CN102692930B - Motion synthesis method and motion device - Google Patents

Abstract

The invention relates to a motion device. The motion device comprises a linear guide rail which is obliquely intersected with a directed plane on which a directed point is positioned and a guiding direction of the directed plane extends along a straight line, wherein an oscillating motor which is used for driving a corresponding moving body to oscillate at a uniform speed is assembled on the linear guide rail in a guiding mode. The motion device also comprises a variable speed motor which is in transmission connection with the oscillating motor and drives the oscillating motor and the corresponding moving body to reciprocate along the linear guide rail, and a controller which is in control connection with the variable speed motor to realize variable speed output to the oscillating motor by the variable speed motor.. The motion device solves the problem of high production cost of an arc-shaped guide rail which is used for ensure that the moving body is always directed towards a correspondingly fixed directed point during rotation in the prior art.

Description

A kind of movement synthesis method and telecontrol equipment

Technical field

The present invention relates to a kind of movement synthesis method.

Background technology

In some commercial unit, as shown in Figure 1, movable body 2 needs to realize the uniform rotation in certain angular range in pitch orientation, and movable body 2 needs to point to all the time a certain fixing directed some O in the process of rotating.For guaranteeing that movable body 2 points to all the time described fixing directed some O in rotation process, existing method for designing is one of design and this fixing directed some arc guide rail 1 that O is concentric, then make that movable body 2 attitudes remain unchanged along arc guide rail 1 guiding slip.But, arc guide rail 1 exist difficulty of processing large, require the shortcomings such as machining precision is high, cost is higher.

Summary of the invention

The object of the invention is to a kind of movement synthesis method, take and solve in prior art as guaranteeing that movable body points to all the time the higher problem of production cost of the arc guide rail that corresponding fixing directed point uses in rotation process.The present invention also aims to provide a kind of telecontrol equipment that uses this movement synthesis method.

In order to address the above problem, in this, a kind of technical scheme of movement synthesis method is:

A kind of movement synthesis method, use oscillating motor to drive movable body at the uniform velocity to swing around the rotating shaft of described oscillating motor, use change speed motor driving oscillating motor and movable body along a straight line guide rail are done change speed linear motion, the directed plane in place of line slideway and directed point tilts to intersect, and the instantaneous velocity V that wherein oscillating motor and movable body move along described line slideway meets following formula:

$V=\stackrel{\&CenterDot;}{x}=\left\{\begin{array}{cc}\frac{\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}+\mathrm{\&gamma;t})}& (x\&GreaterEqual;0)\\ \frac{-\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}-\mathrm{\&gamma;t})}& (x<0)\end{array}\right.$

When definition oscillating motor moves on line slideway, on line slideway, a certain position corresponding with oscillating motor is reference position, when described reference position, movable body points to directed point, wherein in above-mentioned formula: t represents the run duration of oscillating motor after reference position starts; γ represents the at the uniform velocity angle of oscillation speed of oscillating motor, i.e. the angle of oscillation speed of movable body; L represents the air line distance between reference position and directed point; α represents the line of reference position and directed point and the angle between line slideway; X is illustrated in after time t, the distance of moving along line slideway in oscillating motor relative datum position.

In the present invention, the technical scheme of telecontrol equipment is:

Telecontrol equipment, comprise that the directed plane in place with directed point tilts to intersect and guide direction along linearly extended line slideway, on line slideway, guiding is equipped with the oscillating motor for driving corresponding sports body at the uniform velocity to swing, described telecontrol equipment also comprises and is in transmission connection with described oscillating motor and drives described oscillating motor and corresponding sports body along the reciprocating change speed motor of described line slideway, described telecontrol equipment also comprises with described change speed motor control linkage to realize the controller of described change speed motor to the output of oscillating motor speed change, the instantaneous velocity V that wherein oscillating motor and movable body move along described line slideway meets following formula:

$V=\stackrel{\&CenterDot;}{x}=\left\{\begin{array}{cc}\frac{\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}+\mathrm{\&gamma;t})}& (x\&GreaterEqual;0)\\ \frac{-\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}-\mathrm{\&gamma;t})}& (x<0)\end{array}\right.$

When definition oscillating motor moves on line slideway, on line slideway, a certain position corresponding with oscillating motor is reference position, when described reference position, movable body points to directed point, wherein in above-mentioned formula: t represents the run duration of oscillating motor after reference position starts; γ represents the at the uniform velocity angle of oscillation speed of oscillating motor, i.e. the angle of oscillation speed of movable body; L represents the air line distance between reference position and directed point; α represents the line of reference position and directed point and the angle between line slideway; X is illustrated in after time t, the distance of moving along line slideway in oscillating motor relative datum position.

Beneficial effect of the present invention is: the present invention is by resolving into movable body luffing at the uniform velocity rectilinear motion and at the uniform velocity swinging, by calculating, movable body is inputted in change speed motor and to realize, the rectilinear motion of movable body controlled along the required movement velocity V of line slideway, the cooperation of change speed motor and oscillating motor has realized the at the uniform velocity luffing of movable body.By the present invention, avoided using the arc guide rail that is difficult to processing, thereby saved production cost.

Accompanying drawing explanation

Fig. 1 is the structural representation of prior art;

Fig. 2 is the structural representation in the movable body line slideway to A point upside when motion from A point in the present invention;

Fig. 3 is the structural representation in the movable body line slideway to A point downside when motion from A point in the present invention.

Embodiment

A kind of embodiment of movement synthesis method is as shown in Fig. 2～3: use oscillating motor 5 drive movable bodies 3 around as described in the rotating shaft of oscillating motor 5 at the uniform velocity swing, use change speed motor driving oscillating motor 5 and movable body 3 along a straight line guide rail 4 are done change speed linear motion, line slideway 4 tilts to intersect with the directed plane in place of directed some O, and the instantaneous velocity V that wherein oscillating motor 5 and movable body 3 move along described line slideway 4 meets following formula:

$V=\stackrel{\&CenterDot;}{x}=\left\{\begin{array}{cc}\frac{\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}+\mathrm{\&gamma;t})}& (x\&GreaterEqual;0)\\ \frac{-\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}-\mathrm{\&gamma;t})}& (x<0)\end{array}\right.$

When definition oscillating motor 5 moves on line slideway, on line slideway, a certain position corresponding with oscillating motor 5 is reference position, when described reference position, movable body 3 points to directed some O, wherein in above-mentioned formula: t represents the run duration of oscillating motor 5 after reference position starts, and t can record; γ represents the at the uniform velocity angle of oscillation speed of oscillating motor 5, i.e. the angle of oscillation speed of movable body 3, and γ is constant; L represents the air line distance between reference position and directed some O, and l is constant, can record; α represents the line of reference position and directed some O and the angle between line slideway, and α is constant, can record; X is illustrated in after time t, the distance of moving along line slideway 4 in oscillating motor 5 relative datum positions.

Now getting of two kinds of movement velocity V in above-described embodiment is further explained, suppose that movable body 3 does uniform rotation around directed some O, the rotational angular velocity requiring is γ at the uniform velocity, line slideway 4 and the corresponding angle α that fixes directed some O place plane, line slideway 4 is A with the intersection point of directed some O place plane, movable body 3 is done at the uniform velocity to swing under the drive of oscillating motor 5 in vertical plane, and the rotational angular velocity of oscillating motor 5 and movable body 3 is also γ at the uniform velocity.Can be along line slideway 4 moving linearlies under the change speed motor that movable body 3 is V in output space rate drives, A point is defined as to the reference position that oscillating motor 5 moves along line slideway, when this reference position, movable body 3 points to directed some O, β represents the angle that movable body 3 swings behind reference position, when β=0, the position that movable body 3 is ordered apart from A is x=0, the movement velocity V=0 of oscillating motor 5 and movable body 3.The first movement velocity V of oscillating motor 5 and movable body 3 gets as shown in Figure 2: supposition movable body 3 is when from A point, the line slideway to A point upside 4 moves, x>0, after time t, movable body 3 and oscillating motor 5 move to B point, and known its at the uniform velocity swings the angle ∠ OBD=∠ AOB=β=γ t turning over; Meanwhile, the distance x of movable body 3 distance A points meets formula in triangle OAB: $\frac{x}{\sin \left(\mathrm{\&beta;}\right)}=\frac{l}{\sin (\mathrm{\&pi;}-\mathrm{\&alpha;}-\mathrm{\&beta;})},$ Thereby learn, $x=\frac{l\sin \mathrm{\&beta;}}{\sin (\mathrm{\&alpha;}+\mathrm{\&beta;})},$ And then learn the movement velocity of oscillating motor 5 and movable body 3 $V=\stackrel{\&CenterDot;}{x}=\frac{\mathrm{dx}}{\mathrm{dt}}=\frac{\mathrm{dx}}{\mathrm{d\&beta;}}\frac{\mathrm{d\&beta;}}{\mathrm{dt}}=\frac{\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}+\mathrm{\&beta;})}=\frac{\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}+\mathrm{\&gamma;t})}.$ In the formula, t is a variable recording, and α, l and γ are constant, so movement velocity V can calculate.

The second movement velocity V of oscillating motor 5 and movable body 3 gets as shown in Figure 3: supposition movable body is when from A point, the line slideway to A point downside 4 moves, x<0, after time t, movable body 3 and oscillating motor 5 move to B point, and known its at the uniform velocity swings the angle ∠ OBD=∠ AOB=β=γ t turning over; Meanwhile, the distance x of movable body 3 distance A points meets formula in triangle OAB: the distance x of movable body 3 distance A points meets formula in triangle OAB: $\frac{x}{\sin \left(\mathrm{\&beta;}\right)}=\frac{l}{\sin \{\mathrm{\&pi;}-(\mathrm{\&pi;}-\mathrm{\&alpha;})-\mathrm{\&beta;}\}}=\frac{l}{\sin (\mathrm{\&alpha;}-\mathrm{\&beta;})},$ Suppose that the distance moving downward from A point is for negative, thereby learn, and then learn the movement velocity of oscillating motor 5 and movable body 3

$V=\stackrel{\&CenterDot;}{x}=\frac{\mathrm{dx}}{\mathrm{dt}}=\frac{\mathrm{dx}}{\mathrm{d\&beta;}}\frac{\mathrm{d\&beta;}}{\mathrm{dt}}=\frac{-\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}-\mathrm{\&beta;})}=\frac{-\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}-\mathrm{\&gamma;t})}.$

During concrete use, only the above-mentioned movement velocity value calculating need be encoded in the controller with change speed motor control linkage, by controller, change speed motor is realized in real time and being controlled, change speed motor is to the real-time speed change output of oscillating motor 5, thereby make oscillating motor 5 and movable body obtain the real time kinematics speed V along line slideway, just can guarantee movable body 3 when moving along line slideway 4 with oscillating motor 5 all the time towards directed some O, controller belongs to prior art to the control of change speed motor, is not described in detail in this.Certainly in other embodiments of the invention, reference position can also not be the position of intersecting point of line slideway 4 and directed some O place plane, when oscillating motor 5 moves along line slideway, reference position can be optional position corresponding with oscillating motor 5 on line slideway 4.

The embodiment of telecontrol equipment is as shown in Fig. 2～3: comprise that the directed plane in place with directed some O tilts to intersect and guide direction along linearly extended line slideway 4, on line slideway 4, guiding is equipped with the oscillating motor 5 for driving corresponding sports body 3 at the uniform velocity to swing, described telecontrol equipment also comprises and is in transmission connection with described oscillating motor 5 and drives described oscillating motor 5 and corresponding sports body along the reciprocating change speed motor of described line slideway, described telecontrol equipment also comprises with described change speed motor control linkage to realize the controller of described change speed motor to oscillating motor 5 speed change outputs, the instantaneous velocity V that wherein oscillating motor 5 and movable body 3 move along described line slideway 4 meets following formula:

$V=\stackrel{\&CenterDot;}{x}=\left\{\begin{array}{cc}\frac{\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}+\mathrm{\&gamma;t})}& (x\&GreaterEqual;0)\\ \frac{-\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}-\mathrm{\&gamma;t})}& (x<0)\end{array}\right.$

When definition oscillating motor 5 moves on line slideway 4, on line slideway 4, a certain position corresponding with oscillating motor 5 is reference position, when described reference position, movable body points to directed point, wherein in above-mentioned formula: t represents the run duration of oscillating motor 5 after reference position starts; γ represents the at the uniform velocity angle of oscillation speed of oscillating motor 5, i.e. the angle of oscillation speed of movable body 3; L represents the air line distance between reference position and directed some O; α represents the line of reference position and directed point and the angle between line slideway 4; X is illustrated in after time t, the distance of moving along line slideway 4 in oscillating motor 5 relative datum positions.

Claims (2)

1. a movement synthesis method, it is characterized in that: use oscillating motor to drive movable body at the uniform velocity to swing around the rotating shaft of described oscillating motor, use change speed motor driving oscillating motor and movable body along a straight line guide rail are done change speed linear motion, the directed plane in place of line slideway and directed point tilts to intersect, and the instantaneous velocity V that wherein oscillating motor and movable body move along described line slideway meets following formula:

$V=\stackrel{\&CenterDot;}{x}=\left\{\begin{array}{cc}\frac{\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}+\mathrm{\&gamma;t})}& (x\&GreaterEqual;0)\\ \frac{-\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}-\mathrm{\&gamma;t})}& (x<0)\end{array}\right.$

When definition oscillating motor moves on line slideway, on line slideway, a certain position corresponding with oscillating motor is reference position, when described reference position, movable body points to directed point, wherein in above-mentioned formula: t represents the run duration of oscillating motor after reference position starts; γ represents the at the uniform velocity angle of oscillation speed of oscillating motor, i.e. the angle of oscillation speed of movable body; L represents the air line distance between reference position and directed point; α represents the line of reference position and directed point and the angle between line slideway; X is illustrated in after time t, the distance of moving along line slideway in oscillating motor relative datum position.

2. telecontrol equipment, it is characterized in that: comprise that the directed plane in place with directed point tilts to intersect and guide direction along linearly extended line slideway, on line slideway, guiding is equipped with the oscillating motor for driving corresponding sports body at the uniform velocity to swing, described telecontrol equipment also comprises and is in transmission connection with described oscillating motor and drives described oscillating motor and corresponding sports body along the reciprocating change speed motor of described line slideway, described telecontrol equipment also comprises with described change speed motor control linkage to realize the controller of described change speed motor to the output of oscillating motor speed change, the instantaneous velocity V that wherein oscillating motor and movable body move along described line slideway meets following formula:

$V=\stackrel{\&CenterDot;}{x}=\left\{\begin{array}{cc}\frac{\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}+\mathrm{\&gamma;t})}& (x\&GreaterEqual;0)\\ \frac{-\mathrm{l\&gamma;}\sin \mathrm{\&alpha;}}{{\sin }^2(\mathrm{\&alpha;}-\mathrm{\&gamma;t})}& (x<0)\end{array}\right.$

When definition oscillating motor moves on line slideway, on line slideway, a certain position corresponding with oscillating motor is reference position, when described reference position, movable body points to directed point, wherein in above-mentioned formula: t represents the run duration of oscillating motor after reference position starts; γ represents the at the uniform velocity angle of oscillation speed of oscillating motor, i.e. the angle of oscillation speed of movable body; L represents the air line distance between reference position and directed point; α represents the line of reference position and directed point and the angle between line slideway; X is illustrated in after time t, the distance of moving along line slideway in oscillating motor relative datum position.