CN201716010U - Combination drive semi-closed loop precision positioning system - Google Patents
Combination drive semi-closed loop precision positioning system Download PDFInfo
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- CN201716010U CN201716010U CN2010201191978U CN201020119197U CN201716010U CN 201716010 U CN201716010 U CN 201716010U CN 2010201191978 U CN2010201191978 U CN 2010201191978U CN 201020119197 U CN201020119197 U CN 201020119197U CN 201716010 U CN201716010 U CN 201716010U
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Abstract
The utility model discloses a combination drive semi-closed loop precision positioning system, which comprises a slipway base, a linear motion guide is disposed on the slipway base, a slipway is disposed on the linear motion guide, an ultrasonic motor and a step motor that drive the slipway to move on the motion guide is disposed at the left side and the right side of the linear motion guide respectively, and the ultrasonic motor is connected with an angle measuring device. The utility model is reasonable in structure, overcomes the defect of short service life of the ultrasonic motor, and can achieve dual-motor disturbance-free switching during precision positioning.
Description
Technical field:
The utility model relates to a kind of semiclosed loop Precision Position Location System, specifically, relates to a kind of semiclosed loop Precision Position Location System that does not have disturbance switching hybrid drive and a kind of novel displacement detector based on bi-motor.
Background technology:
Precision Position Location System is one of gordian technique of Precision Machining and ultraprecise processing.For satisfying application demand, Precision Position Location System must possess high frequency sound, big stroke, high-precision performance.In commercial production, realize that the accurate mobile normal stepper motor that uses of straight line drives by screw mandrel.But the micro-stepping driving of stepping motor precision depends on factors such as segmentation Current Control precision, and the segmentation number is big more, the difficult more control of precision, and driver cost height; Exist very serious high-frequency electromagnetic to disturb as the high frequency starting the arc under the welding operating mode and stabilising arc to sub-driver circuit under the abominable operating mode.
Supersonic motor (ultrasonic motor, abbreviation USM) principle and structure are different from traditional electromagnetic motor fully, there are not winding and magnetic field components, it is not to transmit energy by electromagnetic interaction, but the direct New-type electric machine of realizing energy converting between mechanical by piezoceramic material, it is simple in structure, has characteristics such as unit volume is exerted oneself greatly, excellent response performance, and can reach the high position precision that the traditional electrical magneto generator can't be equal to.But USM is the direct friction coupling transmission of drive force by stator and rotor, under alterante stress and friction force effect, motor produces fatigue damage, makes condensed layer local shedding, temperature rise between stator and piezoelectric ceramics cause thermal mismatching etc. soon easily, influences motor output torque and bearing accuracy.And, reduced in the life-span of USM greatly because piezoelectric ceramics crack initiation, expansion and unstability cause sudden destruction.Adopt supersonic motor more and more in recent years, but adopt single supersonic motor can't overcome the short shortcoming of lifetime of system as the system of precision positioning driving element.
Chinese scholars adopts the electromagnetic servo motor as positioning system coarse positioning driving element in recent years, adopt supersonic motor or piezo-activator as positioning system precision positioning driving element, fully combine supersonic motor and electromagnetic machine advantage separately, obtained effect preferably.But existing hybrid drive system complex structure, the web member processing difficulties can't realize not having disturbance and switch.And the precision positioning displacement detector in the closed-loop system often uses high precision grating chi, scrambler, laser sensor etc., cost height, equipment complexity, poor anti jamming capability.The utility model proposes a kind of Precision Position Location System that does not have disturbance switching hybrid drive and a kind of novel displacement detector based on bi-motor, this system architecture is simple, be easy to processing, can realize the no disturbance switching between electromagnetic machine and supersonic motor, and can realize that the semi-closed loop system high precision displacement detects.
The utility model content:
It is a kind of rational in infrastructure that the purpose of this utility model is to provide, and overcomes supersonic motor short shortcoming in serviceable life, can realize semiclosed loop Precision Position Location System in the Precision Positioning.
Technical solution of the present utility model is:
A kind of combination drive semiclosed loop Precision Position Location System, it is characterized in that: comprise the slide unit base, adorn linear motion guide on the slide unit base, adorn slide unit on the linear motion guide, supersonic motor and stepper motor that the driving slide unit moves on rail plate are set respectively in the left and right sides of linear motion guide, and supersonic motor is connected with the angle displacement measurement device.
Supersonic motor connects with the ball screw that is connected with slide unit through the first flexible sheet shaft coupling, adorns ball nut on the ball screw; Stepper motor is connected with the shaft coupling that relies on bearings through the second flexible sheet shaft coupling, and shaft coupling is connected with ball nut, and ball nut is fixedlyed connected with the nut seat by angular contact bearing, and nut seat is fixedlyed connected with slide unit.
The supersonic motor and first electric machine support are fastenedly connected by screw, and first electric machine support is fixedlyed connected with the bearing seat of screw mandrel spring bearing, and the bearing seat of screw mandrel spring bearing is fixedlyed connected with the slide unit base; Stepper motor is fixedlyed connected with second electric machine support, and second electric machine support is fixedlyed connected with slide unit.
The angle displacement measurement device comprises first rotating disk, second rotating disk, first rotating disk is connected with the supersonic motor output shaft is concentric, second rotating disk is connected with small synchronous motor is concentric, second rotating disk rotates with small synchronous motor, the axial line of small synchronous motor and supersonic motor is on same horizontal line, first rotating disk, second rotating disk is concentric form, infrared transmitting tube is fixedly mounted on first rotating disk, the projection of infrared transmitting tube infrared beam axis on first rotating disk is through the center of circle of first rotating disk, infrared receiving tube is fixedly mounted on second rotating disk, the projection of infrared receiving tube axis on second rotating disk is through the center of circle of second rotating disk, the distance in the infrared receiving tube and the second rotating disk center of circle is greater than the distance in the infrared transmitting tube and the first rotating disk center of circle, and the angle of the axis of infrared transmitting tube and first rotating disk equals the angle of the infrared receiving tube axis and second rotating disk.
Electric machine control system adopts the form of FPGA assistant SCM, control supersonic motor and stepper motor driver by the PWM ripple that FPGA sends, PWM controls by comparing control module wave period, and the PWM dutycycle is definite jointly by comparing control module, count control module and putting numerical control molding piece.
Angular Displacement Detecting device interface circuit adopts the form of FPGA assistant SCM, by comparer the output signal of infrared receiving tube is converted to pulse, finish the differentiation of adjacent output pulse by the parity checking module, finish the calculating in the adjacent pulse time interval and latch by counter and latch, finished the calculating of difference in the time interval of two adjacent pulses by subtracter, result of calculation is sent single-chip microcomputer to handle and is obtained the angular displacement size.
The utility model is rational in infrastructure, overcomes supersonic motor short shortcoming in serviceable life, can realize that bi-motor does not have the disturbance switching in the Precision Positioning, and beneficial effect mainly shows:
1. make full use of electromagnetic machine and supersonic motor advantage separately, overcome short shortcoming of supersonic motor life-span, realize system's long-life, big stroke precision positioning.
2. the novel hybrid drive that provides can realize that bi-motor does not have disturbance and switches, and bi-motor can simultaneously or work independently, and when bi-motor moves simultaneously, can realize the rapid movement of slide unit and adjust the controllable precision height at a slow speed.
3. because the transmission hinge is short, simple in structure, so slide unit bearing accuracy and repetitive positioning accuracy height.
4. the hybrid drive that provides is simple in structure, and is easy to process.
5. a kind of novel Angular Displacement Detecting device is provided, micro angular displacement is detected has been converted to displacement of the lines and detects, this device precision height, resolution height, cost are low, easy for installation, and have the advantage that need not return to zero before measuring.Supersonic motor closed-loop control in the time of can realizing the little feeding of positioning system.
Description of drawings:
The utility model is described in further detail below in conjunction with drawings and Examples.
Fig. 1 is the configuration diagram of an embodiment of the utility model.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is an angle displacement measurement apparatus structure diagrammatic sketch of the present utility model.
Fig. 4 is an angular displacement measurement device schematic diagram of the present utility model.
Fig. 5 is an Angular Displacement Detecting sequential chart of the present utility model.
Fig. 6 is the utility model Drive and Control Circuit figure.
Embodiment:
A kind of combination drive semiclosed loop Precision Position Location System, comprise slide unit base 1, dress linear motion guide 2 on the slide unit base, dress slide unit 3 on the linear motion guide, supersonic motor 4 and stepper motor 5 that the driving slide unit moves on rail plate are set respectively in the left and right sides of linear motion guide, and supersonic motor is connected with angle displacement measurement device 6.
Supersonic motor connects with the ball screw 8 that is connected with slide unit through the first flexible sheet shaft coupling 7, dress ball nut 11 on the ball screw; Stepper motor is connected with the shaft coupling 10 that relies on bearing 9 to support through the second flexible sheet shaft coupling, shaft coupling is connected with ball nut 11, ball nut is fixedlyed connected with the nut seat by two contour angular contact bearings 12 of Internal and external cycle, and nut seat is fixedlyed connected with slide unit 3, and is located by register pin.
The supersonic motor 4 and first electric machine support 13 are fastenedly connected by screw, and first electric machine support is fixedlyed connected with the bearing seat 15 of screw mandrel spring bearing (angular contact bearing) 14, and the bearing seat of screw mandrel spring bearing is fixedlyed connected with slide unit base 1; Stepper motor 5 is fixedlyed connected with second electric machine support 16, and second electric machine support is fixedlyed connected with slide unit 3.
Angle displacement measurement device 6 comprises first rotating disk 17, second rotating disk 18, first rotating disk is connected with the supersonic motor output shaft is concentric, second rotating disk and 19 concentric connections of small synchronous motor, second rotating disk rotates with small synchronous motor, the axial line of small synchronous motor and supersonic motor is on same horizontal line, first rotating disk, second rotating disk is concentric form, infrared transmitting tube 20 is fixedly mounted on first rotating disk, the projection of infrared transmitting tube infrared beam axis on first rotating disk is through the center of circle of first rotating disk, infrared receiving tube 21 is fixedly mounted on second rotating disk, the projection of infrared receiving tube axis on second rotating disk is through the center of circle of second rotating disk, the distance in the infrared receiving tube and the second rotating disk center of circle is greater than the distance in the infrared transmitting tube and the first rotating disk center of circle, and the angle (acute angle) of the axis of infrared transmitting tube and first rotating disk equals the angle (acute angle) of the infrared receiving tube axis and second rotating disk.
Electric machine control system adopts the form of FPGA assistant SCM, control supersonic motor and stepper motor driver by the PWM ripple that FPGA sends, PWM controls by comparing control module wave period, and the PWM dutycycle is definite jointly by comparing control module, count control module and putting numerical control molding piece.
Angular Displacement Detecting device interface circuit adopts the form of FPGA assistant SCM, by comparer the output signal of infrared receiving tube is converted to pulse, finish the differentiation of adjacent output pulse by the parity checking module, finish the calculating in the adjacent pulse time interval and latch by counter and latch, finished the calculating of difference in the time interval of two adjacent pulses by subtracter, result of calculation is sent single-chip microcomputer to handle and is obtained the angular displacement size.
Slide unit can be realized supersonic motor list motor-driven and stepper motor individual drive, can realize that also bi-motor drives simultaneously.When bi-motor moves simultaneously, can realize the rapid movement of slide unit and adjust at a slow speed, rapid movement and adjust at a slow speed and only depend on the sense of rotation of change motor to get final product.
The precision positioning mechanism that proposes can further be expanded and be cross slid platform, realizes plane two free precision positionings.In the specific implementation, the mechanism of another degree of freedom can be in full accord with the mechanism that the utility model proposes.
Angle displacement measurement principle analysis and performance evaluation
Principle analysis
Adopt Traveling Ultrasonic Motor as platform precision positioning drive motor among the embodiment, supersonic motor output shaft one end is connected to spring coupling, the other end and the concentric (see figure 3) that is connected of first rotating disk.The projection of infrared beam axis on first rotating disk is through the center of circle of first rotating disk.Second rotating disk connects with small synchronous motor is concentric, rotates with synchronous motor.The axial line that keeps synchronous motor and supersonic motor keeps two rotating disks concentric on a horizontal line.Infrared receiving tube is fixedly mounted on second rotating disk, and with the motion of synchronous motor synchronous, projection on the rotating disk is being fallen through the center of circle of second rotating disk in the infrared receiving tube axis.The distance in the infrared receiving tube and the center of circle is greater than the distance in the infrared transmitting tube and the center of circle, and the angle (acute angle) of the axis of infrared transmitting tube and first rotating disk equals the angle (acute angle) of the infrared receiving tube axis and second rotating disk.
During measurement, keep the permanent rotating speed rotation of small synchronous motor (establishing rotating speed is Nr/min), keep small synchronous motor to turn to and turn to identical with supersonic motor.When infrared receiving tube received the infrared light that power valve sends, interface circuit was exported a high level pulse signal, and synchronous motor whenever rotates a circle with respect to supersonic motor, exports a pulse signal.When the supersonic motor transfixion, suppose infrared transmitting tube at position A place, receiving tube shown in the A among Fig. 5, is the synchronous motor used time t1 that circles through the pulse signal of interface circuit and output interpulse period.Judge that as the interface circuit controller each two adjacent recurrent intervals that occur are always t1, then can think the supersonic motor transfixion.
Produce micrometric displacement as supersonic motor, establish sense of displacement and synchronous motor rotation direction homophase (being clockwise), for illustrate convenient this displacement is amplified after as shown in Figure 4, photoemission cell is followed rotation and is gone to B place, position by initial position A at this moment.The receiving circuit output signal is shown in the B among Fig. 5.The two adjacent recurrent intervals of judging each appearance as the interface circuit controller become t2 by t1, think that then supersonic motor has clockwise rotated certain angle θ
1, θ
1Size and (t
2-t
1) be directly proportional.Can get:
When being still in B place, position as photoemission cell, the receiving circuit output signal is shown in the C among Fig. 5.In like manner, when supersonic motor continuation rotation, when going to C place, position by position B, the receiving circuit output signal is shown in the D among Fig. 5.The two adjacent recurrent intervals of judging each appearance as the interface circuit controller become t3 by t 1, think that then supersonic motor has clockwise rotated certain angle θ
1, θ
2Size and (t
3-t
1) be directly proportional.Can get:
Then the supersonic motor accumulation anglec of rotation is θ
1+ θ
2
2.2 performance evaluation
During concrete enforcement, can make supersonic motor work in continuous running status or stepping state.When supersonic motor works in continuous running status, after angular displacement produces, pick-up unit can not make an immediate response, but could respond will wait infrared receiving tube to go to the infrared transmitting tube relative position time, then has a bigger positioning error as supersonic motor speed is very fast.When supersonic motor works in the stepping state, every operation one micro-stepping of motor is stopped, next micro-stepping of reruning after the band Angular Displacement Detecting is finished.Because the micro-stepping elongation during the Traveling Ultrasonic Motor step run is very little, therefore can reach very high bearing accuracy.
This novel Angular Displacement Detecting device advantage is as follows:
(1) small angular displacement is enlarged into the considerable line of surveying (arc length) displacement, adopts the method for controller timing to finish detection.
(2) simple in structure, easy for installation, cost is low.
(3) measuring accuracy and resolution height.
(4) need not return to zero before the measurement.
Also there is certain error in this sensor:
(1) digitial controller adopts the method for counting to realize timing, and the resolution of counting influences precision as a result.
(2) pulsation of synchronous motor rotating speed causes the inhomogeneous of rotating speed, thereby causes stochastic error.
(3) processing and two rotating disk decentraction, motor shaft and rotating disk decentraction constantly are installed, the out of true of infrared reception and transmitter setting angle all can cause stochastic error and systematic error.Precision Position Location System Dual-motors Driving Circuit Design
Among the embodiment, with the Traveling Ultrasonic Motor USR60 and the TAMAGAWASEIKI CO of Shinsei company, the TSS103N173 four phase step motor of .LTD company is the system drive motor.The Precision Position Location System Drive and Control Circuit as shown in Figure 6.
The utility model adopts the form of FPGA assistant SCM, and in bi-motor semiclosed loop precise Positioning Control process, single-chip microcomputer is intervened less, has significantly reduced the primary controller burden.And but FPGA has function and easily revises online programming, has very strong versatility; Interface is simple, response speed is fast, is suitable for full-digital control, can improve system performance greatly.
In Fig. 6, Traveling Ultrasonic Motor works in the stepping state, thereby realizes the micro-stepping feeding of supersonic motor by the PWM ripple control motor driver D6060 that FPGA sends.Pre-frequency division module is used for the generation of motor start and stop control and FPGA global clock signal; Put numerical control molding piece and be used to adjust motor micro-stepping ON time; The counting control module is determined the PWM cycle according to the output valve of putting numerical control molding piece; Relatively control module has been determined the micro-stepping ON time and stand-by time between the step; Interlock circuit is used to prevent the triggering competition of D6060 interface and is used for motor positive and inverse control select.Relatively control module 2 is used to offer the rotating of stepper motor pwm pulse and control step motor, and the output pulse that the loop pulse generator is used for comparing control module 2 becomes the spike train with certain sequential, and through power amplification rear drive stepper motor.
Pre-frequency division module
This module with external clock (in the present embodiment adopt 25M active crystal oscillator) as global clock pulse and the trigger pip of control module and the clock signal of counter as a comparison.
Put numerical control molding piece
Put the counting initial value of the output of numerical control molding piece, be used to adjust the stepping ON time as follow-up counting control module.Wherein clk1 links to each other with the I/O mouth of single-chip microcomputer with the updown signal, and updown is the add-subtract control end, and when updown was low level, single-chip microcomputer whenever sent a pulse from clk1, and the value of delivery outlet INIOUT subtracts one; When updown was high level, single-chip microcomputer whenever sent a pulse from clk1, and the value of INIOUT adds one.Adopt single-chip microcomputer to change supersonic motor micro-stepping ON time, thereby can regulate the motor bearing accuracy easily and carry out speed governing by the output valve that changes module.CLK1 can be produced by the PCA module of single-chip microcomputer.
The counting control module
The counting control module is adjusted the micro-stepping ON time according to the output of putting numerical control molding piece, and produces stand-by time between the fixing step.INIOUT is for putting numerical control molding piece output data, and module is radix with INIOUT, and the time clock that provides with pre-frequency division module adds counting on this basis, and the meter spill-over goes out the back automatic clear.
Compare control module 1
Relatively control module 1 goes out to have the pwm pulse of stand-by time between variable micro-stepping ON time and fixing going on foot.Trigger relatively calculating at the clk3 rising edge of a pulse.DATAA is the input data of counter-controller module, and these data are compared with built-in pulse upset fiducial value countq_temp in the Compare module, with the upset of decision output level.CWC is the motor steering control signal, and the CW signal was effective when CWC was high level, and motor just changes, on the contrary counter-rotating.
The rotating interlocking module
This module is used to solve driver D6060 rotating control end and high level occurs simultaneously and cause the indefinite problem of motor steering.
Compare control module 2
Relatively control module 2 goes out the pwm pulse of EDM Generator of Adjustable Duty Ratio, and this pulse is used for the control step motor.Relatively control module 1 is held by Single-chip Controlling with the ON/OFF that compares control module 2, makes two motor time-sharing works.The CW/CCW end is used to control annular pulse producer and exports the spike train of different phase sequences with the control step motor drive direction.Owing to adopted four phase step motor in an embodiment, therefore realized the driving of stepper motor by the integrated driver module of L298H bridge.
The angular displacement sensor interface circuit design
When photoemission cell was relative with photoelectric receiving tube, photocurrent was converted to voltage and by behind the comparer, is exported the high level arteries and veins by resistance.The parity checking module is sent in pulse, and the pulse number that adds up as module is an odd number, then ODD end output one high level pulse.Otherwise if the pulse number of module accumulation is an even number, then the EVEN end is exported a high level pulse.The rising edge of the pulse of ODD port output makes counter 1 module begin counting, makes several device 2 modules stop counting.Initial value when having guaranteed rolling counters forward is zero, by the delayed-action of time delay module, and the time that the time that the CLR signal is arrived arrives early than the ON signal that begins counting end.
The rising edge of the pulse of EVEN port output makes counter 2 modules begin counting simultaneously, makes several device 2 modules stop counting.By the delayed-action of time delay module, the CLR signal is arrived prior to beginning counting end ON signal, the initial value when having guaranteed rolling counters forward is zero.
The output signal of counter 1 sum counter 2 is by latches, latch signal is provided by odd even pulse discrimination module module, the pulse of ODD port output provides latch signal for the latch of counter 2 correspondences, and the EVEN port provides latch signal for the latch of counter 1 correspondence.Finish the subtraction of two latch output signals by subtracter, the computing enabling signal is provided by single-chip microcomputer, and the time interval that starts computing is by Single-chip Controlling, the large interval I by the monolithic root section reportedly the sensor response speed regulate.Also the pulse signal that ODD end can be sent is directly sent into monolithic IO interface, after the umber of pulse that single-chip microcomputer is differentiated adjacent time interval representative has been latching to dual latch, sends the subtraction enabled instruction.Because this sensor response speed is slower, could respond in the time of waiting infrared receiving tube to go to the infrared transmitting tube relative position, do not respond the situation that counter overflows as yet for avoiding sensor occurring, must give counter with enough capacity.Employing 25M as external clock, adopts 32 digit counters by the source crystal oscillator among the embodiment, and then the full used time of meter is:
This time interval can guarantee that synchronous motor drives photoelectric receiving tube and finishes response.By the peek of FPGA notice single-chip microcomputer, single-chip microcomputer through port line reads in 32 binary result after subtraction is finished.Single-chip microcomputer obtains the adjacent pulse difference of interval time with the CLK recurrence interval that the subtracter output quantity of reading in multiply by counter 1 (counter 2), and calculates angular displacement by formula 1.
Claims (6)
1. combination drive semiclosed loop Precision Position Location System, it is characterized in that: comprise the slide unit base, adorn linear motion guide on the slide unit base, adorn slide unit on the linear motion guide, supersonic motor and stepper motor that the driving slide unit moves on rail plate are set respectively in the left and right sides of linear motion guide, and supersonic motor is connected with the angle displacement measurement device.
2. combination drive semiclosed loop Precision Position Location System according to claim 1 is characterized in that: supersonic motor connects with the ball screw that is connected with slide unit through the first flexible sheet shaft coupling, adorns ball nut on the ball screw; Stepper motor is connected with the shaft coupling that relies on bearings through the second flexible sheet shaft coupling, and shaft coupling is connected with ball nut, and ball nut is fixedlyed connected with the nut seat by angular contact bearing, and nut seat is fixedlyed connected with slide unit.
3. combination drive semiclosed loop Precision Position Location System according to claim 2, it is characterized in that: the supersonic motor and first electric machine support are fastenedly connected by screw, first electric machine support is fixedlyed connected with the bearing seat of screw mandrel spring bearing, and the bearing seat of screw mandrel spring bearing is fixedlyed connected with the slide unit base; Stepper motor is fixedlyed connected with second electric machine support, and second electric machine support is fixedlyed connected with slide unit.
4. according to claim 1,2 or 3 described combination drive semiclosed loop Precision Position Location Systems, it is characterized in that: the angle displacement measurement device comprises first rotating disk, second rotating disk, first rotating disk is connected with the supersonic motor output shaft is concentric, second rotating disk is connected with small synchronous motor is concentric, second rotating disk rotates with small synchronous motor, the axial line of small synchronous motor and supersonic motor is on same horizontal line, first rotating disk, second rotating disk is concentric form, infrared transmitting tube is fixedly mounted on first rotating disk, the projection of infrared transmitting tube infrared beam axis on first rotating disk is through the center of circle of first rotating disk, infrared receiving tube is fixedly mounted on second rotating disk, the projection of infrared receiving tube axis on second rotating disk is through the center of circle of second rotating disk, the distance in the infrared receiving tube and the second rotating disk center of circle is greater than the distance in the infrared transmitting tube and the first rotating disk center of circle, and the angle of the axis of infrared transmitting tube and first rotating disk equals the angle of the infrared receiving tube axis and second rotating disk.
5. according to claim 1,2 or 3 described combination drive semiclosed loop Precision Position Location Systems, it is characterized in that: electric machine control system adopts the form of FPGA assistant SCM, control supersonic motor and stepper motor driver by the PWM ripple that FPGA sends, PWM controls by comparing control module wave period, and the PWM dutycycle is definite jointly by comparing control module, count control module and putting numerical control molding piece.
6. according to claim 1,2 or 3 described combination drive semiclosed loop Precision Position Location Systems, it is characterized in that: Angular Displacement Detecting device interface circuit adopts the form of FPGA assistant SCM, by comparer the output signal of infrared receiving tube is converted to pulse, finish the differentiation of adjacent output pulse by the parity checking module, finish the calculating in the adjacent pulse time interval and latch by counter and latch, finished the calculating of difference in the time interval of two adjacent pulses by subtracter, result of calculation is sent single-chip microcomputer to handle and is obtained the angular displacement size.
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| CN2010201191978U CN201716010U (en) | 2010-01-26 | 2010-01-26 | Combination drive semi-closed loop precision positioning system |
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| CN2010201191978U CN201716010U (en) | 2010-01-26 | 2010-01-26 | Combination drive semi-closed loop precision positioning system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103335080A (en) * | 2012-12-23 | 2013-10-02 | 浙江大学 | Mounting support device of heavy-duty ball screw pair |
| CN109530407A (en) * | 2016-12-20 | 2019-03-29 | 吴彬 | A kind of kitchen waste disposer and its method for processing kitchen waste |
| CN111366097A (en) * | 2020-03-16 | 2020-07-03 | 大连理工大学 | Aviation blade tenon laser scanning measuring machine and measuring method |
| WO2021068993A1 (en) * | 2020-02-11 | 2021-04-15 | 南通大学 | Composite motor having high-precision positioning |
| RU205506U1 (en) * | 2021-02-08 | 2021-07-19 | Общество с ограниченной ответственностью «Микролазер» (ООО «Микролазер») | Precision movement device |
| CN114049800A (en) * | 2021-10-15 | 2022-02-15 | 东南大学 | Depth perception experiment platform and method under mixed reality environment |
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2010
- 2010-01-26 CN CN2010201191978U patent/CN201716010U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103335080A (en) * | 2012-12-23 | 2013-10-02 | 浙江大学 | Mounting support device of heavy-duty ball screw pair |
| CN103335080B (en) * | 2012-12-23 | 2016-01-20 | 浙江大学 | A kind of heavily loaded ball screw pair fittable slackening device |
| CN109530407A (en) * | 2016-12-20 | 2019-03-29 | 吴彬 | A kind of kitchen waste disposer and its method for processing kitchen waste |
| CN109530407B (en) * | 2016-12-20 | 2021-11-12 | 吴彬 | Kitchen waste disposer and kitchen waste disposal method thereof |
| CN109530407B8 (en) * | 2016-12-20 | 2021-12-24 | 吴彬 | Kitchen waste disposer and kitchen waste disposal method thereof |
| WO2021068993A1 (en) * | 2020-02-11 | 2021-04-15 | 南通大学 | Composite motor having high-precision positioning |
| CN111366097A (en) * | 2020-03-16 | 2020-07-03 | 大连理工大学 | Aviation blade tenon laser scanning measuring machine and measuring method |
| RU205506U1 (en) * | 2021-02-08 | 2021-07-19 | Общество с ограниченной ответственностью «Микролазер» (ООО «Микролазер») | Precision movement device |
| CN114049800A (en) * | 2021-10-15 | 2022-02-15 | 东南大学 | Depth perception experiment platform and method under mixed reality environment |
| CN114049800B (en) * | 2021-10-15 | 2024-05-07 | 东南大学 | Depth perception experiment platform in mixed reality environment and experiment method thereof |
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