Automatic calibration and detection device for servo encoder

Abstract

The utility model provides an automatic calibration detection device for a servo encoder, which belongs to the technical field of encoder calibration and comprises a bearing platform and a control module, a calibration platform is arranged above the bearing platform, and a driving mechanism and a calibrated motor mounting mechanism are arranged between the bearing platform and the calibration platform. The control module comprises an FPGA (Field Programmable Gate Array) microprocessor, a power supply module and a driver control module, and the FPGA microprocessor is connected with an encoder of a motor to be calibrated through a signal interface of the encoder to be calibrated; and the driving module is respectively connected with a rotary driver and a high-precision encoder of the driving mechanism through a driver UVW interface and a driver encoder interface of the servo driver. According to the device, MTA and MTB code channel signals are acquired through electric signals, whether a code disc code channel is aligned with a photocell or not is judged, and the reliability and the consistency of the servo motor are improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to encoder calibration technical field especially, it relates to a kind of servo encoder automatic calibration detection device. BACKGROUND

[0002] With the improvement of automation degree, the requirement of servo motor control precision is higher and higher, in servo motor control system, servo motor encoder will participate in the closed-loop control of whole system, and its performance will significantly affect the performance of whole closed-loop system.Servo motor encoder belongs to precision device, if there is larger deviation, it will cause precision to drop, service life to shorten and other consequences.Due to the error that can exist in manufacturing installation process, therefore, must be corrected before installation and use, to ensure its precision.

[0003] In order to solve the problems existing in prior art, people have carried out long-term exploration, and have proposed various kinds of solutions.For example, Chinese patent document discloses a kind of precision calibration system of towing type encoder [application number: 2024202363827], including calibration device and with the monitoring end of calibration device connection, the calibration device includes base plate, is equipped with support at four corners of the base plate, is fixed with high-precision motor at the center of the base plate, is fixed with high-precision motor fixed plate at the top of the support, is opened with perforation at the center of the high-precision motor fixed plate, is equipped with shaft coupling through the perforation, is connected with high-precision motor through the shaft coupling, is fixed with positioning support on the two sides of the high-precision motor fixed plate, is fixed with the integrated motor installation plate to be calibrated through the positioning support on two sides, is fixed with opposite clamping structure on the integrated motor installation plate to be calibrated, is fixed with integrated motor to be calibrated on the opposite clamping structure;The integrated motor to be calibrated passes through the integrated motor installation plate to be calibrated.

[0004] In the inspection of whether the traditional photocell and code disc are aligned is through the method of artificial visual inspection under electron microscope, and there is no specific evaluation standard, so that whether the code track of code disc and photocell are aligned cannot be accurately guaranteed, and the misalignment of code track of code disc and photocell affects the precision of servo system, and even causes servo system failure in serious case. SUMMARY

[0005] The utility model aims at above -mentioned problem, provides a kind of servo encoder automatic calibration detection device that can be automatically calibrated.

[0006] In order to achieve the above object, the utility model discloses the following technical scheme: the servo encoder automatic calibration detection device of the utility model, including bearing platform and control module, the bearing platform top is provided with the calibration platform, the bearing platform with calibration platform between being provided with drive mechanism, calibration platform is provided with the motor installation mechanism of being calibrated, motor installation mechanism on being calibrated is provided with motor shaft passageway, control module includes FPGA microprocessor, power module, driver control module, FPGA microprocessor is connected with the encoder of the motor of being calibrated through the signal interface of encoder of being calibrated, and drive module is connected with the rotary driver of drive mechanism, high accuracy encoder through the driver UVW interface of servo driver, driver encoder interface respectively.

[0007] In the servo encoder automatic calibration detection device, the control module is connected with the programmable DC power supply and is provided with the UVW zero point phase-locked interface electrically connected with the motor of being calibrated.

[0008] In the servo encoder automatic calibration detection device, the motor shaft passageway is concentrically arranged with the output shaft of the drive mechanism, the control module is electrically connected with the drive mechanism and the motor of being calibrated, a supporting mechanism is arranged between the bearing platform and the calibration platform, the drive mechanism includes a rotary driver, the rotary driver is fixedly installed on the bearing platform, a collet chuck mechanism is arranged on the output end of the rotary driver, and the collet chuck mechanism is fixedly connected with the output end of the rotary driver.

[0009] In the servo encoder automatic calibration detection device, the collet chuck mechanism and the rotary driver are connected through a shaft coupling, one end of the shaft coupling is fixedly connected with the output shaft of the rotary driver, and the other end is fixedly connected with the collet chuck mechanism, and the shaft coupling is a eccentricity-preventing double diaphragm type shaft coupling.

[0010] In the servo encoder automatic calibration detection device, the collet chuck mechanism includes a collet chuck body, a positioning shoulder and a connecting shaft portion are sequentially arranged on one end of the collet chuck body close to the shaft coupling, the connecting shaft portion is detachably connected with the shaft coupling, and the connecting shaft portion is coaxially arranged with the collet chuck body.

[0011] In the servo encoder automatic calibration detection device, a connecting disc is arranged between the rotary driver and the shaft coupling, the connecting disc is fixedly connected with the output end of the rotary driver, a connecting column is arranged on one end of the connecting disc close to the shaft coupling, and the connecting column is fixedly connected with the shaft coupling.

[0012] In the servo encoder automatic calibration detection device, the calibration platform is provided with a containing groove, the containing groove is provided with a calibrated motor mounting plate, the calibrated motor mounting plate is embedded in the containing groove and is fixedly connected with the calibration platform through fasteners, and the calibration platform is further provided with a quick pressure clamp for fixing the calibrated motor on the calibration platform.

[0013] In the servo encoder automatic calibration detection device, the calibrated motor mounting plate comprises an outer ring plate, the outer ring plate is fixedly installed in the containing groove, a positioning mounting plate is embedded in the outer ring plate, and the positioning mounting plate is provided with a mounting hole connected with the calibrated motor.

[0014] In the servo encoder automatic calibration detection device, the bearing platform is provided with a driver mounting plate on the side close to the driving mechanism, the driver mounting plate is provided with a positioning groove, the positioning groove is provided with a positioning plate, the positioning plate is circular and is provided with a driver mounting hole, the bearing platform is made of marble, and the side of the bearing platform away from the driving mechanism is provided with an adjusting block.

[0015] In the servo encoder automatic calibration detection device, the support structure comprises an I-shaped support plate, and the support plate is fixedly connected with the bearing platform and the calibration platform through fasteners at the upper and lower shoulders.

[0016] Compared with the prior art, the servo encoder automatic calibration detection device has the advantages that:

[0017] 1. The device collects MTA and MTB code channel signals through electric signals, judges whether the code channel of the code disc is aligned with the photocell, and improves the reliability and consistency of the servo motor.

[0018] 2. The device sends instructions to the control module through PC host software, the control module drives the rotary driver through the driver to drive the calibrated motor body and the encoder to rotate high-speed sampling electric signals, and the OFFSET air shaft calibration of the encoder Sin and Cos signals is completed by using the software automatic algorithm, so that the encoder signal sampling value is corrected, and the signal precision of the encoder is improved.

[0019] 3. The device can complete the precision calibration of the encoder angle value by using the high-precision rotary driver and the two-point calibration linear software algorithm, and the precision of the encoder angle value is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a system structure schematic diagram provided by the utility model;

[0021] Figure 2It is the device structure schematic view provided by the utility model.

[0022] Figure 3 It is the device explosion view provided by the utility model.

[0023] Figure 4 It is the device sectional view provided by the utility model.

[0024] Figure 5 It is the structure schematic view of the calibrated motor installation mechanism provided by the utility model.

[0025] In the figure, the calibrated motor a bearing platform 1, driver installation plate 11, positioning groove 12, positioning plate 13, adjustment block 14, control module 2, calibration platform 3, containing groove 31, driving mechanism 4, rotary driver 41, collet mechanism 42, connecting shaft 7, positioning shoulder 44, connecting shaft part 45, connecting disc 46, connecting column 47, calibrated motor installation mechanism 5, motor shaft passage 51, calibrated motor installation plate 52, outer ring plate 53, positioning installation plate 54, supporting mechanism 6, support plate 61. DETAILED DESCRIPTION

[0026] The application will be further described in detail below in combination with the drawings and specific embodiments. EMBODIMENT

[0027] As Figures 1-4 Indicated, a kind of servo encoder automatic calibration detection device, including bearing platform 1 and control module 2, the bearing platform 1 top is provided with calibration platform 3, the bearing platform 1 is provided with driving mechanism 4 between calibration platform, the calibration platform 3 is provided with calibrated motor installation mechanism 5, the calibrated motor installation mechanism 5 is provided with motor shaft passage 51, the control module 2 includes FPGA microprocessor, power module, driver control module, the FPGA microprocessor is connected with the encoder of motor to be calibrated by the signal interface of encoder to be calibrated, and the driving module is connected with the rotary driver of driving mechanism, high-precision encoder respectively by the driver UVW interface of servo driver, driver encoder interface.

[0028] Driving mechanism 4 and calibrated motor a and calibrated encoder are connected together using mechanical drag mode, since calibration process, calibrated encoder needs to rotate according to certain requirement to complete each calibration work, the role of driving mechanism 4 is to drag calibrated encoder to rotate according to the requirement condition to complete calibration work.

[0029] The installed calibrated motor a is vertically placed on the calibrated motor mounting mechanism 5, at this time, the output shaft of the calibrated motor a is connected with the driving mechanism 4 through the motor shaft channel 51, the driving mechanism 4 receives the instruction of the control module 2 through the driver UVW interface of the servo driver to drive the calibrated motor a to rotate according to the demand condition, the encoder of the calibrated motor a generates a signal which is collected by the control module through the calibrated encoder signal interface, at the same time, the current encoder angle of the driving mechanism is fed back to serve as the accurate angle reference system of the calibrated encoder, so as to complete various calibration work.

[0030] Further, the control module 2 is connected with the PC host computer through communication, the control module 2 is connected with a programmable DC power supply and is provided with a UVW zero phase locking interface which is electrically connected with the calibrated motor, and the control module further includes a memory.

[0031] The control module 2 drives the driving mechanism 4 according to the instruction of the PC host computer, feeds back the encoder angle value generated by the driving mechanism 4, sends the command to the encoder of the calibrated motor, stores various data of the calibrated motor encoder, the control module 2 can read the accurate angle fed back by the driving mechanism 4 and the angle of the encoder of the calibrated motor a at the same time, can realize high-speed simultaneous reading, reduces the angle error caused by separate reading during the dragging rotation process, the communication speed of the PC host computer software is relatively slow, so the FPGA control board can do the intermediate storage work, temporarily stores the data of the calibrated motor a encoder, and then sends it to the PC host computer software.

[0032] The PC host computer software reads the motor two-dimensional code, completes some tracing work, controls the interaction of the whole calibration process according to the intermediate feedback data, presents the test results in the form of a chart curve, and completes some human-computer interaction work.

[0033] Preferably, the motor shaft channel 51 is concentrically arranged with the output shaft of the driving mechanism 4, the support mechanism 6 is arranged between the bearing platform 1 and the calibration platform 3, the driving mechanism 4 includes a rotary driver 41, the rotary driver 41 is fixedly installed on the bearing platform 1, a collet chuck mechanism 42 is arranged on the output end of the rotary driver 41, and the collet chuck mechanism 42 is fixedly connected with the output end of the rotary driver 41.

[0034] Further, the calibration platform 3 is provided with a containing groove 31, the calibrated motor mounting mechanism 5 comprises a calibrated motor mounting plate 52 arranged in the containing groove 31, the calibrated motor mounting plate 52 is embedded in the containing groove 31 and fixedly connected with the calibration platform 3 through fasteners, and the calibration platform 3 is further provided with a quick clamp for fixing the calibrated motor a on the calibration platform 3. The output shaft of the calibrated motor a is inserted into the collet 42, and different flange types of calibrated motors a correspond to different calibrated motor mounting plates 52 and collet mechanisms 42, so that the type switching of the calibrated motor a can be quickly and conveniently performed. The calibrated motor a is fixed on the calibration platform through the calibrated motor mounting plate 52, so that the calibrated motor a is prevented from shaking to cause calibration failure.

[0035] Preferably, the collet mechanism 42 comprises a collet body 43, the collet body 43 is sequentially provided with a positioning shoulder 44 and a connecting shaft part 45 near one end of the shaft coupling 7, the connecting shaft part 45 is detachably connected with the shaft coupling 7, and the connecting shaft part 45 is coaxially arranged with the collet body 43. After the calibration motor is fixed, the motor shaft is connected with the shaft coupling by rotating the collet in a clockwise direction. Compared with the side clamping mode, the inner clamping mode can better reduce the stress on the motor shaft, thereby reducing the load, reducing the angular velocity variation, suppressing vibration, controlling the eccentricity of the mechanism to the minimum, and improving the calibration accuracy of the encoder.

[0036] Further, the collet mechanism 42 and the rotary driver 41 are connected through the shaft coupling 7, one end of the shaft coupling 7 is fixedly connected with the output end of the rotary driver 41, the other end is fixedly connected with the collet mechanism 42, and the shaft coupling 7 is a anti-eccentric double diaphragm type shaft coupling, which further improves the calibration accuracy.

[0037] Preferably, a connecting disc 46 is arranged between the rotary driver 41 and the shaft coupling 7, the connecting disc 46 is fixedly connected with the output end of the rotary driver 41, one end of the connecting disc 46 near the shaft coupling 7 is provided with a connecting column 47, and the connecting column 47 is fixedly connected with the shaft coupling. The connecting disc 46 is beneficial to the fixed connection between the rotary driver 41 and the bearing platform 1, and prevents the rotary driver 41 from vibrating when being driven to cause calibration deviation.

[0038] Further, the calibrated motor mounting plate 52 comprises an outer ring plate 53 fixedly installed in the accommodating groove 31, and the outer ring plate 53 is inlaid with a positioning mounting plate 54, and the positioning mounting plate 54 is provided with mounting holes connected with the calibrated motor a. Preferably, the bearing platform 1 is provided with a driver mounting plate 11 on the side close to the driving mechanism 4, the driver mounting plate 11 is provided with a positioning groove 12, the positioning groove 12 is provided with a positioning plate 13, the positioning plate 13 is circular and provided with driver mounting holes, the bearing platform 1 is made of marble, and the bearing platform 1 is provided with an adjusting block 14 on the side away from the driving mechanism 4. The output shaft of the rotary driver 41 is concentric with the output shaft of the calibrated motor a.

[0039] Preferably, the support mechanism 6 comprises an H-shaped support plate 61, and the support plate 61 is fixedly connected with the bearing platform 1 and the calibration platform 3 through fasteners on the upper and lower shoulders.

[0040] Working principle:

[0041] The calibrated motor a is installed on the calibration platform 3, the driving mechanism 4 drives the calibrated motor, the output signal of the encoder of the calibrated motor a and the output reference signal of the encoder of the rotary driver are synchronously collected through the control module 2, the collected data are input to the data processing module of the PC host computer, whether there is pollution on the code track and whether the calibration is completed are judged through the generated electric signal, the sine signal deviation of the code disc alignment is analyzed, the error of the encoder is calculated, and the calibration parameters are automatically generated, the calibration parameters are input to the memory of the encoder, and finally the code track alignment check, the empty shaft calibration, the Lissajous figure drawing and the linear calibration are completed.

[0042] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art of the present application can make various modifications or supplements to the described specific embodiments or replace them with similar ways, without departing from the spirit of the present application or exceeding the scope defined by the appended claims.

[0043] Although the terms calibrated motor a carrier platform 1, driver mounting plate 11, positioning slot 12, positioning plate 13, adjustment block 14, control module 2, calibration platform 3, containment slot 31, drive mechanism 4, rotary driver 41, collet mechanism 42, connecting shaft 7, positioning shoulder 44, connecting shaft portion 45, connecting disc 46, connecting post 47, calibrated motor mounting mechanism 5, motor shaft passage 51, calibrated motor mounting plate 52, outer race plate 53, positioning mounting plate 54, support mechanism 6, support plate 61 are used more frequently in this document, the possibility of using other terms is not excluded. The use of these terms is only for the convenience of describing and explaining the essence of the present application; any kind of additional limitation is contrary to the spirit of the present application.

Claims

1. An automatic calibration and testing device for a servo encoder, comprising a support platform (1) and a control module (2), characterized in that, A calibration platform (3) is provided above the bearing platform (1), and a drive mechanism (4) is provided between the bearing platform (1) and the calibration platform. A motor mounting mechanism (5) is provided on the calibration platform (3), and a motor shaft channel (51) is provided on the motor mounting mechanism (5). The control module (2) is electrically connected to the drive mechanism (4) and the motor (a) being calibrated. The control module (2) includes an FPGA microprocessor, a power supply module, and a driver control module. The FPGA microprocessor is connected to the encoder to be calibrated through the encoder signal interface. The driver control module is connected to the rotary driver and high-precision encoder of the drive mechanism through the driver UVW interface and the driver encoder interface of the servo driver, respectively.

2. The servo encoder automatic calibration and testing device according to claim 1, characterized in that, The control module (2) is connected to the host computer via communication. The control module (2) is connected to a programmable DC power supply and is equipped with a UVW zero-point phase-locked interface that is electrically connected to the motor being calibrated. The control module also includes a memory.

3. The servo encoder automatic calibration and testing device according to claim 1, characterized in that, The motor shaft channel (51) is concentrically arranged with the output shaft of the drive mechanism (4). A support mechanism (6) is provided between the bearing platform (1) and the calibration platform (3). The drive mechanism (4) includes a rotary driver (41). The rotary driver (41) is fixedly installed on the bearing platform (1). A collet mechanism (42) is provided at the output end of the rotary driver (41). The collet mechanism (42) is fixedly connected to the output end of the rotary driver (41).

4. The servo encoder automatic calibration and testing device according to claim 3, characterized in that, The collet mechanism (42) and the rotary driver (41) are connected by a coupling (7). One end of the coupling (7) is fixedly connected to the output end of the rotary driver (41), and the other end is fixedly connected to the collet mechanism (42). The coupling (7) is an anti-eccentric double diaphragm type coupling.

5. The servo encoder automatic calibration and testing device according to claim 4, characterized in that, The collet mechanism (42) includes a collet body (43). The collet body (43) has a positioning shoulder (44) and a connecting shaft (45) arranged sequentially at one end near the coupling (7). The connecting shaft (45) is detachably connected to the coupling (7) and is coaxially arranged with the collet body (43).

6. The servo encoder automatic calibration and testing device according to claim 5, characterized in that, A connecting plate (46) is provided between the rotary driver (41) and the coupling (7). The connecting plate (46) is fixedly connected to the output end of the rotary driver (41). A connecting post (47) is provided at one end of the connecting plate (46) near the coupling (7). The connecting post (47) is fixedly connected to the coupling.

7. The servo encoder automatic calibration and testing device according to claim 1, characterized in that, The calibration platform (3) is provided with a receiving groove (31). The motor mounting mechanism (5) to be calibrated includes a motor mounting plate (52) to be calibrated set in the receiving groove (31). The motor mounting plate (52) to be calibrated is embedded in the receiving groove (31) and fixedly connected to the calibration platform (3) by fasteners. The calibration platform (3) is also provided with a quick-pressing clamp (35) to fix the motor (a) to be calibrated on the calibration platform (3).

8. The servo encoder automatic calibration and testing device according to claim 7, characterized in that, The motor mounting plate (52) to be calibrated includes an outer ring plate (53), which is fixedly installed in the receiving groove (31). A positioning mounting plate (54) is embedded in the outer ring plate (53), and the positioning mounting plate (54) is provided with mounting holes for connecting to the motor (a) to be calibrated.

9. The servo encoder automatic calibration and testing device according to claim 1, characterized in that, The support platform (1) is provided with a driver mounting plate (11) on the side near the drive mechanism (4). The driver mounting plate (11) is provided with a positioning groove (12). The positioning groove (12) is provided with a positioning plate (13). The positioning plate (13) is circular and is provided with a driver mounting hole. The support platform (1) is made of marble. The support platform (1) is provided with an adjustment block (14) on the side away from the drive mechanism (4).

10. The servo encoder automatic calibration and testing device according to claim 3, characterized in that, The support mechanism (6) includes an I-shaped support plate (61), which is fixedly connected to the bearing platform (1) and the calibration platform (3) on the upper and lower shoulders by fasteners.

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