CN100565093C - A kind of controllable device initial angle position dynamic detection device - Google Patents
A kind of controllable device initial angle position dynamic detection device Download PDFInfo
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- CN100565093C CN100565093C CNB2007103007178A CN200710300717A CN100565093C CN 100565093 C CN100565093 C CN 100565093C CN B2007103007178 A CNB2007103007178 A CN B2007103007178A CN 200710300717 A CN200710300717 A CN 200710300717A CN 100565093 C CN100565093 C CN 100565093C
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- driving link
- photoelectric sensor
- revolving shaft
- index dial
- moving disk
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Abstract
The invention discloses a kind of controllable device initial angle position dynamic detection device, the index dial that comprises full circle week calibration, the axle center of index dial overlaps with the zero position of driving link with axis coinciding and its calibration of driving link revolving shaft zero point, be fixed with the slip locating piece on the excircle of index dial, on the slip locating piece photoelectric sensor is installed, photoelectric sensor is connected with the switch acquisition device with direct supply respectively, the switch acquisition device is with the switching value signal input computer control system that collects, comprise that also one is fixed on the moving disk on the driving link revolving shaft, the axle center of moving disk and the axis coinciding of driving link revolving shaft, and the outer circumferential edges of moving disk is by the groove of photoelectric sensor, moving disk outer circumferential edges radially has bar-shaped trough, and this bar-shaped trough overlaps with the zero position of driving link.Initial angle position to controllable mechanism carries out the detection of dynamic location, makes controllable mechanism realize given movement locus.
Description
Technical field
The invention belongs to the mechanical automation technical field, be specifically related to a kind of device for dynamically detecting of controllable mechanism initial angle position.
Background technology
The initial angle position of mechanism is meant mechanism when realizing given motion, the position, angle that requires each driving link to reach in the initial moment.
The controllable mechanism compatibility characteristics of conventional closed chain mechanism and servo-actuating device, have good rigidly, precision height, possess the advantage of certain flexibility, thereby have broad application prospects.The input motion (partly or entirely) or the structural parameters that are characterized in mechanism can be by computer real-time or manual control.The output movement track of controllable mechanism and the initial angle position of driving link are closely related, and promptly for the identical input motion of driving link, the driving link initial angle position changes, and great changes will take place in the movement locus meeting of controllable mechanism output.For controllable mechanism, accurately realize given movement locus, must guarantee that the initial angle position of each driving link meets the desired initial angle position of the given motion of realization.
At present, in the research of controllable mechanism, the definite general static measurement method or the limited block method of adopting of driving link initial angle position, precision is lower, is not easy to adjust.
Summary of the invention
The device for dynamically detecting that the purpose of this invention is to provide a kind of controllable mechanism initial angle position can be realized dynamically determining of driving link initial angle position, and motion of mechanism precision and stability are improved.
The technical solution adopted in the present invention is, the device for dynamically detecting of controllable mechanism initial angle position, the index dial that comprises full circle week calibration, the axle center of index dial overlaps with the zero position of driving link revolving shaft with axis coinciding and its calibration of driving link revolving shaft zero point, be fixed with the slip locating piece on the excircle of index dial, on the slip locating piece photoelectric sensor is installed, photoelectric sensor is connected with the switch acquisition device with direct supply respectively, the switch acquisition device is with the switching value signal input computer control system that collects, comprise that also one is fixed on the moving disk on the driving link revolving shaft, the axle center of moving disk and the axis coinciding of driving link revolving shaft, and the outer circumferential edges of moving disk is by the groove of photoelectric sensor, moving disk outer circumferential edges radially has bar-shaped trough, and this bar-shaped trough overlaps with the zero position of driving link.
Characteristics of the present invention also are,
The slip locating piece is provided with breach C, the plane of symmetry coplane of the central plane of photoelectric sensor and breach C.
Pick-up unit of the present invention has realized that the Kinematic Positioning of each driving link initial angle position of mechanism with synchronously, has improved the accuracy and the stability of mechanism kinematic.
Description of drawings
Fig. 1 is the structural representation of pick-up unit of the present invention;
Fig. 2 is the structural representation of pick-up unit slip locating piece of the present invention, and wherein, a is a front view, and b is a vertical view.
Among the figure, 1. index dial, 2. slip locating piece, 3. photoelectric sensor, 4. moving disk, 5. direct supply, 6. switch acquisition device, 7. computer control system, 8. driving link revolving shaft bearing, 9. driving link revolving shaft.
Embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
Structure of the present invention as shown in Figure 1, the index dial 1 of calibration is fixedly connected on the driving link revolving shaft bearing 8 with full circle week, the axle center of index dial 1 overlaps with the zero position of driving link with axis coinciding and its calibration of driving link revolving shaft 9 zero point, is fixed with slip locating piece 2 on the excircle of index dial 1.The structure of slip locating piece 2 as shown in Figure 2, its B place is provided with housing screw, by housing screw slip locating piece 2 is fixed on the index dial 1, unclamp housing screw and can adjust slip locating piece 2 residing position on index dial 1, slip locating piece 2 is provided with breach C, the tip of this breach C is the positioning reference of slip locating piece 2, and promptly the position that overlaps with index dial 1 high scale, the tip of breach C should be controllable mechanism and realizes the desired initial angle position of given trace; A place on the slip locating piece 2 is fixed with photoelectric sensor 3, the plane of symmetry coplane of the breach C on the central plane of photoelectric sensor 3 and the slip locating piece 2.Photoelectric sensor 3 is connected with switch acquisition device 6 with direct supply 5 respectively, switch acquisition device 6 is with the switching value signal input computer control system 7 that collects, moving disk 4 is fixedly connected on the driving link revolving shaft 9, the axle center of moving disk 4 and the axis coinciding of driving link revolving shaft 9, the outer circumferential edges of moving disk 4 is by the groove of photoelectric sensor 3 ends, the outer circumferential edges of moving disk 4 radially has bar-shaped trough, and this bar-shaped trough overlaps with the zero position of driving link.
During use, at first the initial angle position relation that requires according to given trace is adjusted slip locating piece 2, itself and photoelectric sensor 3 is transferred to the position, angle of requirement.After system's energising, direct supply 5 gives photoelectric sensor 3 power supplies, switch acquisition device 6 begins to gather the signal of photoelectric sensor 3 and imports computer control system 7, and 9 entrys into service of motor-driven driving link revolving shaft are installed in moving disk 4 running together thereupon on the driving link revolving shaft 9.When moving disk 4 did not have the part of fluting to pass through the groove of photoelectric sensor 3, light was blocked, and the signal of the photoelectric sensor 3 that switch acquisition device 6 collects is " 0 "; When the slotted section of moving disk 4 passed through the groove of photoelectric sensor 3, light was not blocked, and the signal of the photoelectric sensor 3 that switch acquisition device 6 collects is " 1 ".When the signal of the switching value that obtains when computer control system 7 is " 1 ", show that the residing position of driving link this moment is for realizing the initial angle position of given trace requirement, computer control system 7 beginnings are to realize the input motion rule drive motor of given trace, realize the generation of given trace, stop the sampling of switch amount collector 6 simultaneously.As long as adjust the position of slip locating piece 2, just can realize the location of the different initial angle positions of driving link.
In the time of in being applied to the two-freedom controllable mechanism, this device for dynamically detecting of cover is installed respectively on two driving link revolving shaftes 9, is adjusted the position of two slip locating pieces 2 according to the initial angle position of given trace requirement respectively.After system's energising, direct supply 5 is 3 power supplies of two photoelectric sensors, multi-way switch amount collector 6 begins to gather the signal of photoelectric sensor 3 and imports computer control system 7, two motors drive 9 runnings of driving link revolving shaft respectively, control a drive motor and at the uniform velocity turn round, another drive motor quickens or decelerate; When two photoelectric sensors 3 are connected simultaneously, when promptly multi-way switch amount collector 6 collected two signals for " 1 " simultaneously, the residing position of two driving links this moment was the initial angle position of realizing the track requirement.Computer control system 7 beginnings realize the generation of given trace to realize the input motion rule drive motor of given trace, stop the sampling of switch amount collector 6 simultaneously.
In like manner, the present invention can be applicable in Three Degree Of Freedom and the multiple degrees of freedom controllable mechanism, realizes the synchronous of each driving link initial angle position of a plurality of controllable mechanisms.
Claims (2)
1. controllable device initial angle position dynamic detection device, it is characterized in that, the index dial (1) that comprises full circle week calibration, index dial (1) is fixedly connected on the driving link revolving shaft bearing (8), the axle center of index dial (1) overlaps with the zero position of driving link revolving shaft (9) with axis coinciding and its calibration of driving link revolving shaft (9) zero point, be fixed with slip locating piece (2) on the excircle of index dial (1), slip locating piece (2) can be adjusted its position, angle on index dial (1), photoelectric sensor (3) is installed on the slip locating piece (2), photoelectric sensor (3) is connected with switch acquisition device (6) with direct supply (5) respectively, switch acquisition device (6) is with the switching value signal input computer control system (7) that collects, this device for dynamically detecting comprises that also one is fixed on the moving disk (4) on the driving link revolving shaft (9), the axis coinciding of the axle center of described moving disk (4) and driving link revolving shaft (9), and the outer circumferential edges of described moving disk (4) is by the groove of photoelectric sensor (3), moving disk (4) outer circumferential edges radially has bar-shaped trough, and this bar-shaped trough overlaps with the zero position of driving link.
2. pick-up unit according to claim 1 is characterized in that, described slip locating piece (2) is provided with breach (C), the plane of symmetry coplane of the central plane of photoelectric sensor (3) and breach (C).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007103007178A CN100565093C (en) | 2007-12-27 | 2007-12-27 | A kind of controllable device initial angle position dynamic detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007103007178A CN100565093C (en) | 2007-12-27 | 2007-12-27 | A kind of controllable device initial angle position dynamic detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101216285A CN101216285A (en) | 2008-07-09 |
| CN100565093C true CN100565093C (en) | 2009-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007103007178A Expired - Fee Related CN100565093C (en) | 2007-12-27 | 2007-12-27 | A kind of controllable device initial angle position dynamic detection device |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102749024B (en) * | 2012-06-19 | 2014-11-26 | 东南大学 | Indexing accuracy measuring device |
| CN103112246A (en) * | 2012-12-10 | 2013-05-22 | 苏州一致电子制程有限公司 | Rotary detection mechanism of thermal transfer printing machine rotary table |
| CN103017688B (en) * | 2012-12-27 | 2014-12-10 | 陕西宝成航空仪表有限责任公司 | Method for using photoelectric device to determine complete rotation arrival and rotating angle of turntable in north seeker |
| CN106423732A (en) * | 2016-10-18 | 2017-02-22 | 深圳市帝冠科讯科技有限公司 | Double-station three-dimensional intelligent glue dispenser |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4971442A (en) * | 1985-08-23 | 1990-11-20 | Matsushita Electric Industrial Co., Ltd. | Photoelectric position encoder using diffraction imagery |
| US5030825A (en) * | 1989-03-15 | 1991-07-09 | Mitsubishi Denki K.K. | Rotational angle detector having grounded slit plate |
| US5670780A (en) * | 1995-04-14 | 1997-09-23 | Lewis; W. Stan | Device providing real-time orientation and direction of an object |
-
2007
- 2007-12-27 CN CNB2007103007178A patent/CN100565093C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4971442A (en) * | 1985-08-23 | 1990-11-20 | Matsushita Electric Industrial Co., Ltd. | Photoelectric position encoder using diffraction imagery |
| US5030825A (en) * | 1989-03-15 | 1991-07-09 | Mitsubishi Denki K.K. | Rotational angle detector having grounded slit plate |
| US5670780A (en) * | 1995-04-14 | 1997-09-23 | Lewis; W. Stan | Device providing real-time orientation and direction of an object |
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| CN101216285A (en) | 2008-07-09 |
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Owner name: NANTONG TONGYANG MECHANICAL AND ELECTRICAL MANUFAC Free format text: FORMER OWNER: XI'AN UNIV. OF SCIENCE AND ENGINEERING Effective date: 20130725 |
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Free format text: CORRECT: ADDRESS; FROM: 710048 XI'AN, SHAANXI PROVINCE TO: 226600 NANTONG, JIANGSU PROVINCE |
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Effective date of registration: 20130725 Address after: 226600 Jiangsu Province, Nantong city Haian County Industrial Park Tong Ping Road No. 9 Patentee after: Nantong Tongyang Mechanical and Electrical Manufacture Co., Ltd. Address before: 710048 Shaanxi city of Xi'an Province Jinhua Road No. 5 Patentee before: Xi'an University of Technology |
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Granted publication date: 20091202 Termination date: 20181227 |