Precision measuring device for rotating device
By designing a rotation device accuracy measurement device including a servo motor, a mechanical rotation device, an optical adjustment frame, a theodolite and other components, the problem of difficulty in measuring and adjusting the accuracy of the rotation device in the prior art is solved, and high-precision rotation device measurement and adjustment are realized.
Patent Information
- Application Number
- CN202421383044.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-18
- Publication Date
- 2025-02-25
- Estimated Expiration
- 2034-06-18
AI Technical Summary
The prior art is difficult to effectively measure and adjust the accuracy of the rotating device, which makes it difficult to eliminate the final product error caused by the mechanical rotating device idling error, the motor itself error, the reducer error, etc.
A rotation device accuracy measurement device is designed, including a unit to be tested and a measurement unit. Through components such as servo motor, mechanical rotating device, reducer, optical adjustment frame, reference prism, theodolite and three-dimensional adjustment frame, theodolite is directly displayed using theodolite, and the null return angle and positioning accuracy are calculated through multiple measurements and special algorithms to make accuracy adjustments.
Through this device and method, the idling error of the mechanical rotating device, the motor itself, the reducer error, etc. can be effectively eliminated, and the accuracy of the rotating device can be improved, and the positioning accuracy and repeated positioning accuracy can reach less than ±5″.
Smart Images
Figure CN222528929U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of automobile motor calibration, in particular to a rotating device accuracy measuring device. Background Art
[0002] A motor is an electromagnetic device that converts or transmits electrical energy according to the law of electromagnetic induction, or converts one form of electrical energy into another. An electric motor converts electrical energy into mechanical energy (commonly known as a motor), and a generator converts mechanical energy into electrical energy. The electric motor is represented by the letter "M" (the old standard uses "D") in the circuit. Its main function is to generate driving torque as a power source for electrical appliances or various machines. When setting the program, the servo motor will set the required rotation angle program, but after installing many transmission devices, the actual rotation angle is not the same as the preset rotation angle. This is due to the final product error caused by the mechanical rotating device backlash error, the motor's own error, the reducer error, and other component installation accuracy errors. Therefore, a precision measurement device and calibration method are needed to measure the actual accuracy of the device for adjustment. Utility Model Content
[0003] The purpose of the utility model is to overcome the above-mentioned existing deficiencies and provide a rotating device accuracy measuring device.
[0004] To achieve the above object, the utility model provides the following technical solution: a rotating device accuracy measuring device, comprising a unit to be measured and a measuring unit, wherein the unit to be measured and the measuring unit are placed on a marble platform.
[0005] The unit to be tested includes a servo motor and a mechanical rotating device, and the servo motor and the mechanical rotating device are rotationally connected through a reducer, and a final output turntable is installed at the front end of the mechanical rotating device;
[0006] An optical adjustment frame is installed at the front end of the final output turntable, and a reference prism is installed at the front end of the optical adjustment frame;
[0007] The measuring unit comprises a three-dimensional adjustment frame and a theodolite. The theodolite is placed on the three-dimensional adjustment frame, and the three-dimensional adjustment frame is used to adjust the position and angle of the theodolite lens.
[0008] Preferably, a transfer fixture is installed on the surface of the final output turntable via a tension sleeve, and the transfer fixture is used to install the optical adjustment frame.
[0009] Preferably, the reference prism is a six-sided reference prism, and the reference error of the six-sided reference prism is less than 2″.
[0010] A method for measuring and calibrating the accuracy of a rotating device comprises the following steps:
[0011] S1, layout and placement of required devices;
[0012] S2, measuring instrument position calibration;
[0013] S3, adjust the transmission positioning error;
[0014] S4, measure the transmission accuracy.
[0015] Preferably, the specific steps of step S1 are:
[0016] A suitable position is selected on the marble platform, and the unit to be tested and the measuring unit are placed relative to each other.
[0017] Preferably, the specific steps of step S2 are:
[0018] By adjusting the optical adjustment frame and theodolite, the reference prism and theodolite are in proper positions, and the final output turntable is rotated, during which the reference prism is driven to rotate and adjust its position, until the theodolite measures the pitch angle and horizontal angle measurement results of the reference prism position within 5″.
[0019] Preferably, the specific steps of step S3 are:
[0020] S31: placing the measuring unit beside the unit to be measured, and then adjusting the three-dimensional adjustment frame so that the theodolite is aligned with the reference prism;
[0021] S32: driving the final output turntable to rotate one circle clockwise by the servo motor to eliminate backlash;
[0022] S33: driving the final output turntable to rotate 90° clockwise four times by the servo motor, respectively from 0° to 90° to 180° to 270° and finally to 360°, observing the change of the pitch angle of the theodolite, and recording the four measured pitch angles, respectively, as ∠A, ∠B, ∠C, and ∠D;
[0023] Calculate the maximum positive error angle and the maximum negative error angle of the four angles ∠A, ∠B, ∠C, and ∠D from the initial 0 point, and record them as ∠α and ∠β;
[0024] Then, the servo motor drives the final output turntable to rotate counterclockwise four times by 90°, respectively from 360° to 270° to 180°, then to 90° and finally to 0°, and observe the change of the pitch angle of the theodolite, and record the four measured pitch angles, which are recorded as ∠E, ∠F, ∠G, and ∠H respectively;
[0025] Calculate the maximum positive error angle and the maximum negative error angle of the four angles ∠E, ∠F, ∠G, and ∠H from the initial 0 point, and record them as ∠γ and ∠δ;
[0026] Calculate the positive error and the negative error, record them as A and B,
[0027] Calculate the required adjustment error accuracy and record it as C.
[0028] S34: Adjust the transmission positioning error accuracy to ±C.
[0029] Preferably, the specific steps of step S4 are:
[0030] S41: driving the final output turntable to perform four groups of rotations by the servo motor, the four groups of rotations are respectively from 0° to 90° and then reversed, from 0° to 180° and then reversed, from 0° to 270° and then reversed, and from 0° to 360° and then reversed, each group of rotations is performed six times, and the pitch angle difference data of each group of six times is recorded;
[0031] S42: extracting six positive and negative pitch angle differences from 0° to 90° as D1, D2, D3, D4, D5, and D6;
[0032] S43: Calculate the empty return angle, which is the minimum value among D1, D2, D3, D4, D5 and D6. The value of the empty return angle is recorded as E.
[0033] S44: Calculate the positioning accuracy of each 90°. The positioning accuracy is the maximum value minus the minimum value among D1, D2, D3, D4, D5 and D6. The positioning accuracy value is recorded as F.
[0034] S45: Verify the empty return angle:
[0035] The servo motor is electronically compensated, and the compensation angle is E;
[0036] The servo motor drives the final output turntable to rotate three times, and the actual 0-point position and the initial 0-point position are recorded;
[0037] S46: Verify positioning accuracy:
[0038] Extract three groups of forward and reverse pitch angle differences from 0° to 180°, 0° to 270°, and 0° to 360° for six times respectively; subtract the minimum value from the maximum value in each group, and record the positioning accuracy values as F1, F2, and F3, and compare the functional relationship between F1, F2, and F3 data and F;
[0039] The functional relationship should be:
[0040] Preferably, the measuring unit is placed on the opposite side of the unit to be measured to the end where the servo motor is placed.
[0041] Compared with the prior art, the beneficial effects of the utility model are: through the method of measuring with the theodolite. The theodolite can directly indicate the number, further reducing the occurrence of errors in the measurement. And multiple measurements and special algorithms are used to calculate the backlash angle and positioning accuracy. The purpose is to eliminate the final product error caused by the backlash error of the mechanical rotating device, the motor's own error, the reducer error, and the installation accuracy error of each component, and measure the actual accuracy of the device. The main measurement-related accuracies are: positioning accuracy and repeated positioning accuracy. Finally, the accuracy of the device is improved through motor compensation. BRIEF DESCRIPTION OF THE DRAWINGS
[0042] Figure 1 It is a schematic diagram of the position of the measuring instrument in the present utility model in the calibration state;
[0043] Figure 2 It is a schematic diagram of the position of adjusting the transmission positioning error state in the utility model. DETAILED DESCRIPTION
[0044] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0045] See also Figure 1-2 The utility model provides a technical solution: a rotating device precision measuring device, comprising a unit to be tested and a measuring unit, the unit to be tested and the measuring unit are placed on a marble platform 104,
[0046] The unit under test includes a servo motor 102 and a mechanical rotating device 101, and the servo motor 102 and the mechanical rotating device 101 are rotationally connected through a reducer 103, and a final output turntable 105 is installed at the front end of the mechanical rotating device 101;
[0047] An optical adjustment frame 108 is installed at the front end of the final output turntable 105, and a reference prism 109 is installed at the front end of the optical adjustment frame 108;
[0048] The measuring unit includes a three-dimensional adjustment frame 111 and a theodolite 110 . The theodolite 110 is placed on the three-dimensional adjustment frame 111 . The three-dimensional adjustment frame 111 is used to adjust the position and angle of a lens of the theodolite 110 .
[0049] Preferably, a transfer fixture 107 is installed on the surface of the final output turntable 105 via a tension sleeve 106 , and the transfer fixture 107 is used to install an optical adjustment frame 108 .
[0050] Preferably, the reference prism 109 is a six-sided reference prism, and the reference error of the six-sided reference prism is less than 2″.
[0051] A method for measuring and calibrating the accuracy of a rotating device comprises the following steps:
[0052] S1, layout and placement of required devices;
[0053] S2, measuring instrument position calibration;
[0054] S3, adjust the transmission positioning error;
[0055] S4, measure the transmission accuracy.
[0056] Preferably, the specific steps of step S1 are:
[0057] A suitable position is selected on the marble platform 104 to place the unit to be tested and the measuring unit relatively.
[0058] Preferably, the specific steps of step S2 are:
[0059] By adjusting the optical adjustment frame 108 and the theodolite 110, the reference prism 109 and the theodolite 110 are in proper positions, and the final output turntable 105 is rotated, during which the reference prism 109 is driven to rotate and adjust its position, until the theodolite 110 measures the pitch angle and horizontal angle measurement results of the reference prism 109 at the position of the reference prism 109 within 5".
[0060] Preferably, the specific steps of step S3 are:
[0061] S31: placing the measuring unit beside the unit to be measured, and then adjusting the three-dimensional adjustment frame 111 so that the theodolite 110 is aligned with the reference prism 109;
[0062] S32: The servo motor 102 drives the final output turntable 105 to rotate one circle clockwise to eliminate the backlash;
[0063] S33: driving the final output turntable 105 to rotate 90° four times clockwise through the servo motor 102, respectively rotating from 0° to 90° to 180° to 270° and finally to 360°, observing the pitch angle change of the theodolite 110, and recording the four measured pitch angles, respectively recorded as ∠A, ∠B, ∠C, and ∠D;
[0064] Calculate the maximum positive error angle and the maximum negative error angle of the four angles ∠A, ∠B, ∠C, and ∠D from the initial 0 point, and record them as ∠α and ∠β;
[0065] Then, the servo motor 102 drives the final output turntable 105 to rotate counterclockwise four times by 90°, respectively rotating from 360° to 270° to 180°, then to 90° and finally to 0°, observing the change of the pitch angle of the theodolite (110), and recording the four measured pitch angles, respectively recorded as ∠E, ∠F, ∠G, and ∠H;
[0066] Calculate the maximum positive error angle and the maximum negative error angle of the four angles ∠E, ∠F, ∠G, and ∠H from the initial 0 point, and record them as ∠γ and ∠δ;
[0067] Calculate the positive error and the negative error, record them as A and B,
[0068] Calculate the required adjustment error accuracy and record it as C.
[0069] S34: Adjust the transmission positioning error accuracy to ±C.
[0070] Preferably, the specific steps of step S4 are:
[0071] S41: driving the final output turntable 105 to perform four groups of rotations through the servo motor 102, the four groups of rotations are respectively from 0° to 90° and then reversed, from 0° to 180° and then reversed, from 0° to 270° and then reversed, and from 0° to 360° and then reversed, each group of rotations is performed six times, and the pitch angle difference data of each group of six times is recorded;
[0072] S42: extracting six positive and negative pitch angle differences from 0° to 90° as D1, D2, D3, D4, D5, and D6;
[0073] S43: Calculate the empty return angle, which is the minimum value among D1, D2, D3, D4, D5 and D6. The value of the empty return angle is recorded as E.
[0074] S44: Calculate the positioning accuracy of each 90°. The positioning accuracy is the maximum value minus the minimum value among D1, D2, D3, D4, D5 and D6. The positioning accuracy value is recorded as F.
[0075] S45: Verify the empty return angle:
[0076] The servo motor 102 is electronically compensated, and the compensation angle is E;
[0077] The servo motor 102 drives the final output turntable 105 to rotate three times, and records the actual 0-point position and the initial 0-point position;
[0078] S46: Verify positioning accuracy:
[0079] Extract three groups of forward and reverse pitch angle differences from 0° to 180°, 0° to 270°, and 0° to 360° for six times respectively; subtract the minimum value from the maximum value in each group, and record the positioning accuracy values as F1, F2, and F3, and compare the functional relationship between F1, F2, and F3 data and F;
[0080] The functional relationship should be:
[0081] Preferably, the measuring unit is placed on the opposite side of the unit to be measured to the end where the servo motor 102 is placed.
[0082] like Figure 1 The transmission device shown in the figure mainly uses a servo motor 102 connected to a rotating device 101 through a reducer 103, and finally rotated to an output rotary disc 105 through a tension sleeve 106 for external output. Due to the increase in components during the entire transmission process, the error increases step by step.
[0083] The measuring device is mainly connected to the transmission device by the adapter 107 through the top screw, and then connected to the optical adjustment frame 108 and the reference prism 109. Then the theodolite 110 is placed three-dimensionally on the three-dimensional adjustment frame 111, and finally the whole device is placed on the marble platform 104.
[0084] First press Figure 1 The layout shown in the figure places the corresponding devices. First, align the theodolite near the inscribed circle of the standard prism. By adjusting the optical adjustment frame 108 and the three-dimensional adjustment frame 111, the reference prism 109 is driven during the rotation of the final output turntable 105 so that the pitch angle and horizontal angle measurement results of the entire theodolite 110 are within 5".
[0085] Then press Figure 2 The theodolite and the three-dimensional adjustment frame are placed on the opposite side of the servo motor 102, and then the three-dimensional adjustment frame 111 and theodolite 110 are adjusted to align the reference prism 109. First, the servo motor 102 drives the final output turntable 105 to rotate clockwise for one circle to eliminate the backlash, and then rotates from 0° to 90° to 180°, then to 270° and finally to 360°. Observe the change in the pitch angle of theodolite 110, and measure the maximum error angle with the initial 0 point to be +40″ and -12″; then the servo motor 102 drives the final output turntable 105 to rotate counterclockwise from 360° to 270° to 180°, then to 90° and finally to 0°. By observing the changes in the pitch angle of theodolite 110, the maximum error angles with the initial 0 point were measured to be +10″ and -40″. It can be seen that the initial 0 point position drifted after the transmission parts were added, resulting in the positioning accuracy of the original 0 point position increased to ±40″. The 0 point position of the device was adjusted to adjust the positioning accuracy to ±25″.
[0086] The final output turntable 105 is directly driven from 0° to 90° and then reversed, 0° to 180° and then reversed, 0° to 270° and then reversed, and 0° to 360° and then reversed. Finally, the difference between the forward and reverse pitch angles of 0° to 90° after 6 repeated measurements is 39", 36", 34", 38", 36", and 35", respectively. The change in the pitch angle value of 0° in the 6 measurements is within 5", and the change in the pitch angle value of 90° is also within 5". Subsequently, angle tests of 0° to 180°, 0° to 270°, and 0° to 360° are performed, and it is found that the measurement results are basically consistent; therefore, the cumulative backlash angle is 34". Finally, electronic compensation is performed, and a 34" compensation angle is added at each first reversal. Finally, the measurement is repeated 3 times, and the difference is within 7". Finally, it is concluded that the repeat positioning accuracy is within ±5", and the repeat positioning accuracy error of the final output turntable 105 is within 5".
[0087] And it has been proved by experimental data
[0088] The preliminary measurement equipment positioning accuracy is ±40″; the output repeat positioning accuracy is ±15″.
[0089] After calibration, the positioning accuracy of this method is improved to ±25″, the output repeat positioning accuracy is ±5″, and the accumulated empty return error is eliminated.
[0090] The theodolite can directly indicate the value, further reducing the occurrence of errors in measurement. It also uses multiple measurements and special algorithms to calculate the return angle and positioning accuracy.
[0091] Compared with the prior art, the utility model has the following beneficial effects: the purpose is to eliminate the final product error caused by the mechanical rotating device backlash error, the motor error, the reducer error, and the installation accuracy error of each component, and measure the actual accuracy of the device. The main measurement related accuracy is: positioning accuracy and repeated positioning accuracy. Finally, the device accuracy is improved through motor compensation.
[0092] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A rotating device precision measuring device, comprising a unit to be measured and a measuring unit, wherein the unit to be measured and the measuring unit are placed on a marble platform (104), characterized in that: The unit to be tested comprises a servo motor (102) and a mechanical rotating device (101), and the servo motor (102) and the mechanical rotating device (101) are rotationally connected via a reducer (103), and a final output rotary disc (105) is installed at the front end of the mechanical rotating device (101); An optical adjustment frame (108) is installed at the front end of the final output turntable (105), and a reference prism (109) is installed at the front end of the optical adjustment frame (108); The measuring unit comprises a three-dimensional adjustment frame (111) and a theodolite (110), wherein the theodolite (110) is placed on the three-dimensional adjustment frame (111), and the three-dimensional adjustment frame (111) is used to adjust the position and angle of a lens of the theodolite (110).
2. The rotating device accuracy measuring device according to claim 1, characterized in that: A transfer tool (107) is installed on the surface of the final output turntable (105) via a tension sleeve (106), and the transfer tool (107) is used to install an optical adjustment frame (108).
3. The rotating device accuracy measuring device according to claim 1, characterized in that: The reference prism (109) is a six-sided reference prism, and the reference error of the six-sided reference prism is less than 2".