

[0021] The electric shaft-to-shaft calibration includes a shaft absolute encoder, a shaft incremental encoder, and a first dual-shaft motor driving the shaft absolute encoder and the shaft incremental encoder;

[0022] One end of the first dual-axis motor is connected to the shaft-type absolute encoder via a first coupling, and the other end of the first dual-axis motor is connected to the shaft-type incremental encoder via a second coupling;

[0023] The shaft-type absolute encoder, the shaft-type incremental encoder and the first dual-axis motor are respectively fixed on the upper surface of the base plate through supports.

[0024] As a further description of the present invention, manual shaft-to-shaft calibration is included;

[0025] The manual shaft-to-shaft calibration includes shaft-type absolute encoders and shaft-type incremental encoders;

[0026] The shaft-type absolute encoder is connected to the shaft-type incremental encoder via a second coupling, and the shaft-type absolute encoder and the shaft-type incremental encoder are respectively fixed on the upper surface of the base plate via supports.

[0027] As a further description of the utility model, it includes electric hole-axis calibration;

[0028] The electric hole-shaft calibration includes a shaft-type absolute encoder, a clamp hole-type incremental encoder, and a second dual-shaft motor driving the shaft-type absolute encoder and the clamp hole-type incremental encoder;

[0029] One end of the second dual-axis motor is connected to the shaft-type absolute encoder through a first coupling, and the other end of the second dual-axis motor is connected to the clamp hole-type incremental encoder through a third coupling;

[0030] The shaft-type absolute encoder, the clamp hole-type incremental encoder and the second dual-axis motor are respectively fixed on the upper surface of the base plate through supports.

[0031] As a further description of the present invention, manual hole-shaft calibration is included;

[0032] The manual hole-shaft calibration includes a shaft-type absolute encoder and a clamp hole-type incremental encoder;

[0033] The shaft-type absolute encoder is connected to the clamp hole-type incremental encoder via a third coupling, and the shaft-type absolute encoder and the clamp hole-type incremental encoder are respectively fixed on the upper surface of the base plate via supports.

[0034] Compared with the prior art, the technical effects of the utility model are:

[0035] The utility model provides a wheel speed encoder calibration device, comprising a coupling and an encoder, the encoder comprising an absolute encoder and an incremental encoder, the coupling is connected between the absolute encoder and the incremental encoder to form a wheel speed encoder calibration device, which comprises an electric shaft-shaft calibration method, a manual shaft-shaft calibration method, an electric hole-shaft calibration method, and a manual hole-shaft calibration method, which can simulate different rotation speeds and different rotation directions, and can simulate low-speed working conditions in a simple device, and is compatible with the calibration of shaft-type and clamp hole-type incremental encoders, and has strong anti-interference ability, does not require corresponding zeroing when starting, and does not have a speed limit. Three types of couplings are set up for bridging different rotating equipment on both sides, have a simple structure, low construction cost, and high flexibility, and adopt a support and a base plate to cooperate and fix in a way that is convenient for quick disassembly and fixed installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is an overall structural view of Embodiment 1 of the present utility model;

[0037] Figure 2 This is a top view of the overall structure of Example 1 of the utility model;

[0038] Figure 3 DD sectional view of Example 1 of the utility model;

[0039] Figure 4 EE sectional view of Example 1 of the utility model;

[0040] Figure 5 This is a top view of the overall structure of Embodiment 2 of the present utility model;

[0041] Figure 6 FF sectional view of Embodiment 2 of the present utility model;

[0042] Figure 7 This is a top view of the overall structure of Embodiment 3 of the present utility model;

[0043] Figure 8 It is a GG cross-sectional view of Example 3 of the utility model;

[0044] Fig. 9 It is a top view of the overall structure of Example 4 of the utility model;

[0045] Fig.10 It is a HH cross-sectional view of Example 4 of the utility model;

[0046] Fig.11 These are three structural views of couplings of the utility model;

[0047] Fig.12 The following are structural views of two incremental encoders of the present utility model;

[0048] Fig.13 This is a structural view of the support of the utility model;

[0049] Fig.14 This is a view of the bottom plate structure of the present utility model.

[0050] In the figure, 1. coupling, 11. first coupling, 12. second coupling, 13. third coupling, 2. absolute encoder, 3. incremental encoder, 31. shaft-type incremental encoder, 32. clamp hole-type incremental encoder, 4. support, 41. support plate, 42. ear plate, 5. bottom plate, 51. waist-shaped slot, 6. first dual-axis motor, 61. second dual-axis motor. DETAILED DESCRIPTION

[0051] The utility model is described in detail below with reference to the accompanying drawings:

[0052] A wheel speed encoder calibration device, reference Figure 1-14 As shown, it includes a coupling 1 and an encoder; the encoder includes an absolute encoder 2 and an incremental encoder 3; the coupling 1 is connected between the absolute encoder 2 and the incremental encoder 3 to form a wheel speed encoder calibration device.

[0053] Specifically, the calibration device of the utility model also includes a support 4 and a base plate 5; the support 4 includes a support plate 41 and ear plates 42 arranged at both ends of the support plate 41, the support plate 41 and the ear plates 42 form a U shape, and threaded holes are provided on the support plate 41 and the ear plates 42. Further, the size of the support 4 is adjusted according to demand, and the number of threaded holes is provided according to demand; the encoder is located between the ear plates 42 of the support 4, and is fixed by screws in the threaded holes on the ear plates 42; the support 4 is fixed to the upper surface of the base plate 5 by screws in the threaded holes on the support plate 41. Further, a waist-shaped slot 51 is provided on the base plate 5, the support plate 41 is fixed vertically and crosswise with the waist-shaped slot 51, and the number of the waist-shaped slot 51 is consistent with the number of threaded holes on the support plate 41.

[0054] It should also be noted that the coupling of the present invention comprises a first coupling 11, a second coupling 12, and a third coupling 13; the first coupling 11 is a coupling with the same diameter hole, such as Fig.11 As shown in (a), both ends of the coupling are connecting holes with the same aperture; the second coupling 12 is a coupling with a different diameter hole, such as Fig.11 As shown in (b), the two ends of the coupling are connecting holes with different apertures, and the connecting hole at one end is a same-diameter hole with the same size as the connecting hole of the first coupling 11, and the other end is a different-diameter hole with a different size from the connecting hole of the first coupling 11; the third coupling 13 is a hole-shaft matching coupling, such as Fig.11 As shown in (c), one end of the coupling is a connecting hole and the other end is a rotating shaft, and the connecting hole is the same size as the connecting hole of the first coupling 11. Furthermore, the outer peripheries of the first coupling 11, the second coupling 12, and the third coupling 13 are provided with knurling patterns to enhance effective contact with fingers.

[0055] The incremental encoder 3 of the utility model includes a shaft-type incremental encoder 31 and a hoop-type incremental encoder 32. Fig.12 As shown, the connecting shaft of the shaft-type incremental encoder 31 is consistent with the size of the reducing hole of the above-mentioned second coupling 12, and the clamp of the clamp hole type incremental encoder 32 corresponds to the rotating shaft of the above-mentioned third coupling 13; the absolute encoder 2 is a shaft-type absolute encoder, and the connecting shaft of the shaft-type absolute encoder is consistent with the size of the connecting hole of the above-mentioned first coupling 11.

[0056] Specifically, this embodiment includes four implementation modes through different ways of cooperating between the coupling 1 and the encoder, namely: an electric shaft-shaft calibration mode, a manual shaft-shaft calibration mode, an electric hole-shaft calibration mode, and a manual hole-shaft calibration mode, as follows: Example 1

[0057] In one embodiment of the present invention, a wheel speed encoder calibration device is disclosed, referring to Figure 1-4 As shown in 11-14, it is an electric shaft-to-shaft calibration method.

[0058] Specifically, in this embodiment, the above-mentioned electric shaft-to-shaft calibration includes: a shaft absolute encoder, a shaft incremental encoder 31, and a first dual-axis motor 6 that drives the shaft absolute encoder and the shaft incremental encoder 31; both ends of the first dual-axis motor 6 are rotating shafts of the same size, and the rotating shaft matches the connecting hole of the above-mentioned first coupling 11 and the same-diameter hole size of the second coupling 12.

[0059] Furthermore, in this embodiment, one end of the first dual-axis motor 6 is connected to the above-mentioned shaft-type absolute encoder through the first coupling 11, and the other end of the first dual-axis motor 6 is connected to the above-mentioned shaft-type incremental encoder 31 through the second coupling 12. Specifically, the rotating shaft at one end of the first dual-axis motor 6 is inserted into the connecting hole at one end of the first coupling 11, and the connecting shaft of the shaft-type absolute encoder is inserted into the connecting hole at the other end of the first coupling 11, so as to ensure that the first coupling 11 and the shaft-type absolute encoder form a whole; the rotating shaft at the other end of the first dual-axis motor 6 is inserted into the same-diameter hole of the second coupling 12, and the connecting shaft of the shaft-type incremental encoder 31 is inserted into the different-diameter hole of the second coupling 12, so as to ensure that the second coupling 12 and the shaft-type incremental encoder 31 form a whole. Furthermore, the shaft-type absolute encoder and the shaft-type incremental encoder 31 are connected in series.

[0060] In this embodiment, the shaft type absolute encoder, shaft type incremental encoder 31 and the first dual-axis motor 3 are respectively fixed to the upper surface of the base plate 5 through the support 4. Specifically, the ear plate 42 of the support 4 is provided with threaded holes corresponding to the position, the support plate 41 of the support is provided with two threaded holes, and the base plate 5 is provided with two waist-shaped slots 51. The shaft type absolute encoder, shaft type incremental encoder 31 and the first dual-axis motor 6 are respectively fixed to the support 4 through the threaded holes on the ear plate 42 with screws, and the support 4 is fixed to the base plate 5 through the threaded holes on the support plate 41 with screws.

[0061] In this embodiment, the first dual-axis motor 6 is energized, and the rotation of the first dual-axis motor 6 drives the encoders at both ends to rotate. The encoder converts the rotation direction and number of revolutions into electrical signal output. The speed of the first dual-axis motor 6 is adjusted by adjusting the voltage of the first dual-axis motor 6. The direction of rotation can be adjusted by swapping the positive and negative poles of the first dual-axis motor 6. The output signal of the axial absolute encoder can be calibrated to calibrate the axial incremental encoder 31 signal at different speeds and directions. Example 2

[0062] In another embodiment of the present invention, a wheel speed encoder calibration device is disclosed, referring to Figure 5-6 As shown in 11-14, it is a manual axis-to-axis calibration method.

[0063] Specifically, in this embodiment, the manual shaft-to-shaft calibration includes: a shaft-type absolute encoder and a shaft-type incremental encoder 31 .

[0064] Furthermore, in this embodiment, the shaft-type absolute encoder is connected to the shaft-type incremental encoder 31 via the second coupling 12. Specifically, the connecting shaft of the shaft-type absolute encoder is inserted into the same-diameter hole of the second coupling 12, and the connecting shaft of the shaft-type incremental encoder 31 is inserted into the different-diameter hole of the second coupling 12, thereby connecting the shaft-type absolute encoder and the shaft-type incremental encoder 31 in series.

[0065] In this embodiment, the shaft-type absolute encoder and the shaft-type incremental encoder 31 are respectively fixed to the upper surface of the bottom plate 5 through the support 4. Specifically, the ear plate 42 of the support 4 is provided with threaded holes corresponding to the position, the support plate 41 of the support 4 is provided with two threaded holes, and the bottom plate 5 is provided with two waist-shaped slots 51. The shaft-type absolute encoder and the shaft-type incremental encoder 31 are respectively fixed to the support 4 through the threaded holes on the ear plate 42 with screws, and the support 4 is fixed to the bottom plate 5 through the threaded holes on the support plate 41 with screws.

[0066] In this embodiment, the second coupling 12 is manually rolled to drive the encoders on both sides to rotate, without the need for accurate additional power supply equipment and motors, and can simulate a low-speed and non-uniform working state. Example 3

[0067] In another embodiment of the present invention, a wheel speed encoder calibration device is disclosed, referring to Figure 7-8 , 11-14, which is an electric hole-shaft calibration method;

[0068] Specifically, in this embodiment, the above-mentioned electric hole-shaft calibration includes: a shaft-type absolute encoder, a clamp hole-type incremental encoder 32, and a second dual-axis motor 61 that drives the shaft-type absolute encoder and the clamp hole-type incremental encoder 32; both ends of the second dual-axis motor 61 are rotating shafts of the same size, and the rotating shaft matches the size of the connecting hole of the above-mentioned first coupling 11 and the connecting hole of the third coupling 13.

[0069] Furthermore, in this embodiment, one end of the second dual-axis motor 61 is connected to the above-mentioned shaft-type absolute encoder through the first coupling 11, and the other end of the second dual-axis motor 61 is connected to the above-mentioned clamp hole type incremental encoder 32 through the third coupling 13. Specifically, the rotating shaft at one end of the second dual-axis motor 61 is inserted into the connecting hole at one end of the above-mentioned first coupling 11, and the connecting shaft of the shaft-type absolute encoder is inserted into the connecting hole at the other end of the above-mentioned first coupling 11, so as to ensure that the first coupling 11 and the shaft-type absolute encoder form a whole; the rotating shaft at the other end of the second dual-axis motor 61 is inserted into the connecting hole of the above-mentioned third coupling 13, and the clamp of the clamp hole type incremental encoder 32 clamps the rotating shaft of the above-mentioned third coupling 13, so as to ensure that the third coupling 13 and the clamp hole type incremental encoder 32 form a whole. Then, the shaft-type absolute encoder and the clamp hole type incremental encoder 32 are connected in series.

[0070] In this embodiment, the shaft type absolute encoder, the hoop hole type incremental encoder 32 and the second dual-axis motor 61 are respectively fixed to the upper surface of the base plate 5 through the support 4. Specifically, the ear plate 42 of the support 4 is provided with threaded holes corresponding to the position, the support plate 41 of the support 4 is provided with two threaded holes, and the base plate 5 is provided with two waist-shaped slots 51. The shaft type absolute encoder, the hoop hole type incremental encoder 32 and the second dual-axis motor 61 are respectively fixed to the support 4 through the threaded holes on the ear plate 42 with screws, and the support 4 is fixed to the base plate 5 through the threaded holes on the support plate 41 with screws.

[0071] In this embodiment, the second dual-axis motor 61 is energized, and the rotation of the second dual-axis motor 61 drives the encoders at both ends to rotate. The encoder converts the rotation direction and number of revolutions into electrical signal output. The speed of the second dual-axis motor 61 is adjusted by adjusting the voltage of the second dual-axis motor 61. The direction of rotation can be adjusted by swapping the positive and negative poles of the second dual-axis motor 61. The output signal of the axis-type absolute encoder can be calibrated to calibrate the signal of the clamp hole-type incremental encoder 32 under different speeds and directions. Example 4

[0072] In another embodiment of the present invention, a wheel speed encoder calibration device is disclosed, referring to Figure 9-14 As shown, it is a manual hole-shaft calibration method.

[0073] Specifically, in this embodiment, the manual hole-shaft calibration includes: a shaft-type absolute encoder and a clamp hole-type incremental encoder 32 .

[0074] Furthermore, in this embodiment, the shaft-type absolute encoder is connected to the clamp hole-type incremental encoder 32 via the third coupling 13. Specifically, the connecting shaft of the shaft-type absolute encoder is inserted into the connecting hole of the third coupling 13, and the clamp of the clamp hole-type incremental encoder 32 clamps the rotating shaft of the third coupling 13, thereby connecting the shaft-type absolute encoder and the clamp hole-type incremental encoder 32 in series.

[0075] In this embodiment, the shaft-type absolute encoder and the hoop-hole incremental encoder 32 are respectively fixed to the upper surface of the bottom plate 5 through the support 4. Specifically, the ear plate 42 of the support 4 is provided with threaded holes corresponding to the position, the support plate 41 of the support 4 is provided with two threaded holes, and the bottom plate 5 is provided with two waist-shaped slots 51. The shaft-type absolute encoder and the hoop-hole incremental encoder 32 are respectively fixed to the support 4 through the threaded holes on the ear plate 42 with screws, and the support 4 is fixed to the bottom plate 5 through the threaded holes on the support plate 41 with screws.

[0076] In this embodiment, the manual rolling of the third coupling 13 is used to drive the encoders on both sides to rotate, without the need for accurate additional power supply equipment and motors, and can simulate a low-speed and non-uniform speed working state.

[0077] Through the above embodiments, the technical solution of the utility model is disclosed. Compared with the prior art, the utility model has the following advantages:

[0078] 1. The utility model adopts the advantages of shaft-type absolute encoder without zero point cumulative deviation, calibrates incremental encoder, has strong anti-interference ability, does not need corresponding zeroing when starting, and has no limit on the number of revolutions;

[0079] 2. The utility model designs three types of couplings, which are used to bridge different rotating equipment on both sides, with simple structure, low construction cost and high flexibility;

[0080] 3. The utility model includes four calibration methods, which can simulate different speeds and different rotation directions, and can simulate low-speed working conditions in a simple device, and is compatible with the calibration of shaft-type and hoop-hole-type incremental encoders;

[0081] 4. The utility model facilitates quick disassembly and fixed installation by cooperating with the support and the bottom plate, and is easy to match and combine.

[0082] The above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the utility model by ordinary technicians in this field should be included in the scope of the claims of the utility model as long as they do not depart from the spirit and scope of the technical solution of the utility model.

Claims

1. A wheel speed encoder calibration device, characterized in that: Including coupling and encoder; The encoder includes an absolute encoder and an incremental encoder; The coupling is connected between the absolute encoder and the incremental encoder to form a wheel speed encoder calibration device.

2. A wheel speed encoder calibration device according to claim 1, characterized in that: Also includes a support and a base plate; The support comprises ear plates arranged at both ends of the support plate, the support plate and the ear plates form a U shape, and threaded holes are provided on both the support plate and the ear plates; The encoder is located between the ear plates of the support and is fixed by screws through threaded holes on the ear plates; The support is fixed to the upper surface of the base plate through threaded holes on the support plate and screws.

3. A wheel speed encoder calibration device according to claim 2, characterized in that: The bottom plate is provided with a waist-shaped slot hole, and the support plate is cross-fixed and vertically fixed with the waist-shaped slot hole.

4. A wheel speed encoder calibration device according to claim 3, characterized in that: The coupling comprises a first coupling, a second coupling and a third coupling; The first coupling is a same-diameter hole coupling, and both ends of the coupling are connecting holes with the same diameter; The second coupling is a different-diameter hole coupling, and both ends of the coupling are connecting holes with different diameters; The third coupling is a hole-shaft matching coupling, one end of which is a connecting hole and the other end is a rotating shaft.

5. A wheel speed encoder calibration device according to claim 4, characterized in that: The outer circumferences of the first coupling, the second coupling and the third coupling are provided with knurling patterns.

6. A wheel speed encoder calibration device according to claim 4, characterized in that: The incremental encoder includes a shaft-type incremental encoder and a clamp hole-type incremental encoder; the absolute encoder is a shaft-type absolute encoder.

7. A wheel speed encoder calibration device according to claim 6, characterized in that: Includes electric shaft-to-shaft calibration; The electric shaft-to-shaft calibration includes a shaft absolute encoder, a shaft incremental encoder, and a first dual-shaft motor driving the shaft absolute encoder and the shaft incremental encoder; One end of the first dual-axis motor is connected to the shaft-type absolute encoder via a first coupling, and the other end of the first dual-axis motor is connected to the shaft-type incremental encoder via a second coupling; The shaft-type absolute encoder, the shaft-type incremental encoder and the first dual-axis motor are respectively fixed on the upper surface of the base plate through supports.

8. A wheel speed encoder calibration device according to claim 6, characterized in that: Includes manual axis-to-axis calibration; The manual shaft-to-shaft calibration includes shaft-type absolute encoders and shaft-type incremental encoders; The shaft-type absolute encoder is connected to the shaft-type incremental encoder via a second coupling, and the shaft-type absolute encoder and the shaft-type incremental encoder are respectively fixed on the upper surface of the base plate via supports.

9. A wheel speed encoder calibration device according to claim 6, characterized in that: Including electric bore-to-shaft calibration; The electric hole-shaft calibration includes a shaft-type absolute encoder, a clamp hole-type incremental encoder, and a second dual-shaft motor driving the shaft-type absolute encoder and the clamp hole-type incremental encoder; One end of the second dual-axis motor is connected to the shaft-type absolute encoder through a first coupling, and the other end of the second dual-axis motor is connected to the clamp hole-type incremental encoder through a third coupling; The shaft-type absolute encoder, the clamp hole-type incremental encoder and the second dual-axis motor are respectively fixed on the upper surface of the base plate through supports.

10. A wheel speed encoder calibration device according to claim 6, characterized in that: Includes manual hole-shaft calibration; The manual hole-shaft calibration includes a shaft-type absolute encoder and a clamp hole-type incremental encoder; The shaft-type absolute encoder is connected to the clamp hole-type incremental encoder via a third coupling, and the shaft-type absolute encoder and the clamp hole-type incremental encoder are respectively fixed on the upper surface of the base plate via supports.

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