CN115371703A - Angle sensor calibration device and method - Google Patents
Angle sensor calibration device and method Download PDFInfo
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- CN115371703A CN115371703A CN202211006279.5A CN202211006279A CN115371703A CN 115371703 A CN115371703 A CN 115371703A CN 202211006279 A CN202211006279 A CN 202211006279A CN 115371703 A CN115371703 A CN 115371703A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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Abstract
The invention provides an angle sensor calibration device and method, which comprises a central controller, a first box body, a second box body and a rotatable platform, wherein a first motor controller, a first motor and a first speed reducer are arranged in the first box body; the rotatable platform is provided with a junction box, a second motor and a second speed reducer, the output end of the second speed reducer is provided with a third rotating shaft, one end of the third rotating shaft is coaxially provided with a second encoder, the other end of the third rotating shaft is connected with a turntable, and the axis of the third rotating shaft is vertical to the rotating shaft of the rotatable platform; a second motor controller and a sliding ring are arranged in the second box body, the second motor controller is electrically connected with a second motor, a second rotating shaft is coaxially arranged on the sliding ring, and the first rotating shaft and the second rotating shaft are respectively connected to two ends of the rotatable platform. The calibration device can realize effective calibration of the angle sensors in two or three directions.
Description
Technical Field
The invention relates to the technical field of sensor calibration devices, in particular to an angle sensor calibration device and method.
Background
The angle sensor is widely applied to electric power systems, such as electric power supporting equipment monitoring, tower horizontal angle measurement, transmission line conductor sag measurement, insulator windage yaw angle measurement and the like.
Remote transmission leaves the pulling of electric power supporting equipment independently, for example common electric power transmission tower, the structure is mostly the steel construction and constitutes, but because open-air environment complexity, various circumstances such as strong wind or mud-rock flow probably lead to the supporting equipment structure to warp, and to the steel construction, the node of connection is the place that warp most easily, warp and will accompany the change of contained angle between its structure, if can not in time master its condition, lead to the condition to worsen, can influence normal transmission of electricity, cause the great economic loss.
The horizontal angle of the high-voltage transmission line tower is an important index for reflecting the operation state of the tower. Due to the influences of ice coating, conductor waving and the like, collapse accidents of the high-voltage transmission line tower sometimes occur. The measurement of the horizontal angle of the tower has an important indicating function for monitoring the health state of the tower, so that an electric power department requires to monitor the horizontal angle of the tower regularly, and the conventional monitoring of the horizontal angle of the tower of the high-voltage transmission line adopts an electric angle sensor.
The conductor sag of the power transmission line is a main index for designing and operating the power transmission line, and the high-voltage line can meet the problem of observing the conductor sag in operation and construction stringing. The sag measurement of the conducting wire of the power transmission line plays an important role in controlling the safe operation of the line, particularly, after a new line is erected for a period of time, the conducting wire can sag in different degrees, and for safety, the sag monitoring of the conducting wire of the power transmission line is necessary, so that reliable data can be provided for the safe operation of a high-voltage wire.
The insulator windage yaw angle of the high-voltage conductor is an important index for reflecting the running state of a line, and the angle of the insulator plays an important indication role in monitoring conductor galloping, so that the angle of the insulator is required to be monitored regularly, and an electrical angle sensor is adopted.
However, the conventional angle sensor calibration device can only detect an angle sensor in one direction, and cannot effectively calibrate the angle sensors in two directions or three directions.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an angle sensor calibration device and method, and solves the problem that the conventional angle sensor calibration device cannot effectively calibrate angle sensors in two directions or three directions.
The invention provides an angle sensor calibration device, which comprises a central controller, a first box body, a second box body and a rotatable platform positioned between the first box body and the second box body, wherein the first box body is provided with a first opening and a second opening;
a first motor controller, a first motor and a first speed reducer connected with the first motor are arranged in the first box body, the first motor controller is electrically connected with the first motor and used for controlling the output rotating speed of the first motor, a first rotating shaft is arranged at the output end of the first speed reducer, and a first encoder is coaxially arranged on the first rotating shaft and used for measuring the rotating angle of the first rotating shaft;
the rotatable platform is provided with a junction box, a second motor and a second speed reducer connected with the second motor, the output end of the second speed reducer is provided with a third rotating shaft, one end of the third rotating shaft is coaxially provided with a second encoder for measuring the rotating angle of the third rotating shaft, the other end of the third rotating shaft is connected with a turntable for placing an angle sensor to be verified, and the axis of the third rotating shaft is vertical to the rotating shaft of the rotatable platform; the junction box is provided with a wiring port for connecting a power line and a signal line of the angle sensor to be verified;
a second motor controller and a slip ring are arranged in the second box body; the second motor controller is electrically connected with the second motor and used for controlling the output rotating speed of the second motor; the slip ring is coaxially provided with a second rotating shaft which is designed in a hollow mode, an output lead of the junction box sequentially penetrates through the second rotating shaft and the slip ring and then is connected with a power supply end and a signal acquisition end in the second box body, the signal acquisition end is electrically connected with the central controller, the signal acquisition end is used for acquiring angle signals of the angle sensor to be verified and uploading the angle signals to an upper computer after the angle signals are processed by the central controller, and meanwhile, the central controller controls the power supply end to supply power to the angle sensor to be verified;
the central controller is electrically connected with the first motor controller and the second motor controller, and is used for receiving a control instruction sent by an upper computer and sending the control instruction to the first motor controller and the second motor controller; the central controller is in communication connection with the first encoder and the second encoder respectively so as to read the rotation angle values measured by the first encoder and the second encoder, and then the rotation angle values are uploaded to the upper computer for read-back;
the first rotating shaft and the second rotating shaft are respectively connected to two ends of the rotatable platform so as to drive the rotatable platform to rotate.
Preferably, the rotatable platform comprises a first connecting frame, a connecting platform and a second connecting frame which are connected in sequence;
the first connecting frame is fixedly connected with the first rotating shaft, the second connecting frame is fixedly connected with the second rotating shaft, and the junction box, the second motor, the second speed reducer and the third rotating shaft are fixed on the connecting platform.
Further preferably, the first connecting frame, the connecting platform and the second connecting frame are symmetrically distributed along the axis of the third rotating shaft.
Still further preferably, two ends of the connecting platform are respectively fixed at one end of the first connecting frame and one end of the second connecting frame, and the other ends of the first connecting frame and the second connecting frame are symmetrically provided with balancing weights corresponding to the axis of the third rotating shaft.
Still further preferably, the turntable is circular, and the turntable is provided with a first scale along the circumference;
connecting pieces which are positioned on the same plane with the rotary table are respectively arranged on the first connecting frame and the junction box, and a second scale is arranged on one side, close to the rotary table, of the connecting pieces and used for forming a caliper with the first scale.
Still further preferably, a third scale is arranged on the first connecting frame, and a fourth scale is arranged at a position of the first box body corresponding to the third scale; or
And a third scale is arranged on the second connecting frame, and a fourth scale is arranged at a position corresponding to the third scale on the second box body and is used for forming a caliper with the third scale.
Preferably, the rotary table is uniformly provided with row holes for fixing the angle sensor to be verified through binding.
Preferably, the slip ring comprises an inner slip ring and an outer slip ring, the inner slip ring is sleeved at the end part of the second rotating shaft and continuously rotates along with the second rotating shaft; the outer side sliding ring is fixedly connected with the second box body through a fixing support;
and after the conducting wire on the sliding ring penetrates out of one end of the inner side sliding ring, the conducting wire enters from one end of the outer side sliding ring and penetrates through the outer side sliding ring, and then the conducting wire is connected with a power supply end and a signal acquisition end in the second box body.
Preferably, the second box is provided with a control button and a display screen.
The invention also provides an angle sensor calibration method, which utilizes any one of the calibration devices to operate the following steps:
s1: judging whether the angle sensor to be checked is connected, if so, executing the step S2;
s2: acquiring a control instruction for controlling the rotation of the first rotating shaft, the second rotating shaft and the third rotating shaft;
s3: controlling the first rotating shaft, the second rotating shaft and the third rotating shaft to rotate according to a control instruction, respectively acquiring a rotating angle value measured by an angle sensor to be verified, a first shaft angle value measured by a first encoder and a second shaft angle value measured by a second encoder when the first rotating shaft, the second rotating shaft and the third rotating shaft stop rotating, and calculating the accuracy of the angle sensor to be verified based on the rotating angle value measured by the angle sensor to be verified, the first shaft angle value and the second shaft angle value;
s4: and acquiring a plurality of control instructions, repeating the steps S2-S3 respectively to acquire a plurality of accuracies, and determining the accuracy of the angle sensor to be checked according to the accuracies, wherein the control instructions can control the first rotating shaft, the second rotating shaft and the third rotating shaft to rotate at different angles respectively.
According to the technical scheme, the invention has the following advantages:
the angle sensor calibration device provided by the invention drives the rotatable platform to rotate by respectively connecting the first rotating shaft and the second rotating shaft to two ends of the rotatable platform, and obtains a first shaft angle by measuring the rotating angle of the rotatable platform through the first encoder which is coaxially arranged with the first rotating shaft; setting a third rotating shaft perpendicular to a rotating shaft of the rotatable platform, arranging a turntable rotating together with the third rotating shaft at one end of the third rotating shaft, coaxially arranging a second encoder at the other end of the third rotating shaft, and measuring the rotating angle of the third rotating shaft through the second encoder to obtain a second shaft angle; the central controller reads the first shaft angle and the second shaft angle, obtains a rotation angle value acquired by the signal acquisition end and measured by an angle sensor to be verified placed on the turntable, and uploads the rotation angle value, the first shaft angle and the second shaft angle to the upper computer, so that the upper computer calculates the accuracy of the angle sensor to be verified according to the acquired data, and effective verification of the angle sensor in two directions or three directions is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a first perspective view of an angle sensor calibration apparatus according to an embodiment of the present invention;
fig. 2 is a perspective view of a second angle sensor calibration apparatus according to an embodiment of the present invention;
fig. 3 is a third perspective view of an angle sensor calibration apparatus according to an embodiment of the present invention;
fig. 4 is an internal schematic view of an angle sensor calibration apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic view of the first, second, third and fourth scales;
FIG. 6 is a schematic view of the rotatable platform rotated to 90 degrees;
FIG. 7 is a schematic view of the wire connection inside the junction box;
wherein the reference numbers indicate: the device comprises a first box body 1, a second box body 2, a rotatable platform 3, a central controller 4, a first motor 5, a first speed reducer 6, a first rotating shaft 7, a junction box 8, a second motor 9, a second speed reducer 10, a third rotating shaft 11, a second encoder 12, a rotating disc 13, a wiring port 14, a slip ring 15, an inner slip ring 16, an outer slip ring 17, a second rotating shaft 18, a lead 19, a power supply end and signal acquisition end 20, a first connecting frame 21, a connecting platform 22, a second connecting frame 23, a balancing weight 24, a first scale 25, a second scale 26, a third scale 27, a fourth scale 28, a connecting sheet 29, a row of holes 30, a fixed support 31, a control button 32 and a display screen 33.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present application, it should be noted that the terms "upper", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The terms "connected," "secured," and "disposed" are to be construed broadly and encompass, for example, a fixed connection, a removable connection, or an integral connection unless expressly stated or limited otherwise; the two components may be mechanically connected, directly connected, indirectly connected through an intermediate medium, or connected together internally. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art.
Furthermore, the terms "first", "second", "third", "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third", "fourth" may explicitly or implicitly include one or more of the features. Unless otherwise specifically limited.
An embodiment of the present invention provides an angle sensor calibration apparatus, and specifically refers to fig. 1 to 7.
As shown in fig. 1 to 4, an angle sensor calibration apparatus in this embodiment includes: the device comprises a central controller 4, a first box body 1, a second box body 2 and a rotatable platform 3 positioned between the first box body 1 and the second box body 2;
a first motor controller, a first motor 5 and a first speed reducer 6 connected with the first motor 5 are arranged in the first box body 1, the first motor controller is electrically connected with the first motor 5 and used for controlling the output rotating speed of the first motor 5, the output end of the first speed reducer 6 is provided with a first rotating shaft 7, and the first rotating shaft 7 is coaxially provided with a first encoder and used for measuring the rotating angle of the first rotating shaft 7;
the rotatable platform 3 is provided with a junction box 8, a second motor 9 and a second speed reducer 10 connected with the second motor 9, the output end of the second speed reducer 10 is provided with a third rotating shaft 11, one end of the third rotating shaft 11 is coaxially provided with a second encoder 12 for measuring the rotating angle of the third rotating shaft 11, the other end of the third rotating shaft 11 is connected with a turntable 13 for placing an angle sensor to be checked, and the axis of the third rotating shaft 11 is perpendicular to the rotating shaft of the rotatable platform 3; the junction box 8 is provided with a wiring port 14 which comprises a power line and a signal line interface and is used for connecting the power line and the signal line of the angle sensor to be verified; the power interface is used for supplying power to the angle sensor to be verified, and the signal line interface comprises various communication interfaces such as RS-485, RS-233 and CAN. Preferably, the first motor 5 and the first speed reducer 6 or the second motor 9 and the second speed reducer 10 are integrally connected speed reduction motor models, which is beneficial to reducing the external dimension and vibration of the device.
A second motor controller and a sliding ring 15 are arranged in the second box body 2, the second motor controller is electrically connected with a second motor 9 and used for controlling the output rotating speed of the second motor 9, a second rotating shaft 18 with a hollow design is coaxially arranged on the sliding ring 15, an output lead of the junction box 8 sequentially penetrates through the second rotating shaft 18 and the sliding ring 15 and then is connected with a power supply end and a signal acquisition end 20 in the second box body 2, and the signal acquisition end is electrically connected with the central controller 4; the signal acquisition end is used for acquiring angle signals of the angle sensor to be verified, the angle signals are processed by the central controller 1 and then uploaded to an upper computer, and meanwhile, the central controller 4 controls the power supply end to supply power to the angle sensor to be verified; it should be noted that the first encoder may also be coaxially disposed on the second rotating shaft 18.
The central controller 4 is electrically connected with the first motor controller and the second motor controller, and is used for receiving a control instruction sent by an upper computer and sending the control instruction to the first motor controller and the second motor controller; the central controller 4 is in communication connection with the first encoder and the second encoder 12 respectively so as to read the rotation angle values measured by the first encoder and the second encoder 12 and upload the rotation angle values to the upper computer for readback;
the first rotating shaft 7 and the second rotating shaft 18 are respectively connected to two ends of the rotatable platform 3 to drive the rotatable platform 3 to rotate.
In the calibration device of the embodiment of the invention, the first rotating shaft 7 and the second rotating shaft 18 are respectively connected to two ends of the rotatable platform 3 to drive the rotatable platform 3 to rotate, so that the rotating angle of the rotatable platform 3 is measured by the first encoder which is coaxially arranged with the first rotating shaft 7, and a first shaft angle (regarded as a z-shaft angle) is obtained; by arranging a third rotating shaft 11 perpendicular to the rotating shaft of the rotatable platform 3, arranging a rotating disc 13 rotating together with the third rotating shaft 11 at one end of the third rotating shaft 11, and arranging a second encoder 12 coaxially at the other end, measuring the rotating angle of the third rotating shaft 11 through the second encoder 12, and obtaining a second shaft angle (regarded as an xy-axis angle); the central controller 4 reads the first shaft angle and the second shaft angle, obtains a rotation angle value acquired by the signal acquisition end and measured by an angle sensor to be verified placed on the rotary table 13, and uploads the rotation angle value, the first shaft angle and the second shaft angle to the upper computer, so that the upper computer can measure and calculate the accuracy of the angle sensor to be verified according to the acquired data, and effective verification of the angle sensor in two directions or three directions of xyz is realized.
In the verification device of the embodiment of the invention, the rotatable platform 3 can rotate +/-90 degrees along with the first rotating shaft 7 and the second rotating shaft 18, the rotating disc 13 can rotate 360 degrees along with the third rotating shaft 11, the rotatable platform 3 and the rotating disc 13 are used for rotating the angle sensor to be detected, so that the angle sensor to be detected can be verified from two directions or three directions by testing the angles of the first shaft and the second shaft, and the rotatable platform 3 or the rotating disc 13 can be independently used for driving the angle sensor to be detected to rotate along with the angle sensor to be detected, so that the angle sensor to be detected can be verified from one direction.
Preferably, as shown in fig. 4, the rotatable platform 3 comprises a first connecting frame 21, a connecting platform 22 and a second connecting frame 23 connected in sequence;
the first connecting frame 21 is fixedly connected with the first rotating shaft 7, the second connecting frame 23 is fixedly connected with the second rotating shaft 18, and the junction box 8, the second motor 9, the second speed reducer 10 and the third rotating shaft 11 are fixed on the connecting platform 3.
Further preferably, the first connecting frame 21, the connecting platform 22 and the second connecting frame 23 are symmetrically distributed along the axis of the third rotating shaft 11, so as to ensure the rotational stability of the rotatable platform.
Further preferably, two ends of the connecting platform 22 are respectively fixed to one end of the first connecting frame 21 and one end of the second connecting frame 23, and the other end of the first connecting frame 22 and the other end of the second connecting frame 23 are symmetrically provided with a balancing weight 24 corresponding to the axis of the third rotating shaft 11, so that the rotatable platform 3 is in a balanced working state in the rotating process, and the accuracy of the test value is improved.
Still more preferably, as shown in fig. 5, the rotating disc 13 is circular, and the rotating disc 13 is provided with a first scale 25 along the circumference; connecting pieces 29 which are positioned on the same plane with the rotary disc 13 are respectively arranged on the first connecting frame 22 and the junction box 8, and a second scale 26 is arranged on one side, close to the rotary disc 13, of each connecting piece 29. After the turntable is rotated, the first scale 25 and the second scale 26 form a caliper, so that the rotation angle of the third rotating shaft 11, namely the second shaft angle, can be directly obtained through manual reading.
Still more preferably, as shown in fig. 5, a third scale 27 is provided on the first connecting frame 21, and a fourth scale 28 is provided on the first box 1 at a position corresponding to the third scale 27; the second link frame 23 may be provided with a third scale 27, and the second casing 2 may be provided with a fourth scale 28 at a position corresponding to the third scale 27. After the rotatable platform 3 rotates, the third scale 27 and the fourth scale 28 form a caliper, so that the rotation angles of the first rotating shaft 7 and the second rotating shaft 18, namely the first shaft angle, can be directly obtained through manual reading.
Preferably, the rotary table 13 is uniformly provided with row holes 30 for fixing the angle sensor to be verified through binding wires, so as to prevent the angle sensor to be detected from sliding or falling off during rotation.
Preferably, as shown in fig. 7, the slip ring 15 includes an inner slip ring 16 and an outer slip ring 17, the inner slip ring 16 is sleeved on the end of the second rotating shaft 18 and continuously rotates along with the second rotating shaft 18; the outer sliding ring 17 is fixed on the second box body 2 through a fixing bracket 31, and the fixing bracket 31 is fixed at the bottom of the second box body 2 through bolts; after wire 19 on the sliding ring 15 is worn out from inboard sliding ring 16 one end, get into and run through outside sliding ring 17 from outside sliding ring 17 one end, then connect power end and signal acquisition end 20 in second box 2 to fixed wire 19 of being connected with power end and signal acquisition end 20 avoids wire 19 to wind at rotatable platform 3 rotation process, guarantees wire 19 and power end and signal acquisition end 20 stable connection, ensures the steady transmission of data signal that surveys in the testing process.
Preferably, the second casing 2 is provided with a control button 32 and a display screen 33, wherein the control button 32 is used for emergency shutdown of the checking device when an emergency or abnormal situation is encountered during the test.
The embodiment also provides an angle sensor checking method, which is used for checking the angle sensor by using any one of the checking devices, and comprises the following steps:
s1: judging whether the angle sensor to be checked is connected, if so, executing the step S2;
s2: acquiring a control instruction for controlling the rotation of the first rotating shaft, the second rotating shaft and the third rotating shaft;
s3: controlling the first rotating shaft, the second rotating shaft and the third rotating shaft to rotate according to a control instruction, respectively acquiring a rotating angle value measured by an angle sensor to be verified, a first shaft angle value measured by a first encoder and a second shaft angle value measured by a second encoder when the first rotating shaft, the second rotating shaft and the third rotating shaft stop rotating, and calculating the accuracy of the angle sensor to be verified based on the rotating angle value measured by the angle sensor to be verified, the first shaft angle value and the second shaft angle value;
s4: and acquiring a plurality of control instructions, repeating the steps S2-S3 respectively to acquire a plurality of accuracies, and determining the accuracy of the angle sensor to be checked according to the accuracies, wherein the control instructions can control the first rotating shaft, the second rotating shaft and the third rotating shaft to rotate by different angles respectively.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An angle sensor calibration device, its characterized in that: the device comprises a central controller, a first box body, a second box body and a rotatable platform positioned between the first box body and the second box body;
a first motor controller, a first motor and a first speed reducer connected with the first motor are arranged in the first box body, the first motor controller is electrically connected with the first motor and used for controlling the output rotating speed of the first motor, a first rotating shaft is arranged at the output end of the first speed reducer, and a first encoder is coaxially arranged on the first rotating shaft and used for measuring the rotating angle of the first rotating shaft;
the rotatable platform is provided with a junction box, a second motor and a second speed reducer connected with the second motor, the output end of the second speed reducer is provided with a third rotating shaft, one end of the third rotating shaft is coaxially provided with a second encoder for measuring the rotating angle of the third rotating shaft, the other end of the third rotating shaft is connected with a turntable for placing an angle sensor to be verified, and the axis of the third rotating shaft is vertical to the rotating shaft of the rotatable platform; the junction box is provided with a wiring port for connecting a power line and a signal line of the angle sensor to be verified;
a second motor controller and a slip ring are arranged in the second box body; the second motor controller is electrically connected with the second motor and used for controlling the output rotating speed of the second motor; the slip ring is coaxially provided with a second rotating shaft which is designed in a hollow mode, an output lead of the junction box sequentially penetrates through the second rotating shaft and the slip ring and then is connected with a power supply end and a signal acquisition end in the second box body, the signal acquisition end is electrically connected with the central controller, the signal acquisition end is used for acquiring angle signals of the angle sensor to be verified and uploading the angle signals to an upper computer after the angle signals are processed by the central controller, and meanwhile, the central controller controls the power supply end to supply power to the angle sensor to be verified;
the central controller is electrically connected with the first motor controller and the second motor controller, and is used for receiving a control instruction sent by an upper computer and sending the control instruction to the first motor controller and the second motor controller; the central controller is in communication connection with the first encoder and the second encoder respectively so as to read the rotation angle values measured by the first encoder and the second encoder, and then the rotation angle values are uploaded to the upper computer for read-back;
the first rotating shaft and the second rotating shaft are respectively connected to two ends of the rotatable platform so as to drive the rotatable platform to rotate.
2. An angle sensor calibration device according to claim 1, wherein: the rotatable platform comprises a first connecting frame, a connecting platform and a second connecting frame which are connected in sequence;
the first connecting frame is fixedly connected with the first rotating shaft, the second connecting frame is fixedly connected with the second rotating shaft, and the junction box, the second motor, the second speed reducer and the third rotating shaft are fixed on the connecting platform.
3. An angle sensor calibration device according to claim 2, wherein: and the first connecting frame, the connecting platform and the second connecting frame are symmetrically distributed along the axis of the third rotating shaft.
4. An angle sensor calibrator as recited in claim 3, wherein: and two ends of the connecting platform are respectively fixed at one ends of the first connecting frame and the second connecting frame, and the other ends of the first connecting frame and the second connecting frame are symmetrical to the third rotating shaft axis and are provided with balancing weights.
5. An angle sensor calibration device according to claim 4, wherein: the turntable is circular, and a first scale is arranged on the turntable along the circumference;
connecting pieces which are positioned on the same plane with the rotary table are respectively arranged on the first connecting frame and the junction box, and a second scale is arranged on one side, close to the rotary table, of the connecting pieces and used for forming a caliper with the first scale.
6. An angle sensor calibration device according to claim 5, wherein: a third scale is arranged on the first connecting frame, and a fourth scale is arranged at a position of the first box body corresponding to the third scale; or
And a third scale is arranged on the second connecting frame, and a fourth scale is arranged at a position corresponding to the third scale on the second box body and is used for forming a caliper with the third scale.
7. An angle sensor calibration device according to claim 1, wherein: the rotary table is evenly provided with row holes for fixing the angle sensor to be checked through binding.
8. An angle sensor calibration device according to claim 1, wherein: the slip rings comprise an inner slip ring and an outer slip ring, and the inner slip ring is sleeved at the end part of the second rotating shaft and continuously rotates along with the second rotating shaft; the outer side sliding ring is fixedly connected with the second box body through a fixing support;
and after the conducting wire on the sliding ring penetrates out of one end of the inner side sliding ring, the conducting wire enters from one end of the outer side sliding ring and penetrates through the outer side sliding ring, and then the conducting wire is connected with a power supply end and a signal acquisition end in the second box body.
9. An angle sensor calibration device according to claim 1, wherein: and the second box body is provided with a control button and a display screen.
10. An angle sensor verification method based on any one of the verification devices of claims 1-9, characterized by comprising the steps of:
s1: judging whether the angle sensor to be checked is connected, if so, executing the step S2;
s2: acquiring a control instruction for controlling the rotation of the first rotating shaft, the second rotating shaft and the third rotating shaft;
s3: controlling the first rotating shaft, the second rotating shaft and the third rotating shaft to rotate according to a control instruction, respectively acquiring a rotating angle value measured by an angle sensor to be verified, a first shaft angle value measured by a first encoder and a second shaft angle value measured by a second encoder when the first rotating shaft, the second rotating shaft and the third rotating shaft stop rotating, and calculating the accuracy of the angle sensor to be verified based on the rotating angle value measured by the angle sensor to be verified, the first shaft angle value and the second shaft angle value;
s4: and acquiring a plurality of control instructions, repeating the steps S2-S3 respectively to acquire a plurality of accuracies, and determining the accuracy of the angle sensor to be checked according to the accuracies, wherein the control instructions can control the first rotating shaft, the second rotating shaft and the third rotating shaft to rotate by different angles respectively.
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Application publication date: 20221122 |