CN211042090U - Rotating shaft positioning device - Google Patents
Rotating shaft positioning device Download PDFInfo
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- CN211042090U CN211042090U CN201922228084.5U CN201922228084U CN211042090U CN 211042090 U CN211042090 U CN 211042090U CN 201922228084 U CN201922228084 U CN 201922228084U CN 211042090 U CN211042090 U CN 211042090U
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Abstract
A rotating shaft positioning device is used for positioning a rotating shaft and comprises a motor, a grating and a photoelectric switch; the motor is in transmission connection with the rotating shaft and drives the rotating shaft to rotate; the grating is eccentrically arranged on the rotating shaft in a penetrating way along the radial direction of the rotating shaft; the photoelectric switch comprises a transmitting end and a receiving end, the transmitting end is used for transmitting optical signals, the receiving end is used for receiving the optical signals and generating photoelectric pulse signals, the transmitting end and the receiving end are respectively arranged on two sides of the rotating shaft in the radial direction, and in the rotating process of the rotating shaft, the optical signals transmitted by the transmitting end penetrate through the grating and are transmitted to the receiving end to generate the photoelectric pulse signals so as to determine the stop position of the motor; the grating is directly arranged on the rotating shaft to be positioned, and the problem that the positioning detection cannot be carried out due to the limitation of the mounting space of the shaft end of the rotating shaft is solved by matching with the structural form of the photoelectric switch.
Description
Technical Field
The application relates to the technical field of transmission positioning, in particular to a rotating shaft positioning device.
Background
Generally, a rotary encoder is mainly used for accurately positioning a rotating object such as a rotating shaft, but the encoder is expensive and has high requirements for installation environments, such as cleanliness and sealing performance of a grating installation area and a use environment of the whole equipment, and a certain installation space is also required.
At present, no effective solution exists for the limitation of the installation space of the shaft end of an execution shaft such as a rotating shaft and how to realize the positioning of the rotating shaft with certain precision under the condition of an open environment.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a rotating shaft positioning device, which aims to solve the problem that a certain precision positioning cannot be carried out on a rotating shaft under the conditions that the mounting space of the shaft end of the rotating shaft is limited and the rotating shaft is located in an open environment.
The embodiment of the application provides a rotating shaft positioning device, which is used for positioning a rotating shaft and comprises a motor, a grating and a photoelectric switch;
the motor is in transmission connection with the rotating shaft and drives the rotating shaft to rotate;
the grating is eccentrically arranged on the rotating shaft in a penetrating way along the radial direction of the rotating shaft;
the photoelectric switch comprises a transmitting end and a receiving end, the transmitting end is used for transmitting optical signals, the receiving end is used for receiving the optical signals and generating photoelectric pulse signals, the transmitting end and the receiving end are respectively arranged on two radial sides of the rotating shaft, and in the rotating process of the rotating shaft, the optical signals transmitted by the transmitting end penetrate through the grating and are transmitted to the receiving end to generate the photoelectric pulse signals so as to determine the stop position of the motor.
According to a preferred embodiment of the present application, a connection line between the transmitting end and the receiving end coincides with a center line of the grating.
According to a preferred embodiment of the present application, the eccentricity D of the grating on the rotating shaft is:
D＞r/2
and r is the optical path radius of the optical signal sent by the transmitting end at the grating.
According to a preferred embodiment of the present application, a width d of the grating along the radial direction of the rotation axis is:
d≥2rXk
wherein r is the optical path radius of the optical signal sent by the transmitting end at the grating, and k is the trigger light passing rate of the photoelectric switch at the grating.
According to a preferred embodiment of the present application, the grating is a single slit grating.
According to a preferred embodiment of this application, the output of motor with be connected with the speed reducer between the pivot, the output shaft of speed reducer with the pivot is the rotation of axial slidingtype and is connected, during the pivot axial displacement, photoelectric switch the transmitting terminal with the receiving terminal is located all the time the grating is followed the axial extension's of pivot length within range.
According to a preferred embodiment of the present application, the length L of the grating extending axially along the axis is:
L＞2r+x
wherein r is the radius of the optical path of the optical signal emitted by the emitting end at the grating, and x is the axial movement stroke of the rotating shaft.
According to a preferred embodiment of the application, the section contour of the output shaft of the speed reducer in the axial direction of the vertical shaft at least comprises a convex section, a concave section or a straight section, the rotating shaft is provided with a transmission hole matched with the section shape of the output shaft of the speed reducer, and the output shaft of the speed reducer is connected with the rotating shaft in an axial sliding mode through the transmission hole.
According to a preferred embodiment of the application, be equipped with on the pivot and be located the grating with annular boss between the speed reducer, annular boss with be equipped with elastic component between the speed reducer.
According to a preferred embodiment of the application, the elastic component comprises a spring, the spring is sleeved on the outer side of the rotating shaft, and two ends of the spring are respectively fixedly connected with the annular boss and the speed reducer.
According to a preferred embodiment of the present application, the rotating shaft positioning device further includes an angular velocity speed measuring device installed at the end of the motor, and the angular velocity speed measuring device is used for detecting the angular velocity of the motor.
According to a preferred embodiment of the present application, the angular velocity measurement device is a hall sensor.
According to a preferred embodiment of the present application, the rotating shaft positioning device further includes a controller, and the controller is respectively connected to the photoelectric switch, the angular velocity measurement device, and the motor, and is configured to control the motor to stop according to a photoelectric pulse signal generated by the photoelectric switch.
According to a preferred embodiment of the present application, the controller controls a rotation angle of the motor, and the rotation angle of the motor is used for compensating an angle of the rotating shaft for multiple rotations.
The beneficial effect of this application does: the grating is directly arranged on the rotating shaft to be positioned, and the problem that the positioning detection cannot be carried out due to the limitation of the mounting space of the shaft end of the rotating shaft is solved by matching with the structural form of the photoelectric switch.
Drawings
The technical solution and other advantages of the present application will become apparent from the detailed description of the embodiments of the present application with reference to the accompanying drawings.
Fig. 1 is a schematic perspective view of a rotating shaft positioning device according to an embodiment of the present disclosure;
fig. 2 is a front view of a rotating shaft positioning device according to an embodiment of the present disclosure;
FIG. 3 is a schematic cross-sectional view of FIG. 2;
fig. 4 is a schematic diagram of the triggering state of the photoelectric switch when the rotating shaft is at different positions;
FIG. 5 is a waveform diagram of the photoelectric switch under different trigger states;
FIG. 6 is a schematic structural view of the grating at a position away from the photo-on trigger position;
FIG. 7 is a schematic cross-sectional view of an output shaft of a reducer;
FIG. 8 is a cross-sectional view of an output shaft of another reducer;
fig. 9 is a schematic cross-sectional view of an output shaft of another reducer.
Detailed Description
Specific structural and functional details disclosed herein are merely representative and are provided for purposes of describing example embodiments of the present application. This application may, however, be embodied in many alternate forms and should not be construed as limited to only the embodiments set forth herein.
In the description of the present application, it is to be understood that the terms "center," "lateral," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and therefore should not be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" 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, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified. Furthermore, the term "comprises" and any variations thereof is intended to cover non-exclusive inclusions.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The present application is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1 to 6, an embodiment of the present application provides a rotating shaft positioning device, which is used for positioning a rotating shaft 4, where the rotating shaft 4 positioning device includes a motor 1, a grating 2, and a photoelectric switch 3;
the motor 1 is in transmission connection with the rotating shaft 4 and drives the rotating shaft 4 to rotate;
the grating 2 is eccentrically arranged on the rotating shaft 4 in a penetrating way along the radial direction of the rotating shaft 4;
the photoelectric switch 3 comprises a transmitting end 31 and a receiving end 32, wherein the transmitting end 31 is used for transmitting an optical signal, the receiving end 32 is used for receiving the optical signal and generating a photoelectric pulse signal, the transmitting end 31 and the receiving end 32 are respectively arranged on two radial sides of the rotating shaft 4, and in the rotating process of the rotating shaft 4, the optical signal transmitted by the transmitting end 31 passes through the grating 2 and is transmitted to the receiving end 32 to generate the photoelectric pulse signal so as to determine the stop position of the motor 1.
It can be understood that, in actual industrial production life, the rotating shaft 4 needs to be rotated to a specific position for many times, such as the positioning of the original point, and, under many open working conditions, one end of the rotating shaft 4 is connected with the driving mechanism, and the other end is connected with the executing mechanism or needs to execute actions, so that the installation space of the shaft end is limited, so that the existing rotary positioning device cannot be applied.
In an embodiment, the optoelectronic switch 3 includes a transmitting end 31 and a receiving end 32, the grating 2 is opened on the rotating shaft 4 when the rotating shaft 4 is located at a position to be positioned, and the transmitting end 31 and the receiving end 32 are respectively disposed on two radial sides of the rotating shaft 4, so as to ensure that the optoelectronic switch 3 is triggered when the rotating shaft 4 is located at the position, and obviously, the grating 2 may be in various structural forms that allow the transmitting end 31 to transmit an optical signal.
In a specific embodiment, a connection line between the transmitting end 31 and the receiving end 32 coincides with a center line of the grating 2, and it is understood that the center line of the grating 2 is located at a geometric symmetry center of the grating 2, specifically, the center line of the grating 2 passes through the grating 2 from a side of the grating 2 close to the transmitting end 31 to a side of the grating 2 close to the receiving end 32, and in an axial direction of the rotating shaft 4, distances from the center line to both ends of the grating 2 are equal, and in a radial direction of the rotating shaft 4, distances from the center line to both sides of the grating 2 are equal. Obviously, this arrangement structure enables the optical signal emitted from the emitting end 31 to pass through the grating 2 as much as possible, and also enables the receiving end 32 to receive the optical signal as much as possible, so as to reduce the influence on the optical signal passing through the grating 2 when the rotating shaft 4 is displaced during rotation, such as radial runout or axial movement, and to ensure the stability of triggering of the optoelectronic switch 3.
In one embodiment, the eccentricity D of the grating 2 on the rotating shaft 4 is:
D＞r/2
where r is the optical path radius of the optical signal emitted from the emitting end 31 at the grating 2.
Obviously, in the optoelectronic switch 3, the optical signal such as the light beam emitted from the emitting end 31 has a certain propagation diffusion radius, and when the eccentricity D of the grating 2 is less than or equal to r/2 in the state of the rotating shaft 4 as shown in fig. 6, an optical path may pass through the grating 2, which may cause false triggering of the optoelectronic switch 3, and the rotating shaft 4 may be positioned at a wrong position.
According to a preferred embodiment of the present application, the width d of the grating 2 along the radial direction of the rotating shaft 4 is:
d≥2rXk
wherein r is the optical path radius of the optical signal emitted by the emitting end 31 at the grating 2, and k is the trigger light passing rate of the photoelectric switch 3 at the grating 2; it can be understood that, under the condition of a fixed structure, the optical path radius of the optical signal emitted by the emitting end 31 at the optical grating 2 is certain, and a certain light passing rate is required for triggering the optoelectronic switch 3, the width of the optical grating 2 refers to the width of the optical grating 2 along the radial direction of the rotating shaft 4, and if the width d of the optical grating 2 is too narrow, when the rotating shaft 4 passes through a position to be positioned, the optoelectronic switch 3 cannot be triggered due to an insufficient light passing rate, so that the rotating shaft 4 cannot be accurately positioned.
In an embodiment, the grating 2 is a single slit grating, the structure of the single slit grating is simple, the processing and the manufacturing are convenient, and the change of the whole structure of the rotating shaft 4 is also reduced to the maximum extent on the basis that the single slit grating can be matched with the photoelectric switch 3 to position the rotating shaft 4.
In an embodiment, a speed reducer 5 is connected between the output end of the motor 1 and the rotating shaft 4, an output shaft 51 of the speed reducer 5 is axially slidably and rotatably connected with the rotating shaft 4, and when the rotating shaft 4 moves along the axial direction, the transmitting end 31 and the receiving end 32 of the photoelectric switch 3 are always located within a length range of the grating 2 extending along the axial direction of the rotating shaft 4; it can be understood that, in the transmission connection of the axial sliding type, only the rotating shaft 4 is driven in the rotating direction, and the degree of freedom of the rotating shaft 4 in the axial direction is not limited, so that the grating 2 on the rotating shaft 4 is displaced and changed relative to the transmitting end 31 and the receiving end 32 of the optoelectronic switch 3, so as to realize that the light is still through during the axial movement of the rotating shaft 4.
In one embodiment, the length L of the grating 2 extending axially along the shaft 4 is:
L＞2r+x
it can be understood that, when the rotating shaft 4 does not axially displace, the length L of the grating 2 is greater than 2r, so as to ensure the maximization of light throughput when triggered, under the condition that the width of the grating 2 is certain, obviously, when the rotating shaft 4 has certain axial displacement, the length L of the grating 2 should be greater than 2r + x, so as to avoid that part of light is not within the length range of the grating 2, so that the light throughput is reduced and the photoelectric switch 3 cannot be triggered.
Specifically, as shown in fig. 7-9, a cross-sectional profile of the output shaft 51 of the speed reducer 5 in a direction perpendicular to the axial direction at least includes a convex section 511, a concave section 512, or a straight section 513, and the specific cross-sectional profile may be in a form of a polygon or a similar gear tooth profile, etc., a transmission hole 41 matching with a cross-sectional shape of the output shaft 51 of the speed reducer 5 is provided on the rotating shaft 4, and the output shaft 51 of the speed reducer 5 is axially slidably and rotatably connected with the rotating shaft 4 through the transmission hole 41, obviously, by matching such a non-circular shaped profile with the transmission hole 41 on the rotating shaft 4, it is possible to provide a rotational moment for the rotating shaft 4 and ensure that the output shaft 51 of the speed reducer 5 and the rotating shaft 4 slide relatively in the axial direction, which is a common structure, such as a spline, in an embodiment, as shown in fig. 3, a plane is axially provided on the output shaft 51 of the speed reducer 5 so that the cross-sectional profile thereof is in a non-circular state including a straight line segment 513, so that the rotation shaft 4 and the output shaft 51 of the speed reducer 5 do not rotate relative to each other.
In an embodiment, an annular boss 42 is disposed on the rotating shaft 4 between the grating 2 and the speed reducer 5, and an elastic component is disposed between the annular boss 42 and the speed reducer 5, it can be understood that, as described above, an end of the rotating shaft 4 away from the speed reducer 5 is used as an executing end, which needs to perform a corresponding action on an executed member, in this process, when the rotating shaft 4 is subjected to an acting force in the direction of the speed reducer 5 along the axis, the rotating shaft 4 moves in the direction of the speed reducer 5 along the axis to drive the annular boss 42 to compress the elastic component, at this time, the compressed elastic component can keep the rotating shaft 4 having an external elastic force to prevent the rotating shaft 4 from separating from the executed member, so that the rotating shaft 4 keeps a movable state in the axis direction, especially in the case that the rotating shaft 4 is driven by the motor 1 to rotate, when the rotating shaft 4 is excessively contacted with the executed member, the acting force of the executed member on the rotating shaft 4 can move towards the speed reducer 5 so as to avoid severe rigid collision with the executed member, and at the moment, the acting force towards the executed member is also applied to the rotating shaft 4 due to the compression of the elastic component, so that the purpose that the rotating shaft 4 and the executed member are always in flexible contact is achieved. In addition, under a special condition, when the rotating shaft 4 is far away from the speed reducer 5 to a certain distance, the elastic component is in a stretching state, and a back-pulling force can be formed on the rotating shaft 4, so that the rotating shaft 4 is prevented from being separated. Specifically, elastic component includes spring 6, 6 covers of spring are located 4 outsides of pivot, and both ends respectively with annular boss 42 with the outer box fixed connection of speed reducer 5, specific fixed connection mode can be welded fastening, also can be through set up the draw-in groove on annular boss 42 or the outer box of speed reducer 5 with 6 joints of spring or other can dismantle the connection.
It should be noted that in the whole control process of the present application, it may be implemented through a certain circuit structure that in the rotation process of the rotating shaft 4, when the grating 2 rotates to the trigger position along with the rotating shaft 4, the optical signal sent by the transmitting end 31 passes through the grating 2 and is transmitted to the receiving end 32 to generate the photoelectric pulse signal, and at this time, the photoelectric switch 3 detects the photoelectric pulse signal, and then cuts off the power supply of the motor 1 to stop rotating, so as to position the rotating shaft 4. Of course, in an embodiment, a controller (not shown) may be further included, and the controller is respectively connected to the photoelectric switch 3 and the motor 1, and is configured to control the motor 1 to stop according to the photoelectric pulse signal generated by the photoelectric switch 3; specifically, the controller may be a control unit provided in the motor 1, such as the servo motor 1, or may be another type of controller.
In a period of uniform rotation of the rotating shaft 4, as shown in fig. 4, a curved arrow represents a rotation direction of the rotating shaft 4, and a straight arrow represents a propagation direction of light, wherein three positions in the first state are in a blocking state, that is, the photoelectric switch 3 is not triggered, the second state, the third state and the fourth state are triggering processes of the photoelectric switch 3, and the states correspond to a waveform diagram generated by the photoelectric switch 3 in fig. 5, specifically, the first state is a low level, the second state is a rising edge, the third state is a high level, and the fourth state is a falling edge; in the process that the controller controls the motor 1 to stop according to the photoelectric pulse signal generated by the photoelectric switch 3, the controller may control the motor 1 to stop immediately after receiving the pulse signal and changing from a high level to a low level, so as to position the rotating shaft 4 at the position.
It should be noted that, as shown in fig. 5, when the photoelectric switch 3 detects a low level, due to the existence of the falling edge corresponding to the fourth state, the rotating shaft 4 enters the first state after rotating for a certain angle within the time period of the falling edgeThe low level of the ratio, thereby reducing the positioning accuracy of the rotary shaft 4, in order to compensate for the angle of the rotary shaft 4 for multiple turns during the falling edge period, in an embodiment, the positioning device for a rotating shaft 4 further includes an angular velocity measurement device 7 installed at the end of the motor 1, where the angular velocity measurement device 7 is used to detect the angular velocity of the motor 1, specifically, can be a hall sensor, the controller is connected with the angular velocity speed measuring device 7, the controller is also used for controlling the angular velocity speed measuring device to work after the photoelectric switch 3 is triggered and stopped, the rotation angle of the motor 1 is controlled to compensate for the aforementioned multi-rotation angle, and specifically, as shown in the figure, the time t corresponding to the falling edge is t3-t2, the angular speed omega of the motor 1 is detected by combining the angular speed measuring device 7, and the transmission ratio n of the speed reducer 5, and the rotation angle W of the rotating shaft 4 to be compensated is calculated.Rotating shafttX ω/n; the rotation angle W of the motor 1 is controlled corresponding to the requirement of the controllerElectric machine＝tXω。
It can be understood that, in an actual working condition, for example, performing the rotation of the rotating shaft 4 at the origin is performed under a constant speed condition, and under a certain speed condition, at this time, the falling edge time in the waveform triggered by the grating 2 of the same size is the same, the required rotation angle can be obtained in advance through the calculation in the foregoing manner, so that in a specific use, the required rotation angle is stored in advance, and the controller compensates for the rotating shaft 4 through a circuit structure (for example, a PID control circuit). In addition, under the condition of non-uniform speed, the controller can also measure the falling edge time according to the pulse signal triggered by the photoelectric switch 3, and calculate the average speed of the rotating shaft 4 in the falling edge time period so as to perform certain rotation angle compensation on the rotating shaft 4.
To sum up, this application has solved the problem that can't fix a position the detection to 4 shaft ends installation space limits of pivot through directly setting up grating 2 on the pivot 4 of required location, cooperation photoelectric switch 3's structural style to, this structure also possesses better suitability to open environment, overall structure is compact, fixes a position stably.
In summary, although the present application has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present application, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, so that the scope of the present application shall be determined by the appended claims.
Claims (14)
1. A rotating shaft positioning device is used for positioning a rotating shaft and is characterized by comprising a motor, a grating and a photoelectric switch;
the motor is in transmission connection with the rotating shaft and drives the rotating shaft to rotate;
the grating is eccentrically arranged on the rotating shaft in a penetrating way along the radial direction of the rotating shaft;
the photoelectric switch comprises a transmitting end and a receiving end, the transmitting end is used for transmitting optical signals, the receiving end is used for receiving the optical signals and generating photoelectric pulse signals, the transmitting end and the receiving end are respectively arranged on two radial sides of the rotating shaft, and in the rotating process of the rotating shaft, the optical signals transmitted by the transmitting end penetrate through the grating and are transmitted to the receiving end to generate the photoelectric pulse signals so as to determine the stop position of the motor.
2. The spindle positioning device according to claim 1, wherein a line connecting the transmitting end and the receiving end coincides with a center line of the grating.
3. The spindle positioning device according to claim 2, wherein the eccentricity D of the grating on the spindle is:
D＞r/2
and r is the optical path radius of the optical signal sent by the transmitting end at the grating.
4. The spindle positioning device according to claim 2, wherein the width d of the grating in the radial direction of the spindle is:
d≥2rXk
wherein r is the optical path radius of the optical signal sent by the transmitting end at the grating, and k is the trigger light passing rate of the photoelectric switch at the grating.
5. A spindle location device according to any one of claims 1 to 4 wherein the grating is a single slit grating.
6. The apparatus according to claim 5, wherein a speed reducer is connected between the output end of the motor and the rotating shaft, an output shaft of the speed reducer is rotatably connected to the rotating shaft in an axially sliding manner, and when the rotating shaft moves axially, the transmitting end and the receiving end of the optoelectronic switch are always located within a length range of the grating extending axially along the rotating shaft.
7. The spindle positioning apparatus of claim 6 wherein the grating extends axially along the spindle for a length L of:
L＞2r+x
wherein r is the radius of the optical path of the optical signal emitted by the emitting end at the grating, and x is the axial movement stroke of the rotating shaft.
8. The rotating shaft positioning device according to claim 6, wherein a cross-sectional profile of the output shaft of the speed reducer in a direction perpendicular to the axial direction at least includes a convex section, a concave section or a straight section, the rotating shaft is provided with a transmission hole matching with the cross-sectional shape of the output shaft of the speed reducer, and the output shaft of the speed reducer is axially slidably and rotatably connected with the rotating shaft through the transmission hole.
9. The rotating shaft positioning device according to claim 6, wherein an annular boss is provided on the rotating shaft between the grating and the speed reducer, and an elastic component is provided between the annular boss and the speed reducer.
10. The rotating shaft positioning device according to claim 9, wherein the elastic component comprises a spring, the spring is sleeved outside the rotating shaft, and two ends of the spring are respectively and fixedly connected with the annular boss and the speed reducer.
11. The apparatus of claim 6, further comprising an angular velocity measurement device mounted at an end of the motor, the angular velocity measurement device being configured to detect an angular velocity of the motor.
12. The spindle positioning device according to claim 11, wherein the angular velocity sensing device is a hall sensor.
13. The apparatus according to claim 11, further comprising a controller, wherein the controller is connected to the optoelectronic switch, the angular velocity measurement device and the motor, and is configured to control the motor to stop according to the optoelectronic pulse signal generated by the optoelectronic switch.
14. The spindle positioning apparatus of claim 13, wherein the controller controls a rotation angle of the motor, the rotation angle of the motor being used to compensate for multiple rotation of the spindle.
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|---|---|---|---|
| CN201922228084.5U CN211042090U (en) | 2019-12-12 | 2019-12-12 | Rotating shaft positioning device |
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| CN201922228084.5U CN211042090U (en) | 2019-12-12 | 2019-12-12 | Rotating shaft positioning device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111982508A (en) * | 2020-09-28 | 2020-11-24 | 马鞍山钢铁股份有限公司 | Continuous-annealing line tooth type coupling fault detection device, system and method |
| CN113511593A (en) * | 2021-08-23 | 2021-10-19 | 宁波北仑第三集装箱码头有限公司 | Hoist control system of integrated bridge crane |
-
2019
- 2019-12-12 CN CN201922228084.5U patent/CN211042090U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111982508A (en) * | 2020-09-28 | 2020-11-24 | 马鞍山钢铁股份有限公司 | Continuous-annealing line tooth type coupling fault detection device, system and method |
| CN111982508B (en) * | 2020-09-28 | 2022-06-21 | 马鞍山钢铁股份有限公司 | Continuous-annealing line tooth type coupling fault detection device, system and method |
| CN113511593A (en) * | 2021-08-23 | 2021-10-19 | 宁波北仑第三集装箱码头有限公司 | Hoist control system of integrated bridge crane |
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