CN103714042B - Design method for deformation quantic-polynomial cam operation curve - Google Patents
Design method for deformation quantic-polynomial cam operation curve Download PDFInfo
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- CN103714042B CN103714042B CN201310654376.XA CN201310654376A CN103714042B CN 103714042 B CN103714042 B CN 103714042B CN 201310654376 A CN201310654376 A CN 201310654376A CN 103714042 B CN103714042 B CN 103714042B
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Abstract
The invention discloses an algorithm for a deformation quantic-polynomial type cam operation curve, aiming to limit operation parameters during swinging of a swing arm of a cam. The cam constructed by the algorithm does quantic-polynomial motion in the initial phase of the curve during swinging, then does constant-speed motion in the current speed when reaching the highest speed, and decelerates according to the quintic polynomial until stopping motion when moving to a preset point at the constant speed. By the algorithm, the maximum speed of the swing arm of the cam can be reduced, and centrifugal force of a cam mechanism can be reduced.
Description
Technical field
The present invention relates to a kind of cam operation curve method for designing.
Background technology
Conventional cam curve algorithm is more ripe at present, but in actual applications, it is longer for some swing arms
Mechanism, as the radius of gyration of swing arm is larger, higher speed means that corresponding centrifugal force increases, to some revolution disk machines
Structure can be impacted.
Conventional cam curve equation has following several at present：
1st, move at the uniform velocity
At the beginning and end of stroke, speed has mutation, and transient acceleration is infinitely great so that mechanism occurs intense impact,
Under occasion suitable for low speed underloading.
2nd, etc. accelerate uniform retarded motion
Rate curve is continuous, and without rigid shock, but when stroke is started over and acceleration and deceleration are changed, accelerating curve has
Mutation, conditional inertia force is undergone mutation can cause soft impulse, therefore this characteristics of motion is suitable for middling speed underloading situation.
3rd, simple harmonic motion
This characteristics of motion has mutation in 2 points of acceleration of the whole story, can also cause soft impulse, is suitable only for middle load occasion.
4th, cycloid motion
Acceleration sinusoidally changes, rate curve and accelerating curve consecutive variations, no rigid shock, does not also have
Flexible impact, is applicable to high speed light loading.
5th, quintic algebra curve motion
Acceleration changes according near sinusoidal rule, rate curve and accelerating curve consecutive variations, no rigid shock,
Also no soft impulse, and maximal rate peak acceleration is both less than cycloid motion, carries in being applicable at a high speed.Cam conventional five
Order polynomial displacement, speed, accelerating curve equation are as follows：
Displacement curve equation：
Rate curve equation：
Accelerating curve equation：
In above-mentioned each equation, s represents motor point instantaneous displacement, and v represents motor point spot speed, and a represents displacement point
Transient acceleration, θ represent the total operation angle in motor point,Motor point instantaneous angular is represented, ω represents that motor point momentary angular accelerates
Degree, h represent motor point operation total kilometres.
The content of the invention
The present invention seeks to：For the problems referred to above, there is provided a kind of new curve design method --- deformation quintic algebra curve
Cam operation curve method for designing, is limited with swinging the operational factor in running to cam swing arm, using the algorithm
The cam for constructing, can reduce cam swing arm maximal rate, reduce cam mechanism centrifugal force.
The technical scheme is that：Described deformation quantic-polynomial cam operation curve method for designing, to convex
Operational factor of the wheel swing arm in running is swung is limited, it is characterised in that：
The displacement curve equation of cam swing arm is：
1) whenWhen,
2) whenWhen,
3) whenWhen,
The rate curve equation of cam swing arm is：
1) whenWhen,
2) whenWhen,
3) whenWhen,
The accelerating curve equation of cam swing arm is：
1) whenWhen,
2) whenWhen,
A=0,
3) whenWhen
In above-mentioned each equation, s represents motor point instantaneous displacement, and v represents motor point spot speed, and a represents displacement point
Transient acceleration, θ represent the total operation angle in motor point,Motor point instantaneous angular is represented, ω represents that motor point momentary angular accelerates
Degree, h represent motor point operation total kilometres.
It is an advantage of the invention that：With what is gone out constructed by this algorithm for deformation quantic-polynomial cam operation curve of the invention
Cam, while ensureing that cam is not hit, additionally it is possible to reduce cam swing arm maximal rate, reduces the centrifugation of cam mechanism
Power.
Description of the drawings
Below in conjunction with the accompanying drawings and embodiment the invention will be further described：
Fig. 1 is displacement curve equation in this deformation quantic-polynomial cam operation curve method for designing of the invention and pass
Displacement curve equation comparison diagram in system quintic algebra curve cam operation curve algorithm；
Fig. 2 is rate curve equation in this deformation quantic-polynomial cam operation curve method for designing of the invention and pass
Rate curve equation comparison diagram in system quintic algebra curve cam operation curve algorithm；
Fig. 3 be accelerating curve equation in this deformation quantic-polynomial cam operation curve method for designing of the invention with
Accelerating curve equation comparison diagram in traditional quintic algebra curve cam operation curve algorithm；
Specific embodiment
This deformation quantic-polynomial cam operation curve method for designing provided by the present embodiment, to cam swing arm
The operational factor for swinging operation is limited, the kinematic parameter motion for making cam swing arm limit according to the algorithm, using the algorithm
Construct corresponding cam.
The quintic algebra curve cam operation curve method for designing is specific as follows：
With reference to shown in Fig. 1, the displacement curve equation of cam swing arm is：
1) whenWhen,
2) whenWhen,
3) whenWhen,
With reference to shown in Fig. 2, the rate curve equation of cam swing arm is：
1) whenWhen,
2) whenWhen,
3) whenWhen,
With reference to shown in Fig. 3, the accelerating curve equation of cam swing arm is：
1) whenWhen,
2) whenWhen,
A=0,
3) whenWhen
In above-mentioned each equation, s represents motor point instantaneous displacement, and v represents motor point spot speed, and a represents displacement point
Transient acceleration, θ represent the total operation angle in motor point,Motor point instantaneous angular is represented, ω represents that motor point momentary angular accelerates
Degree, h represent motor point operation total kilometres.
It is not difficult to find out from above-mentioned each equation, in the motor process of cam swings, in the curve initial stage, carries out more than five times
Item formula motion, when running to maximal rate, is moved at the uniform velocity (current acceleration is zero) with present speed, is treated movement at the uniform velocity extremely
After set point, it is continuing with quintic algebra curve and is slowed down, until out of service.In this motion, four flex points are had, risen
Begin, quintic algebra curve motion conversion movement at the uniform velocity, movement at the uniform velocity are converted into quintic algebra curve motion, and motion stops.This four are turned
In point, displacement, speed, acceleration do not produce mutation, operate steadily, and without impact, carry in can be used at a high speed.
The actual operation parameters comparative result of several curved line arithmetics see the table below：
In table, during Vmax represents that the maximal rate in cam swing arm motor process, Amax represent cam swing arm motor process
Peak acceleration.It can be seen that, compared with the algorithm that this algorithm can be inquired about with current document, under the premise of guarantee is shock-free,
Operation maximal rate is substantially reduced.
Certainly, above-described embodiment technology design only to illustrate the invention and feature, its object is to make people much of that
Solution present disclosure is simultaneously implemented according to this, can not be limited the scope of the invention with this.It is all according to major technique of the present invention
Equivalent transformation or modification that the spirit of scheme is done, should all be included within the scope of the present invention.
Claims (1)
1. a kind of deformation quantic-polynomial cam operation curve method for designing, to cam swing arm in running is swung
Operational factor is limited, with the cam structure needed for constructing, it is characterised in that：
The displacement curve equation of cam swing arm is：
1) whenWhen,
2) whenWhen,
3) whenWhen,
The rate curve equation of cam swing arm is：
1) whenWhen,
2) whenWhen,
3) whenWhen,
The accelerating curve equation of cam swing arm is：
1) whenWhen,
2) whenWhen,
A=0,
3) whenWhen
In above-mentioned each equation, s represents motor point instantaneous displacement, and v represents motor point spot speed, and a represents displacement point moment
Acceleration, θ represent the total operation angle in motor point,Motor point instantaneous angular is represented, ω represents motor point instantaneous angular acceleration, h
Represent motor point operation total kilometres；
Cam is constructed by above-mentioned equation, the operational factor operation that cam swing arm is limited in the method is made.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310654376.XA CN103714042B (en) | 2013-12-06 | 2013-12-06 | Design method for deformation quantic-polynomial cam operation curve |
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| CN201310654376.XA CN103714042B (en) | 2013-12-06 | 2013-12-06 | Design method for deformation quantic-polynomial cam operation curve |
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| CN103714042A CN103714042A (en) | 2014-04-09 |
| CN103714042B true CN103714042B (en) | 2017-05-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111595846B (en) * | 2020-05-29 | 2023-05-05 | 北京大恒图像视觉有限公司 | Electrical control system of low-noise wine foreign matter inspection machine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6781339B1 (en) * | 1999-01-11 | 2004-08-24 | Kabushiki Kaisha Yaskawa Denki | Method of controlling an electronic cam type rotary cutter, and method of producing an electronic cam curve |
| CN103092128A (en) * | 2013-01-25 | 2013-05-08 | 北京元茂兴控制设备技术有限责任公司 | Multi-axis motion controller and motion control algorithm |
| CN103336886A (en) * | 2013-06-03 | 2013-10-02 | 北京理工大学 | Design method of flexible air distribution cam curve |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7136789B2 (en) * | 2003-08-26 | 2006-11-14 | Daimlerchrysler Corporation | Method for producing a constraint-satisfied cam acceleration profile |
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2013
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6781339B1 (en) * | 1999-01-11 | 2004-08-24 | Kabushiki Kaisha Yaskawa Denki | Method of controlling an electronic cam type rotary cutter, and method of producing an electronic cam curve |
| CN103092128A (en) * | 2013-01-25 | 2013-05-08 | 北京元茂兴控制设备技术有限责任公司 | Multi-axis motion controller and motion control algorithm |
| CN103336886A (en) * | 2013-06-03 | 2013-10-02 | 北京理工大学 | Design method of flexible air distribution cam curve |
Non-Patent Citations (2)
| Title |
|---|
| 凸轮廓精确设计;何彩颖;《机械研究与应用》;20110228 * |
| 适于特殊要求的跃度连续的凸轮曲线的构造;刘雄心;《重型机械》;20101031(第5期) * |
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Address after: 215123 room D205-D208, No. 99, Ai Road, Suzhou Industrial Park, Jiangsu Applicant after: SUZHOU YIMEIDE TECHNOLOGY CO., LTD. Address before: 215123 room D205-D208, No. 99, Ai Road, Suzhou Industrial Park, Jiangsu Applicant before: Suzhou Yimeide Automatic Technology Co., Ltd. |
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Address after: Suzhou Industrial Park Suzhou city Jiangsu province 215000 double property 15 miles Patentee after: Yimei Technology Co., Ltd Address before: 215123 D205-D208 room, No. 99 kindheartedness Road, Suzhou Industrial Park, Jiangsu, China Patentee before: SUZHOU YIMEIDE TECHNOLOGY CO., LTD. |