阅读说明：本技术 带传动定位校准方法和装置 (Belt drive positioning calibration method and device ) 是由 闫雪松 钱俊 孙海旋 王弼陡 李俊坡 王钟周 吕丹辉 于 2019-09-27 设计创作，主要内容包括：本发明公开了一种带传动定位校准方法和装置,本发明的带传动定位校准装置包括：第一光电传感器、第一挡片、第二光电传感器、第二挡片。方法为：通过2组光电传感器与挡片测量皮带的长度,实现皮带长度形变的校准。本发明提出的校准方法和装置可在带传动使用过程中,定期对皮带进行校准,能提高带传动的定位精度,使带传动得到更广泛的应用,且本发明的方法操作简单,易于应用。(The invention discloses a belt transmission positioning calibration method and a belt transmission positioning calibration device, wherein the belt transmission positioning calibration device comprises the following steps: the photoelectric sensor comprises a first photoelectric sensor, a first blocking piece, a second photoelectric sensor and a second blocking piece. The method comprises the following steps: the length of the belt is measured through 2 groups of photoelectric sensors and blocking pieces, and the calibration of the length deformation of the belt is achieved. The calibration method and the calibration device provided by the invention can be used for periodically calibrating the belt in the use process of belt transmission, can improve the positioning precision of the belt transmission, and can enable the belt transmission to be more widely applied.)

1. A belt transmission positioning calibration method is used for calibrating a belt transmission mechanism, the belt transmission mechanism comprises a rack, a belt arranged on the rack, a first actuating mechanism and a second actuating mechanism respectively arranged on two opposite sides of the belt, and a motor used for driving the belt to move, the motor drives the first actuating mechanism and the second actuating mechanism to reciprocate through the belt, and the maximum distance of the movement of the first actuating mechanism and the second actuating mechanism in a single direction is less than half of the total length of the belt, and the method is characterized by comprising the following steps:

1) a first photoelectric sensor is arranged on the machine frame at one side of the first actuating mechanism, a second photoelectric sensor is arranged on the machine frame at one side of the second actuating mechanism,

a first blocking piece used for being matched with the first photoelectric sensing is arranged on the first actuating mechanism, and a second blocking piece used for being matched with the second photoelectric sensing is arranged on the second actuating mechanism;

2) controlling the motor to work through a motor driver, triggering a first photoelectric sensor when a first baffle on the first actuating mechanism moves to the first photoelectric sensor, and storing the position of the first photoelectric sensor at the moment, which is marked as P1; recording the distance between the second baffle and the second photoelectric sensor in the state as D1;

3) controlling the motor to work continuously through a motor driver, triggering a second photoelectric sensor when a second stop piece on the second actuator moves to the second photoelectric sensor, and storing the position of the second photoelectric sensor at the moment as P2, wherein D1 is P1-P2;

4) when the belt needs to be calibrated after working for a period of time, the motor is controlled to work through a motor driver, when a first blocking piece on the first execution mechanism moves to the first photoelectric sensor, the first photoelectric sensor is triggered, and the position of the first photoelectric sensor at the moment is stored and recorded as P3; recording the distance between the second baffle and the second photoelectric sensor in the state as D2;

5) then, the motor is controlled to continue to work through a motor driver, when a second stop piece on the second actuating mechanism moves to the second photoelectric sensor, the second photoelectric sensor is triggered, the position of the second photoelectric sensor at the moment is stored and recorded as P4, and then D2 is recorded as P4-P3;

6) and calculating the length change coefficient k, k of the belt, D2/D1.

2. The belt drive positioning calibration method of claim 1, wherein D1 is no less than one-quarter of the total belt length.

3. The belt drive positioning calibration method of claim 1, wherein D1 is equal to a maximum distance that a belt on a side of the second actuator is movable in a single direction.

4. A belt drive positioning calibration method according to any one of claims 1 to 3, wherein the control of the movement distance of the first actuator or the second actuator after the belt calibration requires introducing the coefficient k at the control distance before the belt calibration, in particular:

before the belt is calibrated, the method for controlling the first actuating mechanism or the second actuating mechanism to move for the distance L comprises the following steps: controlling the motor to rotate for n circles through the motor driver, so that the belt moves for an L distance, and the first executing mechanism or the second executing mechanism is driven to move for the L distance;

after the belt is calibrated, the method for controlling the first actuating mechanism or the second actuating mechanism to move for the distance L comprises the following steps: and controlling the motor to rotate n x k circles through the motor driver, so that the belt moves for L x k distances, and the first actuating mechanism or the second actuating mechanism is driven to move for L distances.

5. The belt drive positioning calibration method of claim 1, wherein the first photosensor and the first shutter are interchanged in position.

6. The belt drive positioning calibration method of claim 1 or 5, wherein the positions of the second photosensor and the second shutter are interchanged.

7. The belt drive positioning calibration method of claim 1, wherein the first and second photosensors are slot photosensors.

8. The belt drive positioning calibration method of claim 1, wherein the motor is a stepper motor and the motor driver is a stepper motor driver.

9. A belt drive positioning calibration device, characterized in that it performs belt drive positioning calibration using the method according to any one of claims 1-8.

Technical Field

The invention relates to the technical field of belt transmission calibration, in particular to a belt transmission positioning calibration method and a belt transmission positioning calibration device.

Background

In the field of belt transmission, due to the characteristics of a belt, after the belt is used for a period of time, the tightness and the length can be changed, the belt cannot be used in occasions with higher requirements on positioning precision, some belt transmission mechanisms have the problem that a plurality of positions need to be positioned between two points, and the belt changes in working length for a long time, so that the positioning is inaccurate. When two actuating mechanisms with fixed relative positions are installed on a belt, the accurate relative positions between the two actuating mechanisms must be obtained, after the length of the belt is changed, the relative positions of the two actuating mechanisms can be changed, the moving distance of a driving mechanism needs to be controlled to be correspondingly adjusted, and then the positioning accuracy can be guaranteed.

Disclosure of Invention

The technical problem to be solved by the present invention is to provide a belt drive positioning calibration method and apparatus for overcoming the above-mentioned shortcomings in the prior art.

In order to solve the technical problems, the invention adopts the technical scheme that: a belt drive positioning calibration method is used for calibrating a belt drive mechanism, the belt drive mechanism comprises a rack, a belt arranged on the rack, a first actuator and a second actuator which are respectively arranged on two opposite sides of the belt, and a motor used for driving the belt to move, the motor drives the first actuator and the second actuator to reciprocate through the belt, and the maximum distance of the movement of the first actuator and the second actuator in a single direction is less than half of the total length of the belt, the method comprises the following steps:

1) a first photoelectric sensor is arranged on the machine frame at one side of the first actuating mechanism, a second photoelectric sensor is arranged on the machine frame at one side of the second actuating mechanism,

a first blocking piece used for being matched with the first photoelectric sensing is arranged on the first actuating mechanism, and a second blocking piece used for being matched with the second photoelectric sensing is arranged on the second actuating mechanism;

2) controlling the motor to work through a motor driver, triggering a first photoelectric sensor when a first baffle on the first actuating mechanism moves to the first photoelectric sensor, and storing the position of the first photoelectric sensor at the moment, which is marked as P1; recording the distance between the second baffle and the second photoelectric sensor in the state as D1;

3) controlling the motor to work continuously through a motor driver, triggering a second photoelectric sensor when a second stop piece on the second actuator moves to the second photoelectric sensor, and storing the position of the second photoelectric sensor at the moment as P2, wherein D1 is P1-P2;

4) when the belt needs to be calibrated after working for a period of time, the motor is controlled to work through a motor driver, when a first blocking piece on the first execution mechanism moves to the first photoelectric sensor, the first photoelectric sensor is triggered, and the position of the first photoelectric sensor at the moment is stored and recorded as P3; recording the distance between the second baffle and the second photoelectric sensor in the state as D2;

5) then, the motor is controlled to continue to work through a motor driver, when a second stop piece on the second actuating mechanism moves to the second photoelectric sensor, the second photoelectric sensor is triggered, the position of the second photoelectric sensor at the moment is stored and recorded as P4, and then D2 is recorded as P4-P3;

6) and calculating the length change coefficient k, k of the belt, D2/D1.

Preferably, D1 is no less than one-fourth of the total length of the belt.

Preferably, D1 is equal to the maximum distance the belt on the side of the second actuator can move in a single direction.

Preferably, the control of the movement distance of the first actuator or the second actuator after the belt calibration needs to introduce the coefficient k into the control distance before the belt calibration, specifically:

before the belt is calibrated, the method for controlling the first actuating mechanism or the second actuating mechanism to move for the distance L comprises the following steps: controlling the motor to rotate for n circles through the motor driver, so that the belt moves for an L distance, and the first executing mechanism or the second executing mechanism is driven to move for the L distance;

after the belt is calibrated, the method for controlling the first actuating mechanism or the second actuating mechanism to move for the distance L comprises the following steps: and controlling the motor to rotate n x k circles through the motor driver, so that the belt moves for L x k distances, and the first actuating mechanism or the second actuating mechanism is driven to move for L distances.

Preferably, the positions of the first photoelectric sensor and the first blocking piece are interchanged.

Preferably, the positions of the second photoelectric sensor and the second blocking piece are interchanged.

Preferably, the first and second photosensors are both groove photosensors.

Preferably, the motor is a stepping motor, and the motor driver is a stepping motor driver.

A belt drive positioning calibration device adopts the method to carry out belt drive positioning calibration.

The invention has the beneficial effects that: the calibration method and the calibration device provided by the invention can be used for periodically calibrating the belt in the use process of belt transmission, can improve the positioning precision of the belt transmission, and can enable the belt transmission to be more widely applied.

Drawings

FIG. 1 is a schematic diagram of an application of a belt driven positioning calibration device in an embodiment of the present invention;

FIG. 2 is a flow chart of a belt drive positioning calibration method in one embodiment of the invention.

Description of reference numerals:

1-a first photosensor; 2-a first baffle plate; 3-a second photosensor; 4-a second baffle plate; 5-a first sampling module; 6-second sampling module.

Detailed Description

The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.

It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.

As shown in fig. 1-2, a belt-driven positioning calibration method and apparatus of this embodiment are mainly used for calibrating a belt-driven mechanism in some existing application scenarios, for example, in this embodiment, the belt-driven mechanism includes a frame, a belt disposed on the frame, a first actuator and a second actuator respectively disposed on two opposite sides of the belt, and a motor for driving the belt to move, the motor drives the first actuator and the second actuator to reciprocate through the belt, and a maximum distance of movement of the first actuator and the second actuator in a single direction is less than half of a total length of the belt, where the first actuator and the second actuator are two sampling modules: the first sampling module 5 and the second sampling module 6 make the first sampling module 5 and the second sampling module 6 reciprocate in the oblique left direction in the figure alternately through a belt transmission mechanism so as to perform periodic sampling operation, and due to the limitation of the mechanism, the first sampling module 5 can only move in the left area of the belt, and the second sampling module 6 can only move in the right area of the belt. When the belt works for a long time, the belt is deformed in length, namely loosened and lengthened. The control method for the movement distance of the first sampling module 5 and the second sampling module 6 comprises the following steps: the distance of belt motion is controlled to the number of turns of rotation through motor drive control motor, thereby drive first sampling module 5 and the appointed distance of second sampling module 6 motion, take place length deformation and become the pine grow back when the belt, the motor rotates the same number of turns, the linear distance of belt motion can be less than distance before, thereby the actual distance that leads to first sampling module 5 and the 6 motion of second sampling module on the belt can be less than before, make the motion positioning accuracy decline of first sampling module 5 and second sampling module 6, can influence the work of mechanism. Need calibrate the belt, it is inconvenient that first sampling module 5 and second sampling module 6 are dismantled, and need often calibrate, unsuitable adoption is with its method of dismantling the back to the belt.

For example, in some full-automatic thromboelastography instruments, a belt transmission mechanism is required to drive two sampling modules to circularly and alternately reach respective sampling positions for sampling, one sampling module takes a reaction cup, the other sampling module takes a blood sample, initially, the installation distance of the two sampling modules on a belt is fixed, the respective sampling positions are set, and the motor rotates forwards and backwards to drive the two sampling modules to alternately reach the respective sampling positions. And if long-term after using, the belt warp and lengthens, and the distance between two sampling module can increase, according to the control distance during operation of original settlement, can't make two sampling module homoenergetic accurate arrival respective sample position, need calibrate the belt this moment.

The method and apparatus of the present invention may be adapted for calibration of the above-described mechanism.

The belt drive positioning and calibrating device provided by the embodiment comprises: the photoelectric sensor comprises a first photoelectric sensor 1, a first baffle 2, a second photoelectric sensor 3 and a second baffle 4.

The calibration method of the embodiment comprises the following steps:

1) a first photoelectric sensor 1 is arranged on a frame at one side of the first actuating mechanism, a second photoelectric sensor 3 is arranged on a frame at one side of the second actuating mechanism,

a first baffle 2 matched with the first photoelectric sensor is arranged on the first actuating mechanism, and a second baffle 4 matched with the second photoelectric sensor is arranged on the second actuating mechanism;

2) controlling the motor to work through a motor driver, triggering the first photoelectric sensor 1 when the first baffle 2 on the first actuating mechanism moves to the first photoelectric sensor 1, and storing the position of the first photoelectric sensor 1 at the moment, which is marked as P1; recording the distance between the second shutter 4 and the second photoelectric sensor in this state as D1;

3) controlling the motor to work continuously through a motor driver, triggering the second photoelectric sensor 3 when the second stop 4 on the second actuator moves to the second photoelectric sensor 3, and storing the position of the second photoelectric sensor 3 at the moment, which is marked as P2, so that D1 is P1-P2;

4) when the belt needs to be calibrated after working for a period of time, the motor is controlled to work through a motor driver, when the first separation blade 2 on the first execution mechanism moves to the first photoelectric sensor 1, the first photoelectric sensor 1 is triggered, and the position of the first photoelectric sensor 1 at the moment is stored and recorded as P3; recording the distance between the second shutter 4 and the second photoelectric sensor in this state as D2;

5) then, the motor is controlled to continue to work through a motor driver, when the second stop 4 on the second actuator moves to the second photoelectric sensor 3, the second photoelectric sensor 3 is triggered, the position of the second photoelectric sensor 3 at the moment is stored and recorded as P4, and D2 is P4-P3;

6) and calculating the length change coefficient k, k of the belt, D2/D1.

After the belt calibration, the coefficient k needs to be introduced into the control distance before the belt calibration for controlling the movement distance of the first actuating mechanism or the second actuating mechanism, specifically:

before the belt is calibrated, the method for controlling the first actuating mechanism or the second actuating mechanism to move for the distance L comprises the following steps: controlling the motor to rotate for n circles through the motor driver, so that the belt moves for an L distance, and the first executing mechanism or the second executing mechanism is driven to move for the L distance;

after the belt is calibrated, the method for controlling the first actuating mechanism or the second actuating mechanism to move for the distance L comprises the following steps: and controlling the motor to rotate n x k circles through the motor driver, so that the belt moves for L x k distance, and the actual movement of the first actuating mechanism or the second actuating mechanism is driven for L distance. To ensure the accuracy of the motion positioning. The belt is deformed, loosened and lengthened (for example, the length of a certain section of the belt is s, and the length is s k after deformation), when the motor is turned by n k circles, the belt moves for the distance of L k, and when the actual linear displacement of the belt is still L, the distance of movement of the first actuating mechanism or the second actuating mechanism can still be the same as that before deformation after the belt is deformed.

And in the next period, when the calibration is needed again, according to the method, the calibration is carried out again on the basis of the last calibration.

The value of D1 is increased as much as possible to improve the measurement accuracy. In one embodiment D1 is no less than one-quarter of the total length of the belt. In another more preferred embodiment, D1 is equal to the maximum distance that the belt on one side of the second actuator can move in a single direction. I.e., the value of D1 is equal to the length of the movable segment of the left belt.

In one embodiment, the positions of the first photosensor 1 and the first shutter 2 are interchanged, and the positions of the second photosensor 3 and the second shutter 4 are interchanged. The rest is the same as the embodiment, and the purpose of the scheme can be achieved.

In one embodiment, the first and second photosensors 1, 1 are both slot photosensors. The motor is a stepping motor, and the motor driver is a stepping motor driver.

While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.