CN1182450C - Full-stepping motor type two dimension moving simulator applying cylinder two dimension coordinate system - Google Patents
Full-stepping motor type two dimension moving simulator applying cylinder two dimension coordinate system Download PDFInfo
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- CN1182450C CN1182450C CNB021538743A CN02153874A CN1182450C CN 1182450 C CN1182450 C CN 1182450C CN B021538743 A CNB021538743 A CN B021538743A CN 02153874 A CN02153874 A CN 02153874A CN 1182450 C CN1182450 C CN 1182450C
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Abstract
The present invention relates to a full step motor type two-dimensional motion simulator of a cylindrical surface two-dimensional coordinate system, which belongs to the technical field of two-dimensional motion simulation. The present invention comprises a cross beam arranged on the ground by a supporting frame and a direction and pitching motion simulator connected with the cross beam. The cross beam comprises a cambered toothed rack and a direction X step motor, wherein the cambered toothed rack is embedded in the cross beam, and the direction X step motor is connected with the toothed rack by a gear and is arranged on a position seat. The direction and pitching motion simulator comprises a cambered guide track, a direction Y step motor, a drive mechanism, a linear guide track and the supporting frame, wherein the cambered guide track is provided with bearing type slide block and is fixed on the cross beam, the direction Y step motor is arranged on the position seat and is fixedly connected with the slide block, the drive mechanism is composed of a steel rope driven by the direction Y step motor and a pulley wheel in sliding connected with the steep rope, and the linear guide track is used for a simulated target connected with the steel rope to do pitching motion. The linear guide track is also provided with a magnetic block, a bumping block and proximity switches of each direction. The direction X step motor and the direction Y step motor in the two-dimensional motion simulator are connected with a programmable logic controller controlled by an industrial control computer via respective driver. Under the control of the programmable logic controller, the two-dimensional motion simulator can do motion with any track on a cambered surface vertical to the ground.
Description
Technical field
Adopt the full step motor type two dimensional motion simulator of cylinder two-dimensional coordinate system to belong to two dimensional motion analogue technique field.
Background technology
The simulation system of two dimensional motion generally adopts rectangular coordinate system, by the motion that stepping motor control card such as PCL1839 control motor, by the position that the photoetching degree reads coordinate axis, therefore, can not simulate spheric motion with the step motor drive computing machine.If adopt arc electric motor to replace X to stepper motor, complex manufacturing technology then, cost is also high.Therefore, neither one X, Y direction all use stepper motor driven two dimensional motion simulator can do the motion of any track on the arc surface on vertical and ground so far.
Summary of the invention
The object of the present invention is to provide a kind of all by step motor drive and can in arc surface, make the full step motor type two dimensional motion simulator of the employing cylinder two-dimensional coordinate system of any orbiting motion perpendicular to ground.Its X-axis is an arc-shaped guide rail, can simulate spheric motion more realistically, adopts the stepper motor driven gear, the arc-shaped rack engagement on gear and the arc track, and the drive system makes the cylinder two dimensional motion.
The invention is characterized in: it contains useful support and is vertically fixed on ground crossbeam, the orientation motion simulation mechanism that is connected with crossbeam is contained: be embedded in the arc-shaped rack on the crossbeam, link to each other with tooth bar and be installed in X on the positioning seat to stepper motor through gear drive; The luffing simulation mechanism contains: have the bearing-type slide block and be fixed on arc-shaped guide rail on the crossbeam, be installed on the positioning seat and with the affixed Y of bearing-type slide block to stepper motor, line slideway and the support used do luffing by the pulley drive mechanism that constituted to stepper motor driven steel cable, with two pulleys up and down that steel cable is slidingly connected by Y, for the simulated target that links to each other with steel cable.Described X links to each other with the programmable logic controller (PLC) PLC that is controlled by industrial computer to stepper motor driver through X to stepper motor.Described Y links to each other with the programmable logic controller (PLC) PLC that is controlled by industrial computer to stepper motor driver through Y to stepper motor.Described industrial computer and programmable logic controller (PLC) PLC are that X, Y are shared to stepper motor and their driver.An X who links to each other with the hard interrupt flip-flop port of programmable logic controller (PLC) PLC is housed near switch below described crossbeam.A Y who links to each other with another hard interrupt flip-flop port of programmable logic controller (PLC) PLC is housed near switch on described line slideway.The location magnetic patch is housed on described line slideway.Anti-collision block is housed on described line slideway.Anti-collision block is housed on described crossbeam.In described luffing simulation mechanism, described line slideway up and down two pulleys all is contained on the support that a described luffing uses.Described positioning seat is fixed on the support that luffing uses.
Operation instruction: it can accomplish the end in view.
Description of drawings:
Fig. 1: two dimensional motion simulator front view of the present invention
Fig. 2: two dimensional motion simulator side view of the present invention
Fig. 3: two dimensional motion simulator vertical view of the present invention
Fig. 4: the circuit system theory diagram of two dimensional motion simulator of the present invention
Fig. 5: the circuit system schematic diagram of two dimensional motion simulator of the present invention
Fig. 6: arc-shaped rack structural representation: 6 (a)-vertical views, 6 (b)-front views, 6 (c)-A-A cut-open views
Embodiment
Ask for an interview Fig. 1～Fig. 3.The 24th, be vertically fixed on ground crossbeam with support 8, base 23.The 6th, the arc-shaped rack of stemple 24, its structure is seen Fig. 6.Wherein, the 25th, boss, the 26th, crossbeam base plate, the 27th, diagonal bar, the 28th, perpendicular muscle, the 29th, crossbeam side plate.The gear traditional mechanism is made of the gear 5 of the elasticity shaft coupling 4 that links to each other to the output shaft of stepper motor 2 with X, and gear 5 and arc-shaped rack 6 are meshed.X is fixed on the positioning seat 3 to stepper motor 2, and positioning seat 3 links to each other with line slideway reinforcement 16 as the luffing support.Arc-shaped rack 6, spring coupling 4, gear 5, X are to stepper motor 2 common formation orientation motion simulation mechanisms.Y also is fixed on the positioning seat 3 to stepper motor 1, links to each other with slide block 19 again simultaneously, and slide block 19 and be fixed between the arc-shaped guide rail 18 on the crossbeam 24 bearing (not showing among Fig. 1～Fig. 3) is arranged, bearing and slide block 19 have constituted the bearing-type slide block.So, Y to stepper motor 1 X to stepper motor 2 when arc-shaped rack 6 is done movement in a curve, it also can synchronously do movement in a curve along arc-shaped guide rail 18.Y is connecting a line wheel 20 to the output shaft of stepper motor 1, and its drives steel cable 17 and around pulley spindle 21a, the 9a of pulley up and down that 21b changes, and 9b drives loudspeaker (simulated target) 13 that links to each other with steel cable 17 and do luffing on line slideway 14.The anti-collision block 10a and the 10b of rubber system is housed on line slideway 14 and can holds the location magnetic patch 12 of luggage carrier 22 that loudspeaker 13 are housed to play the role of positioning.Anti-collision block 30a and 30b are housed at the two ends of crossbeam 24.The 11st, turnbuckle.Y also is housed near switch 15 on line slideway 14, X is to the below that then is contained in crossbeam 24 near switch 7.
Goodbye Fig. 4.PC is an industrial computer, adopts the CPU of Pentium200MHz.PLC is the programmable logic controller (PLC) FP0-C16T of MAT, and it has two pulse output end mouths that can be used as step motor control, and other I/O stomatopod is to satisfy the input and output requirement of control system to position feed back signal etc.There is a pulse to send device and a frequency divider among the PLC.By pulse producer, it is 10%～90% square-wave pulse that PLC can produce 40～10kHz dutycycle.By frequency divider, the high-frequency impulse that PLC can send pulse producer is divided into the two-way low-frequency pulse, by two different channels, flows to X-axis and y-axis stepper motor driver respectively.In addition, also have two inner high speed counters among the PLC, they can be noted the pulse number that two channels send respectively.By constantly reading the numerical value of these two counters, just can know how many steps the stepper motor of two axles has walked respectively, and then obtain the actual displacement of loudspeaker.X-axis and Y-axis be connected on last two the different hard down trigger ports of PLC respectively near switching signal.When sending signal to PLC near switch, as long as interrupt control word is set, interrupt service routine corresponding with it among the PLC just brings into operation, and with the position signalling of reality the displacement in the counter is proofreaied and correct.X, y-axis stepper motor all are the RM59A2D types of SANYO GS company, and its RD-053MS type driver supporting with it constitutes the drive system of simulated target jointly.The step angle of stepper motor is 0.72 °/step, can even motor speed is very low, still can keep smooth motion at synchronizing～any step angle of selecting between 1/400 step.Under the synchronizing mode of motion, the rotating speed of motor scope is 3.6 °/s～64800 °/s, and the ratio with lowest speed is 18000 the most at a high speed.Motor speed is 20.0 °/s, and torque is 12kgcm.
By gear 5, arc-shaped rack 6, arc-shaped guide rail 18, the rotatablely moving of stepper motor is converted into the movement in a curve along arc track.Under the slow running of loudspeaker, stepper motor has been done 40 segmentations, during high-speed cruising, motor moves with synchronizing.
Fig. 5 is corresponding circuit theory diagrams.
This shows that the present invention has used arc-shaped guide rail 18 and arc-shaped rack 6 to be convenient to realize perpendicular to the cambered surface on ground with two stepper motors the motion of track arbitrarily at directions X.
Claims (11)
1. adopt the full step motor type two dimensional motion simulator of cylinder two-dimensional coordinate system to contain the two dimensional motion simulation mechanism, it is characterized in that, it contains useful support and is vertically fixed on ground crossbeam, the orientation motion simulation mechanism that is connected with crossbeam is contained: be embedded in the arc-shaped rack on the crossbeam, link to each other with tooth bar and be installed in X on the positioning seat to stepper motor through gear drive; The luffing simulation mechanism contains: have the bearing-type slide block and be fixed on arc-shaped guide rail on the crossbeam, be installed on the positioning seat and with the affixed Y of bearing-type slide block to stepper motor, line slideway and the support used do luffing by the pulley drive mechanism that constituted to stepper motor driven steel cable, with two pulleys up and down that steel cable is slidingly connected by Y, for the simulated target that links to each other with steel cable.
2. the full step motor type two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1 is characterized in that: described X links to each other with the programmable logic controller (PLC) PLC that is controlled by industrial computer to stepper motor driver through X to stepper motor.
3. the full step motor type two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1 is characterized in that: described Y links to each other with the programmable logic controller (PLC) PLC that is controlled by industrial computer to stepper motor driver through Y to stepper motor.
4. the full step motor type two dimensional motion simulator according to claim 1 or 2 or 3 described employing cylinder two-dimensional coordinate systems is characterized in that: described industrial computer and programmable logic controller (PLC) PLC are that X, Y are shared to stepper motor and their driver.
5. the full step motor type two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1 and 2 is characterized in that: an X who links to each other with the hard interrupt flip-flop port of programmable logic controller (PLC) PLC is housed near switch below described crossbeam.
6. according to the full step motor type two dimensional motion simulator of claim 1 or 3 described employing cylinder two-dimensional coordinate systems, it is characterized in that: a Y who links to each other with another hard interrupt flip-flop port of programmable logic controller (PLC) PLC is housed near switch on described line slideway.
7. the full step motor type two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1 is characterized in that: the location magnetic patch is housed on described line slideway.
8. the full step motor type two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1 is characterized in that: anti-collision block is housed on described line slideway.
9. the full step motor type two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1 is characterized in that: anti-collision block is housed on described crossbeam.
10. the full step motor type two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1, it is characterized in that: in described luffing simulation mechanism, described line slideway up and down two pulleys all is contained on the support that a described luffing uses.
11, the full step motor type two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1 is characterized in that: described positioning seat is fixed on the support that luffing uses.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021538743A CN1182450C (en) | 2002-07-12 | 2002-12-06 | Full-stepping motor type two dimension moving simulator applying cylinder two dimension coordinate system |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN02124129.5 | 2002-07-12 | ||
| CN02124129 | 2002-07-12 | ||
| CNB021538743A CN1182450C (en) | 2002-07-12 | 2002-12-06 | Full-stepping motor type two dimension moving simulator applying cylinder two dimension coordinate system |
Publications (2)
| Publication Number | Publication Date |
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| CN1467592A CN1467592A (en) | 2004-01-14 |
| CN1182450C true CN1182450C (en) | 2004-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB021538743A Expired - Fee Related CN1182450C (en) | 2002-07-12 | 2002-12-06 | Full-stepping motor type two dimension moving simulator applying cylinder two dimension coordinate system |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AT507373B1 (en) * | 2008-10-09 | 2010-12-15 | Amst Systemtechnik Gmbh | MOTION AND ORIENTATION SIMULATOR |
| CN102014234A (en) * | 2010-12-22 | 2011-04-13 | 威海华菱光电有限公司 | Contact image sensor |
| CN108919847A (en) * | 2018-07-10 | 2018-11-30 | 安徽新境界自动化技术有限公司 | Positioning control system and its control method based on common threephase asynchronous |
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2002
- 2002-12-06 CN CNB021538743A patent/CN1182450C/en not_active Expired - Fee Related
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