阅读说明：本技术 基于光电位移传感器的驱动机构零位调节装置及方法 (Zero adjustment device and method for driving mechanism based on photoelectric displacement sensor ) 是由 叶必卿 李蒙正 曹鸿淼 单晓杭 李研彪 于 2020-12-30 设计创作，主要内容包括：本发明公开了一种基于光电位移传感器的驱动机构零位调节装置及方法,包括设备安装平台、旋转控制机构、测量机构、驱动机构,所述测量机构安装于所述设备安装平台的上方,所述测量机构用于测量所述驱动机构机械零位的实际偏差,所述旋转控制机构安装于所述设备安装平台的上面,所述驱动机构的输入端与所述旋转控制机构的输出端相连接,所述旋转控制机构用于控制所述驱动机构旋转并反馈旋转角度。本发明能够在驱动机构的生产过程中,通过本发明对驱动机构的机械零位进行调试,使机械零位符合指标要求；在工作平台与支撑支架之间加入了三个可调支撑台,调节可调支撑台的可调螺栓来调整工作平台的水平度,使工作平台处于水平。(The invention discloses a zero position adjusting device and method for a driving mechanism based on a photoelectric displacement sensor, and the device comprises an equipment mounting platform, a rotation control mechanism, a measuring mechanism and a driving mechanism, wherein the measuring mechanism is mounted above the equipment mounting platform, the measuring mechanism is used for measuring the actual deviation of the mechanical zero position of the driving mechanism, the rotation control mechanism is mounted above the equipment mounting platform, the input end of the driving mechanism is connected with the output end of the rotation control mechanism, and the rotation control mechanism is used for controlling the rotation of the driving mechanism and feeding back the rotation angle. The invention can debug the mechanical zero position of the driving mechanism in the production process of the driving mechanism, so that the mechanical zero position meets the index requirement; three adjustable supporting platforms are added between the working platform and the supporting bracket, and the levelness of the working platform is adjusted by adjusting the adjustable bolts of the adjustable supporting platforms, so that the working platform is horizontal.)

1. The utility model provides a drive mechanism zero adjusting device based on photoelectric displacement sensor which characterized in that: the device comprises an equipment mounting platform, a rotation control mechanism, a measuring mechanism and a driving mechanism, wherein the measuring mechanism is mounted above the equipment mounting platform and used for measuring the actual deviation of the mechanical zero position of the driving mechanism;

the equipment mounting platform comprises a support bracket, an adjustable support platform, a working platform, a mounting vertical frame and a positioning block;

the supporting bracket is stably erected on a ground plane, the number of the adjustable supporting platforms is three, the adjustable supporting platforms are respectively fixed at three different positions on the supporting bracket in a triangular mode, the working platform is placed on the three adjustable supporting platforms, a square groove is formed in the working platform, the positioning block is placed in the square groove of the working platform, and the number of the installation vertical frames is two and the installation vertical frames are respectively and symmetrically fixed on two sides of a transverse central axis on the working platform; in the working platform leveling process, the adjustable supporting platform is used as a main adjusting supporting point to support the working platform and determine the actual levelness of the working platform;

the rotation control mechanism comprises a first servo motor, a first speed reducer, a main shaft, a brake support, a first angle encoder, an expansion sleeve, an encoder transfer block, a universal joint, a torsion spring, a bottom plate and a first speed reducer support;

the first servo motor output end is connected with the input end of the first speed reducer, the first speed reducer is fixedly installed on the side face of the first speed reducer support, the bottom face of the first speed reducer support is installed on the bottom plate, the output end of the first speed reducer is connected with one end of the main shaft, the other end of the main shaft is connected with the universal joint switching block through expansion, the brake is installed on the main shaft, the brake is fixed on one side face of the brake support, the bottom face of the brake support is fixed on the bottom plate, the first angle encoder is installed at one end of the encoder switching block, the first angle encoder is fixed on the other side face of the brake support, one end of the universal joint is connected with the other end of the encoder switching block, the torsion spring is installed on the universal joint, one end of the torsion spring is connected with the input end of the universal joint, the other end of the torsion spring is connected with the output end of the universal joint, and the bottom plate is installed on the working platform; in the zero setting process, the first servo motor provides driving force for rotary motion, the moment is amplified and the rotating speed is reduced through the first speed reducer, the main shaft is driven to rotate and the universal joint is driven to rotate, and the first angle encoder provides the actual rotating angle of the universal joint;

the measuring mechanism comprises a supporting beam, a second servo motor, a second speed reducer support, a coupler, a rotating shaft, a linear bearing seat, a second angle encoder support, a second angle encoder, an optical shaft seat, an optical shaft connecting block, an optical shaft counterweight, a photoelectric displacement sensor and a photoelectric displacement sensor mounting plate; the output end of the second servo motor is connected with the input end of the second speed reducer, the second speed reducer is fixed on one side surface of a second speed reducer support, the other side surface of the second speed reducer support is fixed on the side surface of the supporting beam, the output end of the second speed reducer is connected with one end of the coupler, the other end of the coupler is connected with one end of the rotating shaft, the other end of the rotating shaft penetrates through the linear bearing seat and the second angle encoder to be fixedly connected with the optical shaft connecting block, the bottom surface of the linear bearing seat is fixed on the supporting beam, the second angle encoder is fixed on the side surface of the second angle encoder support, the bottom surface of the second angle encoder support is fixed on the supporting beam, and the optical shaft counterweight is placed on one side of the optical shaft connecting block, the optical axis is fixedly connected to the other side of the optical axis switching block, the optical axis is installed on the two optical axis bases, the through holes of the two optical axis bases are vertically and downwards fixed to one side face of the photoelectric displacement sensor installation plate, and the photoelectric displacement sensor is fixed to the other side face of the photoelectric displacement sensor installation plate;

the driving mechanism comprises a driving mechanism rotor and a driving mechanism stator; two rotor positioning pins are arranged on the driving mechanism rotor, and the driving mechanism stator is arranged on the working platform; in the zero setting process, when the universal joint drives the driving mechanism rotor to rotate, the rotor positioning pin moves along with the driving mechanism rotor.

2. The zero adjustment device for the driving mechanism based on the photoelectric displacement sensor as claimed in claim 1, wherein: the universal joint is provided with a torsional spring, one end of the torsional spring is connected with the input end of the universal joint, the other end of the torsional spring is connected with the output end of the universal joint, and the transmission backlash of the input end and the output end of the universal joint is eliminated.

3. The zero adjustment device for the driving mechanism based on the photoelectric displacement sensor as claimed in claim 1, wherein: one end of the driving mechanism rotor is provided with two cylindrical rotor positioning pins symmetrically to the rotation center of the driving mechanism.

4. The zero adjustment device for the driving mechanism based on the photoelectric displacement sensor as claimed in claim 1, wherein: the cross section of the optical axis is in a combination shape of a semicircle and a rectangle and is used for limiting the longitudinal rotation freedom degree of the optical axis.

5. The zero adjustment device for the driving mechanism based on the photoelectric displacement sensor as claimed in claim 1, wherein: a method for adjusting zero position of a driving mechanism based on a photoelectric displacement sensor specifically comprises the following steps:

the method comprises the following steps: adjusting the adjustable bolts in the three adjustable supporting platforms to enable the working platform to be horizontal;

step two: loosening a screw for fixing the optical axis on the optical axis connecting block to enable the optical axis to move longitudinally; adjusting the height of the optical axis until the photoelectric displacement sensor is higher than the top of the driving mechanism; then, a screw used for fixing the optical axis on the optical axis rotating block is screwed down, so that the optical axis cannot move longitudinally;

step three: the driving mechanism is placed on the working platform by depending on a positioning block on the working platform so as to be convenient to install; fixedly connecting a rotor of the driving mechanism with the output end of a universal joint of the rotary control mechanism; fixing the stator of the driving mechanism on the working platform by using screws;

step four: loosening a screw for fixing the optical axis on the optical axis connecting block to enable the optical axis to move longitudinally; adjusting the height of an optical axis until the photoelectric displacement sensor can measure two rotor positioning pins on a rotor of the driving mechanism; then, a screw used for fixing the optical axis on the optical axis rotating block is screwed down, so that the optical axis cannot move longitudinally;

step five: the output end of the second servo motor amplifies the output torque and reduces the output rotating speed through a second speed reducer to drive the rotating shaft to rotate, so that a second angle encoder and the optical axis switching block on the rotating shaft are driven to rotate; the photoelectric displacement sensor rotates along with the rotating shaft, and meanwhile, the second angle encoder feeds back the actual rotating angle of the rotating shaft in real time; when the photoelectric displacement sensor detects a rotor positioning pin on a rotor of the driving mechanism, immediately stopping the second servo motor and recording the distance between the photoelectric displacement sensor and the rotor positioning pin and the rotation angle fed back by the second angle encoder;

step six: a first servo motor of the rotary control mechanism is driven, so that a universal joint of the rotary control mechanism drives a rotor of the driving mechanism to rotate until a light spot of the photoelectric displacement sensor hits on the working platform; meanwhile, a first angle encoder of the rotation control mechanism records a rotation angle theta a, and the photoelectric displacement sensor records the distance from the photoelectric displacement sensor to the working platform;

step seven: a first servo motor for driving the rotary control mechanism to enable a universal joint of the rotary control mechanism to drive a rotor of the driving mechanism to rotate by a reverse rotation angle theta a so as to enable the driving mechanism to return to an initial state before zero setting;

step eight: the second servo motor is driven reversely, when the photoelectric displacement sensor detects another rotor positioning pin on the rotor of the driving mechanism, the second servo motor is immediately stopped, and the distance between the photoelectric displacement sensor and the rotor positioning pin and the rotation angle fed back by the second angle encoder are recorded;

step nine: a first servo motor of the rotary control mechanism is driven, so that a universal joint of the rotary control mechanism drives a rotor of the driving mechanism to rotate until a light spot of the photoelectric displacement sensor hits on the working platform; meanwhile, a first angle encoder of the rotation control mechanism records a rotation angle theta b, and the photoelectric displacement sensor records the distance from the photoelectric displacement sensor to the working platform;

step ten: driving a second servo motor to enable the photoelectric displacement sensor to detect that the light spot moves to the central position of the driving mechanism;

step eleven: calculating an angle theta required by a rotor of the driving mechanism when the driving mechanism is adjusted to zero, driving a first servo motor of the rotary control mechanism, amplifying output torque and reducing output rotating speed by an output end of the first servo motor through a first speed reducer, and driving a main shaft to rotate so as to drive a first angle encoder and a universal joint on the main shaft to rotate; the universal joint drives a rotor of the driving mechanism to rotate, and meanwhile, a first angle encoder feeds back an actual rotation angle of the universal joint in real time; when the rotation angle fed back by the first angle encoder is theta, immediately stopping rotating the first servo motor of the control mechanism;

step twelve: checking whether the mechanical zero position of the driving mechanism meets the requirement, and repeating the fifth step to the eleventh step until the mechanical zero position of the driving mechanism meets the requirement;

step thirteen: unloading the driving mechanisms which are subjected to mechanical zero setting, and repeating the steps three to twelve for the driving mechanisms to be subjected to mechanical zero setting until all the driving mechanisms are subjected to mechanical zero setting;

fourteen steps: all objects are either zeroed or zeroed.

6. The zero adjustment device for the driving mechanism based on the photoelectric displacement sensor as claimed in claim 5, wherein: the calculation method of the angle theta required by the rotor of the driving mechanism to rotate when the driving mechanism is adjusted to zero in the step eleven comprises the following steps: before the measurement process, the target mechanical zero position of the driving mechanism is that two rotor positioning pins are positioned on the same horizontal line, the detection light spot direction of the photoelectric displacement sensor is near the central position of the driving mechanism, the rotor positioning pin positioned on the left side is a, and the rotor positioning pin positioned on the right side is b; in the rotation measuring process, the photoelectric displacement sensor measures and records the distance between two mover positioning pins on the mover of the driving mechanism and the photoelectric displacement sensor, and the distance between the photoelectric displacement sensor and the working platform when the photoelectric displacement sensor detects the two mover positioning pins on the mover of the driving mechanism; the second angle encoder records that the rotation angle of the photoelectric displacement sensor from the central position of the driving mechanism to the rotor positioning pin a is theta oa, the rotation angle from the rotor positioning pin a to the rotor positioning pin b is theta ab, and the photoelectric displacement sensor returns to the initial working position and needs to rotate at an angle theta_bo＝θ_ab-θ_oa(ii) a The distances between the two rotor positioning pins and the photoelectric displacement sensor are respectively Da and Db, and the distances between the photoelectric displacement sensor and the working platform when the photoelectric displacement sensor detects the two rotor positioning pins are respectively Da and Db; obtaining the angle required by the two rotor positioning pins to rotate to the horizontal positionWhen the angle is positive, the rotor of the driving mechanism is rotated clockwise; and when the angle is negative, the rotor of the driving mechanism is rotated anticlockwise.

Technical Field

The invention relates to the field of mechanical zero adjustment, in particular to a zero adjustment device and method of a driving mechanism based on a photoelectric displacement sensor.

Background

The driving mechanism is provided with two zero marks of a mechanical zero position and an electric zero position. In the production process of the driving mechanism, the deviation between the mechanical zero position and the electrical zero position of the driving mechanism needs to be debugged, so that the deviation between the mechanical zero position and the electrical zero position meets the index requirement.

The electric zero position detection mainly detects the installation position and performance parameters of a zero position sensor installed in the driving mechanism, and utilizes a zero position signal measured by an electric appliance measuring element. In effect, this null is an artificially defined position relative to the mechanical null. The mechanical zero point is a machine reference zero point marked by a scale and other instruments on equipment, the other equipment is installed and operated by taking the point as a reference position, and the mainly used mechanical zero point is generally the initial position for marking the machine in a stop state.

The zero setting method of the driving mechanism comprises the following steps: the measuring element is fixed by measuring the digital '0' of the measuring element corresponding to the mechanical zero position, so that the mechanical zero position and the electrical zero position are at the same position, namely the two positions are coincident. But in reality, the mechanical zero position and the zero position of the measured value of the electrical encoder are difficult to coincide, and the data measured by the measuring element corresponding to the mechanical zero position is a range and has deviation. The offset is generally reduced by two methods, one of which is to improve the performance and mounting position accuracy of the zero sensor in the drive mechanism; and the other is that under the condition that the installation position and the performance of a zero position sensor in the driving mechanism are determined, the actual deviation is measured, and the driving mechanism is mechanically zeroed with high precision. The current practice of drive mechanism zeroing is generally manual measurement and adjustment, with the main drawbacks: firstly, the stability of manual measurement is not high, and the measurement accuracy is influenced; secondly, because the difference value between the mechanical zero position and the electrical zero position is small, manual adjustment is very laborious; thirdly, the high-precision zero setting of the driving mechanism is difficult to achieve through manual measurement and adjustment; fourth, the work efficiency of measurement and adjustment is very low.

Disclosure of Invention

The invention aims to solve the problems in the prior art, and provides a zero position adjusting device and method for a driving mechanism based on a photoelectric displacement sensor, which can debug the mechanical zero position of the driving mechanism in the production process of the driving mechanism, so that the mechanical zero position meets the index requirement.

The invention realizes the purpose through the following technical scheme: the utility model provides a drive mechanism zero-position adjusting device based on photoelectric displacement sensor, includes equipment fixing platform, rotation control mechanism, measuring mechanism, actuating mechanism, measuring mechanism install in the top of equipment fixing platform, measuring mechanism is used for measuring the actual deviation of actuating mechanism mechanical zero position, rotation control mechanism install in the equipment fixing platform above, actuating mechanism's input with rotation control mechanism's output is connected, rotation control mechanism is used for controlling actuating mechanism is rotatory and feedback rotation angle.

The equipment mounting platform comprises a supporting bracket, an adjustable supporting platform, a working platform, a mounting vertical frame and a positioning block.

The supporting bracket is stably erected on a ground plane, the number of the adjustable supporting platforms is three, the adjustable supporting platforms are respectively fixed at three different positions on the supporting bracket in a triangular mode, the working platform is placed on the three adjustable supporting platforms, a square groove is formed in the working platform, the positioning block is placed in the square groove of the working platform, and the number of the installation vertical frames is two and the installation vertical frames are respectively and symmetrically fixed on two sides of a transverse central axis on the working platform; in the working platform leveling process, the adjustable supporting platform is used as a main adjusting supporting point to support the working platform and determine the actual levelness of the working platform.

The rotation control mechanism comprises a first servo motor, a first speed reducer, a main shaft, a brake support, a first angle encoder, an expansion sleeve, an encoder transfer block, a universal joint, a torsion spring, a bottom plate and a first speed reducer support.

The first servo motor output end is connected with the input end of the first speed reducer, the first speed reducer is fixedly installed on the side face of the first speed reducer support, the bottom face of the first speed reducer support is installed on the bottom plate, the output end of the first speed reducer is connected with one end of the main shaft, the other end of the main shaft is connected with the universal joint switching block through expansion, the brake is installed on the main shaft, the brake is fixed on one side face of the brake support, the bottom face of the brake support is fixed on the bottom plate, the first angle encoder is installed at one end of the encoder switching block, the first angle encoder is fixed on the other side face of the brake support, one end of the universal joint is connected with the other end of the encoder switching block, the torsion spring is installed on the universal joint, one end of the torsion spring is connected with the input end of the universal joint, the other end of the torsion spring is connected with the output end of the universal joint, and the bottom plate is installed on the working platform; in the zero setting process, the first servo motor provides driving force for rotary motion, the main shaft is driven to rotate and drive the universal joint to rotate through the moment amplified by the first speed reducer and the rotating speed reduced, and the first angle encoder provides the actual rotating angle of the universal joint.

The measuring mechanism comprises a supporting beam, a second servo motor, a second speed reducer support, a coupler, a rotating shaft, a linear bearing seat, a second angle encoder support, a second angle encoder, an optical axis seat, an optical axis connecting block, an optical axis counterweight, a photoelectric displacement sensor and a photoelectric displacement sensor mounting plate. The output end of the second servo motor is connected with the input end of the second speed reducer, the second speed reducer is fixed on one side surface of a second speed reducer support, the other side surface of the second speed reducer support is fixed on the side surface of the supporting beam, the output end of the second speed reducer is connected with one end of the coupler, the other end of the coupler is connected with one end of the rotating shaft, the other end of the rotating shaft penetrates through the linear bearing seat and the second angle encoder to be fixedly connected with the optical shaft connecting block, the bottom surface of the linear bearing seat is fixed on the supporting beam, the second angle encoder is fixed on the side surface of the second angle encoder support, the bottom surface of the second angle encoder support is fixed on the supporting beam, and the optical shaft counterweight is placed on one side of the optical shaft connecting block, the optical axis is fixedly connected to the other side of the optical axis switching block, the optical axis is installed on the two optical axis seats, the through holes of the two optical axis seats are vertically and downwards fixed to one side face of the photoelectric displacement sensor mounting plate, and the photoelectric displacement sensor is fixed to the other side face of the photoelectric displacement sensor mounting plate.

The driving mechanism comprises a driving mechanism rotor and a driving mechanism stator. Two rotor positioning pins are arranged on the driving mechanism rotor, and the driving mechanism stator is arranged on the working platform; in the zero setting process, when the universal joint drives the driving mechanism rotor to rotate, the rotor positioning pin moves along with the driving mechanism rotor.

Furthermore, a torsional spring is installed on the universal joint, one end of the torsional spring is connected with the input end of the universal joint, the other end of the torsional spring is connected with the output end of the universal joint, and the transmission backlash of the input end and the output end of the universal joint is eliminated.

Furthermore, one end of the driving mechanism rotor is provided with two cylindrical rotor positioning pins symmetrically arranged at the rotation center of the driving mechanism.

Further, the cross section of the optical axis is in a combination of a semicircular shape and a rectangular shape, and the cross section is used for limiting the longitudinal rotation freedom degree of the optical axis.

A method for adjusting zero position of a driving mechanism based on a photoelectric displacement sensor specifically comprises the following steps:

the method comprises the following steps: adjusting the adjustable bolts in the three adjustable supporting platforms to enable the working platform to be horizontal;

step two: loosening a screw for fixing the optical axis on the optical axis connecting block to enable the optical axis to move longitudinally; adjusting the height of the optical axis until the photoelectric displacement sensor is higher than the top of the driving mechanism; then, a screw used for fixing the optical axis on the optical axis rotating block is screwed down, so that the optical axis cannot move longitudinally;

step three: the driving mechanism is placed on the working platform by depending on a positioning block on the working platform so as to be convenient to install; fixedly connecting a rotor of the driving mechanism with the output end of a universal joint of the rotary control mechanism; fixing the stator of the driving mechanism on the working platform by using screws;

step four: loosening a screw for fixing the optical axis on the optical axis connecting block to enable the optical axis to move longitudinally; adjusting the height of an optical axis until the photoelectric displacement sensor can measure two rotor positioning pins on a rotor of the driving mechanism; then, a screw used for fixing the optical axis on the optical axis rotating block is screwed down, so that the optical axis cannot move longitudinally;

step five: the output end of the second servo motor amplifies the output torque and reduces the output rotating speed through a second speed reducer to drive the rotating shaft to rotate, so that a second angle encoder and the optical axis switching block on the rotating shaft are driven to rotate; the photoelectric displacement sensor rotates along with the rotating shaft, and meanwhile, the second angle encoder feeds back the actual rotating angle of the rotating shaft in real time; when the photoelectric displacement sensor detects a rotor positioning pin on a rotor of the driving mechanism, immediately stopping the second servo motor and recording the distance between the photoelectric displacement sensor and the rotor positioning pin and the rotation angle fed back by the second angle encoder;

step six: a first servo motor of the rotary control mechanism is driven, so that a universal joint of the rotary control mechanism drives a rotor of the driving mechanism to rotate until a light spot of the photoelectric displacement sensor hits on the working platform; meanwhile, a first angle encoder of the rotation control mechanism records a rotation angle theta a, and the photoelectric displacement sensor records the distance from the photoelectric displacement sensor to the working platform;

step seven: a first servo motor for driving the rotary control mechanism to enable a universal joint of the rotary control mechanism to drive a rotor of the driving mechanism to rotate by a reverse rotation angle theta a so as to enable the driving mechanism to return to an initial state before zero setting;

step eight: the second servo motor is driven reversely, when the photoelectric displacement sensor detects another rotor positioning pin on the rotor of the driving mechanism, the second servo motor is immediately stopped, and the distance between the photoelectric displacement sensor and the rotor positioning pin and the rotation angle fed back by the second angle encoder are recorded;

step nine: a first servo motor of the rotary control mechanism is driven, so that a universal joint of the rotary control mechanism drives a rotor of the driving mechanism to rotate until a light spot of the photoelectric displacement sensor hits on the working platform; meanwhile, a first angle encoder of the rotation control mechanism records a rotation angle theta b, and the photoelectric displacement sensor records the distance from the photoelectric displacement sensor to the working platform;

step ten: driving a second servo motor to enable the photoelectric displacement sensor to detect that the light spot moves to the central position of the driving mechanism;

step eleven: calculating an angle theta required by a rotor of the driving mechanism when the driving mechanism is adjusted to zero, driving a first servo motor of the rotary control mechanism, amplifying output torque and reducing output rotating speed by an output end of the first servo motor through a first speed reducer, and driving a main shaft to rotate so as to drive a first angle encoder and a universal joint on the main shaft to rotate; the universal joint drives a rotor of the driving mechanism to rotate, and meanwhile, a first angle encoder feeds back an actual rotation angle of the universal joint in real time; when the rotation angle fed back by the first angle encoder is theta, immediately stopping rotating the first servo motor of the control mechanism;

step twelve: checking whether the mechanical zero position of the driving mechanism meets the requirement, and repeating the fifth step to the eleventh step until the mechanical zero position of the driving mechanism meets the requirement;

step thirteen: unloading the driving mechanisms which are subjected to mechanical zero setting, and repeating the steps three to twelve for the driving mechanisms to be subjected to mechanical zero setting until all the driving mechanisms are subjected to mechanical zero setting;

fourteen steps: all objects are either zeroed or zeroed.

Furthermore, before the measurement process, the target mechanical zero position of the driving mechanism is that two rotor positioning pins are positioned on the same horizontal line, the detection light spot direction of the photoelectric displacement sensor is near the central position of the driving mechanism, the rotor positioning pin positioned on the left side is a, and the rotor positioning pin positioned on the right side is b; in the rotation measuring process, photoelectric displacement is transmittedThe sensor measures and records the distance between two mover positioning pins on the mover of the driving mechanism and the photoelectric displacement sensor, and the distance between the photoelectric displacement sensor and the working platform when the photoelectric displacement sensor detects the two mover positioning pins on the mover of the driving mechanism; the second angle encoder records that the rotation angle of the photoelectric displacement sensor from the central position of the driving mechanism to the rotor positioning pin a is theta oa, the rotation angle from the rotor positioning pin a to the rotor positioning pin b is theta ab, and the photoelectric displacement sensor returns to the initial working position and needs to rotate at an angle theta_bo＝θ_ab-θ_oa. The distances between the two rotor positioning pins and the photoelectric displacement sensor are respectively Da and Db, and the distances between the photoelectric displacement sensor and the working platform when the photoelectric displacement sensor detects the two rotor positioning pins are respectively Da and Db; the angle required by the two rotor positioning pins to rotate to the horizontal position can be obtained

When the angle is positive, the rotor of the driving mechanism is rotated clockwise; and when the angle is negative, the rotor of the driving mechanism is rotated anticlockwise.

The invention has the beneficial effects that:

1) three adjustable supporting platforms are added between the working platform and the supporting bracket, and the levelness of the working platform is adjusted by adjusting adjustable bolts of the adjustable supporting platforms, so that the working platform is horizontal;

2) the connecting part of the optical axis and the optical axis switching block is tightly connected, and the tightness is realized in a screw locking mode, so that the measuring height of the measuring mechanism can be freely adjusted;

3) according to the invention, the photoelectric displacement sensor is controlled to rotate by adopting the second servo motor of the measuring mechanism, so that the automation level of the rotation measuring process is improved;

4) according to the invention, the first servo motor of the rotation control mechanism is adopted to control the rotation motion of the driving mechanism, so that the automation level of the zero setting process is improved;

5) according to the invention, the first angle encoder is added on the main shaft to feed back the actual rotation angle of the main shaft, so that closed-loop control is realized; and a torsion spring is added on the universal joint to eliminate the rotation gap of the universal joint; when the first servo motor of the rotation control mechanism stops driving, the rotation of the main shaft is stopped in time by the brake. The rotation control mechanism can control the rotation angle with high precision;

6) according to the invention, the second angle encoder is added on the rotating shaft to feed back the actual rotating angle of the rotating shaft, so that the high-precision control of the measuring mechanism on the rotating angle of the rotating shaft is realized;

7) according to the invention, the counter weight is added on one side of the rotating connection block of the rotating shaft, so that the rotating stability of the rotating shaft is improved;

8) the invention adopts a rotation measurement method, and in the measurement form, compared with a vertical measurement rotor positioning pin, the inclination measurement reduces the measurement error caused by the photoelectric displacement sensor and improves the measurement precision of the measurement mechanism; in the measuring process, the distance between the photoelectric displacement sensor and the working platform when the photoelectric displacement sensor detects the two rotor positioning pins is recorded and used as reference data for calculating the angle required by the two rotor positioning pins to rotate to the horizontal position, so that the actual measuring accuracy of the measuring mechanism is improved.

Drawings

Fig. 1 is a schematic overall structure diagram of a zero adjustment device of a driving mechanism based on a photoelectric displacement sensor.

Fig. 2 is a schematic structural view of the apparatus mounting platform of the present invention.

Fig. 3 is a schematic structural view of the rotation control mechanism of the present invention.

Fig. 4 is a schematic structural view of the measuring mechanism of the present invention.

Fig. 5 is a schematic structural view of the driving mechanism of the present invention.

In the figure: 1-equipment installation platform, 11-support bracket, 12-adjustable support platform, 13-working platform, 14-installation stand, 15-positioning block, 2-rotation control mechanism, 21-first servo motor, 22-first reducer, 23-main shaft, 24-brake, 25-brake bracket, 26-first angle encoder, 27-expansion sleeve, 28-encoder transfer block, 29-universal joint, 210-torsion spring, 211-bottom plate, 212-first reducer bracket, 3-measuring mechanism, 31-second servo motor, 32-second reducer, 33-second reducer bracket, 34-coupler, 35-rotating shaft, 36-second angle encoder, 37-optical axis, 38-optical axis counterweight, 39-a light axis seat, 310-a photoelectric displacement sensor mounting plate, 311-a photoelectric displacement sensor, 312-a light axis rotary block, 313-a second angle encoder bracket, 314-a supporting beam, 315-a linear bearing seat, 4-a driving mechanism, 41-a driving mechanism rotor, 410-a rotor positioning pin and 42-a driving mechanism stator.

Detailed Description

The invention will be further described with reference to the accompanying drawings in which:

as shown in fig. 1 to 5, a device for high-precision measurement and zero adjustment of a driving mechanism includes an equipment mounting platform 1, a rotation control mechanism 2, a measurement mechanism 3, and a driving mechanism 4, wherein the measurement mechanism 3 is mounted above the equipment mounting platform 1, the measurement mechanism 3 is used for measuring an actual zero offset of a mechanical zero position of the driving mechanism 4, the rotation control mechanism 2 is mounted on the equipment mounting platform 1, an input end of the driving mechanism 4 is connected with an output end of the rotation control mechanism 2, and the rotation control mechanism 2 is used for controlling the driving mechanism 4 to rotate and feeding back a rotation angle.

The equipment mounting platform 1 comprises a support bracket 11, an adjustable support platform 12, a working platform 13, a mounting stand 14 and a positioning block 15.

The supporting bracket 11 is stably erected on the ground plane, the number of the adjustable supporting platforms 12 is three, the adjustable supporting platforms are respectively fixed at three different positions on the supporting bracket 11 in a triangular mode, the working platform 13 is placed on the three adjustable supporting platforms 12, a square groove is formed in the working platform 13, the positioning block 15 is placed in the square groove of the working platform 13, and the number of the installation vertical frames 14 is two, and the two installation vertical frames are respectively and symmetrically fixed on two sides of the transverse central axis on the working platform 13; in the leveling process of the working platform 13, the adjustable supporting platform 12 serves as a main adjusting supporting point to support the working platform 13 and determine the actual levelness of the working platform 13.

The rotation control mechanism 2 includes a first servo motor 21, a first speed reducer 22, a spindle 23, a brake 24, a brake bracket 25, a first angle encoder 26, an expansion sleeve 27, an encoder transfer block 28, a universal joint 29, a torsion spring 210, a base plate 211, and a first speed reducer bracket 212.

The output end of the first servo motor 21 is connected with the input end of the first speed reducer 22, the first speed reducer 22 is fixedly installed on the side surface of the first speed reducer support 212, the bottom surface of the first speed reducer support 212 is installed on the bottom plate 211, the output end of the first speed reducer 22 is connected with one end of the main shaft 23, the other end of the main shaft 23 is connected with the universal joint 29 transfer block through the expansion sleeve 27, the brake 24 is installed on the main shaft 23, the brake 24 is fixed on one side surface of the brake support 25, the bottom surface of the brake support 25 is fixed on the bottom plate 211, the first angle encoder 26 is installed at one end of the encoder transfer block 28, the first angle encoder 26 is fixed on the other side surface of the brake support 25, one end of the universal joint 29 is connected with the other end of the encoder transfer block 28, the torsion spring 210 is installed on the universal joint 29, one end of the torsion spring 210 is connected with the input end of the universal joint 29, the other end of the torsion spring 210 is connected with the output end of the universal joint 29, and the bottom plate 211 is installed on the working platform 13; during the zero setting process, the first servo motor 21 provides a driving force for a rotational motion, the first speed reducer 22 amplifies the moment and reduces the rotational speed, the spindle 23 is driven to rotate and drives the universal joint 29 to rotate, and the first angle encoder 26 provides an actual rotating angle of the universal joint 29.

The measuring mechanism 3 includes a supporting beam 314, a second servo motor 31, a second speed reducer 32, a second speed reducer support 33, a coupling 34, a rotating shaft 35, a linear bearing seat 315, a second angle encoder support 313, a second angle encoder 36, an optical axis 37, an optical axis seat 39, an optical axis adapter block 312, an optical axis counterweight 38, a photoelectric displacement sensor 311, and a photoelectric displacement sensor mounting plate 310. The output end of the second servo motor 31 is connected with the input end of the second speed reducer 32, the second speed reducer 32 is fixed on one side surface of the second speed reducer support 33, the other side surface of the second speed reducer support 33 is fixed on the side surface of the supporting beam 314, the output end of the second speed reducer 32 is connected with one end of the coupling 34, the other end of the coupling 34 is connected with one end of the rotating shaft 35, the other end of the rotating shaft 35 passes through the linear bearing block 315 and the second angle encoder 36 to be fixedly connected with the optical shaft connecting block 312, the bottom surface of the linear bearing block 315 is fixed on the supporting beam 314, the second angle encoder 36 is fixed on the side surface of the second angle encoder support 313, and the bottom surface of the second angle encoder support 313 is fixed on the supporting beam 314, the optical axis counterweight 38 is disposed on one side of the optical axis connection block 312, the optical axis 37 is fixedly connected to the other side of the optical axis connection block 312, the optical axis 37 is mounted on the two optical axis bases 39, through holes of the two optical axis bases 39 are vertically and downwardly fixed on one side surface of the photoelectric displacement sensor mounting plate 310, and the photoelectric displacement sensor 311 is fixed on the other side surface of the photoelectric displacement sensor mounting plate 310.

The drive mechanism 4 includes a drive mechanism mover 41 and a drive mechanism stator 42. Two rotor positioning pins 410 are arranged on the driving mechanism rotor 41, and the driving mechanism stator 42 is installed on the working platform 13; in the zero setting process, when the universal joint 29 drives the driving mechanism rotor 41 to rotate, the rotor positioning pin 410 moves along with the driving mechanism rotor 41.

Furthermore, a torsion spring 210 is installed on the universal joint 29, one end of the torsion spring 210 is connected with the input end of the universal joint 29, the other end of the torsion spring 210 is connected with the output end of the universal joint 29, and the transmission backlash of the input end and the output end of the universal joint 29 is eliminated.

Further, one end of the driving mechanism mover 41 is provided with two cylindrical mover positioning pins 410 symmetrically to the rotation center of the driving mechanism 4.

Further, the cross-sectional shape of the optical axis 37 is a combination of a semicircular shape and a rectangular shape, which limits the longitudinal rotational freedom of the optical axis 37.

A method for adjusting zero position of a driving mechanism based on a photoelectric displacement sensor specifically comprises the following steps:

the method comprises the following steps: adjusting the adjustable bolts in the three adjustable support tables 12 to enable the working platform 13 to be horizontal;

step two: loosening the screw for fixing the optical axis 37 on the optical axis connecting block 312 to enable the optical axis 37 to move longitudinally; adjusting the height of the optical axis 37 until the photoelectric displacement sensor 311 is higher than the top of the driving mechanism 4; then, the screw for fixing the optical axis 37 on the optical axis rotation block 312 is tightened, so that the optical axis 37 cannot move longitudinally;

step three: the driving mechanism 4 is placed on the working platform 13 by relying on a positioning block 15 on the working platform 13 so as to be convenient to install; fixedly connecting a driving mechanism rotor 41 with the output end of a universal joint 29 of the rotary control mechanism 2; fixing the driving mechanism stator 42 on the working platform 13 by using screws;

step four: loosening the screw for fixing the optical axis 37 on the optical axis connecting block 312 to enable the optical axis 37 to move longitudinally; adjusting the height of the optical axis 37 until the photoelectric displacement sensor 311 can measure two mover positioning pins 410 on the driving mechanism mover 41; then, the screw for fixing the optical axis 37 on the optical axis rotation block 312 is tightened, so that the optical axis 37 cannot move longitudinally;

step five: the second servo motor 31 is driven, the output end of the second servo motor 31 amplifies the output torque and reduces the output rotating speed through the second speed reducer 32, and the rotating shaft 35 is driven to rotate, so that the second angle encoder 36 and the optical axis adapter block 312 on the rotating shaft 35 are driven to rotate; the photoelectric displacement sensor 311 rotates along with the rotating shaft 35, and meanwhile, the second angle encoder 36 feeds back the actual rotating angle of the rotating shaft 35 in real time; when the photoelectric displacement sensor 311 detects one of the mover positioning pins 410 on the mover 41 of the driving mechanism, immediately stopping the second servo motor 31 and recording the distance between the photoelectric displacement sensor 311 and the mover positioning pin 410 and the rotation angle fed back by the second angle encoder 36;

step six: the first servo motor 21 of the rotation control mechanism 2 is driven to enable the universal joint 29 of the rotation control mechanism 2 to drive the driving mechanism rotor 41 to rotate until the light spot of the photoelectric displacement sensor 311 hits on the working platform 13; meanwhile, the first angle encoder 26 of the rotation control mechanism 2 records the rotation angle θ a, and the photoelectric displacement sensor 311 records the distance from the photoelectric displacement sensor 311 to the working platform 13;

step seven: driving the first servo motor 21 of the rotation control mechanism 2 to make the universal joint 29 of the rotation control mechanism 2 drive the driving mechanism mover 41 to rotate by a reverse rotation angle theta a, so that the driving mechanism 4 returns to the initial state before zero setting;

step eight: reversely driving the second servo motor 31, when the photoelectric displacement sensor 311 detects another mover positioning pin 410 on the driving mechanism mover 41, immediately stopping the second servo motor 31 and recording the distance between the photoelectric displacement sensor 311 and the mover positioning pin 410 and the rotation angle fed back by the second angle encoder 36;

step nine: the first servo motor 21 of the rotation control mechanism 2 is driven to enable the universal joint 29 of the rotation control mechanism 2 to drive the driving mechanism rotor 41 to rotate until the light spot of the photoelectric displacement sensor 311 hits on the working platform 13; meanwhile, the first angle encoder 26 of the rotation control mechanism 2 records the rotation angle θ b, and the photoelectric displacement sensor 311 records the distance from the photoelectric displacement sensor 311 to the working platform 13;

step ten: driving the second servo motor 31 to make the photoelectric displacement sensor 311 detect the movement of the light spot to the central position of the driving mechanism 4;

step eleven: calculating to obtain an angle theta required to rotate the driving mechanism rotor 41 when the driving mechanism 4 is zeroed, driving the first servo motor 21 of the rotation control mechanism 2, amplifying an output torque and reducing an output rotating speed of an output end of the first servo motor 21 through the first speed reducer 22, and driving the main shaft 23 to rotate, so as to drive the first angle encoder 26 and the universal joint 29 on the main shaft 23 to rotate; the universal joint 29 drives the driving mechanism rotor 41 to rotate, and meanwhile, the first angle encoder 26 feeds back the actual rotation angle of the universal joint 29 in real time; when the rotation angle fed back by the first angle encoder 26 is θ, immediately stopping the first servo motor 21 of the rotation control mechanism 2;

step twelve: checking whether the mechanical zero position of the driving mechanism 4 meets the requirement, and repeating the fifth step to the eleventh step until the mechanical zero position of the driving mechanism 4 meets the requirement;

step thirteen: unloading the driving mechanisms 4 which are mechanically zeroed, and repeating the steps three to twelve for the driving mechanisms 4 to be mechanically zeroed until all the driving mechanisms 4 are mechanically zeroed;

fourteen steps: all objects are either zeroed or zeroed.

Before the measurement process, the target mechanical zero position of the driving mechanism 4 is that the two mover positioning pins 410 are located at the same horizontal line, and the detection light spot direction of the photoelectric displacement sensor 311 is near the center position of the driving mechanism 4. For convenience of explanation and calculation, a is set as the mover positioning pin 410 located on the left side, and b is set as the mover positioning pin 410 located on the right side. In the rotation measurement process, the photoelectric displacement sensor 311 measures and records the distance between the two mover positioning pins 410 on the driving mechanism mover 41 and the photoelectric displacement sensor 311, and the photoelectric displacement sensor 311 detects the distance between the photoelectric displacement sensor 311 and the working platform 13 when the two mover positioning pins 410 on the driving mechanism mover 41 are detected by the photoelectric displacement sensor 311. The second angle encoder 36 records that the rotation angle of the photoelectric displacement sensor 311 from the center position of the driving mechanism 4 to the rotor positioning pin a is theta oa, the rotation angle from the rotor positioning pin a to the rotor positioning pin b is theta ab, and the photoelectric displacement sensor 311 returns to the initial working position and needs to rotate at the angle theta ab_bo＝θ_ab-θ_oa. Distances between the two mover positioning pins 410 and the photoelectric displacement sensor 311 are Da and Db respectively, and distances between the photoelectric displacement sensor 311 and the working platform 13 when the photoelectric displacement sensor 311 detects the two mover positioning pins 410 are Da and Db respectively. The angle required for rotating the two rotor positioning pins 410 to the horizontal position can be obtained

When the angle is positive, the driving mechanism mover 41 is rotated clockwise; when the angle is negative, the driving mechanism mover 41 is rotated counterclockwise.

The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.