CN106774150A - Can opened loop control accurately repeats Locating driver system and its control method - Google Patents
Can opened loop control accurately repeats Locating driver system and its control method Download PDFInfo
- Publication number
- CN106774150A CN106774150A CN201611249961.1A CN201611249961A CN106774150A CN 106774150 A CN106774150 A CN 106774150A CN 201611249961 A CN201611249961 A CN 201611249961A CN 106774150 A CN106774150 A CN 106774150A
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- China
- Prior art keywords
- moving mass
- loop control
- driver system
- fixed block
- locating driver
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37404—Orientation of workpiece or tool, surface sensor
Abstract
The invention provides it is a kind of can opened loop control accurately repeats Locating driver system and control method, including：One or more stroke limiting mechanisms；The stroke limiting mechanism, including：Moving mass (100), fixed block (200), drive mechanism；Moving mass (100) is with Passive part connection end；Moving mass (100) is limited in the movement travel that the chute of fixed block (200) is defined in a first direction；The direction of the movement travel of the moving mass in multiple stroke limiting mechanisms exists different.The present invention realizes the restriction to the movement travel of moving mass by the respective outer side edges between moving mass and fixed block, the compound stroke of moving mass can also be defined when with multiple stroke limiting mechanisms, so as to improve the precision of drive control, it is possible to realization scan wait move.
Description
Technical field
The present invention relates to precision actuation field, in particular it relates to can opened loop control accurately repeats Locating driver system and
Its control method.
Background technology
In accurate or accurately repeats Locating driver field, it is necessary to carry out precision actuation to Passive part to finely tune the position of Passive part
Put, its motion mode can be translation and rotation.The deficiencies in the prior art part is that driving force size is difficult to precise control, is driven
Power is excessive or too small Passive part will be caused to reach specified location or specified location is moved through.
Thus, prior art generally carries out accurate control to driving in a closed loop manner, but, the control accuracy of closed-loop fashion
Still it is difficult to increase significantly, especially the degree of accuracy fluctuation in the realization of resetting is larger.
Thus, it is necessary to design it is a kind of can opened loop control accurately repeats Locating driver system and its control method.One
Preferably, can select not using closed-loop control, secondly optionally, it is contemplated that the transformation and upgrade cost of existing device,
Can continue to use closed-loop control, but can no longer need closed-loop control in itself with precision very high, but by this
High-accuracy performance is realized in invention.
The content of the invention
For defect of the prior art, it is an object of the invention to provide it is a kind of can the accurately repeats of opened loop control position and drive
Dynamic system and its control method.
According to the present invention provide it is a kind of can opened loop control accurately repeats Locating driver system, including：Stroke limiting machine
Structure；
The stroke limiting mechanism, including：Moving mass 100, fixed block 200, drive mechanism；
Moving mass 100 has Passive part connection end；
Drive mechanism can powered motion block 100 move；
Moving mass 100 is limited in the movement travel that the chute of fixed block 200 is defined in a first direction；
The quantity of stroke limiting mechanism is one or more, wherein, the fortune of the moving mass in multiple stroke limiting mechanisms
The direction of dynamic stroke exists different.
Preferably, in stroke limiting mechanism, the motion mode of moving mass 100 is：
- translation, correspondingly, first direction is rectilinear direction；Or
- rotate, correspondingly, first direction is circumferential direction.
Preferably, drive mechanism include it is following any one or appoint various devices：
- the first magnet 300, the second magnet 400；First magnet 300 is arranged on moving mass 100；Second magnet 400 is set
On fixed block 200；First magnet includes electromagnet, and the second magnet includes electromagnet, magnetic conductor or permanent magnet；Or, the
One magnet includes electromagnet, magnetic conductor or permanent magnet, and the second magnet includes electromagnet；
- thermic retractable driving device；
- electrostatic drive；
- intellectual material drive device；
- pneumatic actuating device；Or
- mechanical actuation device.
Preferably, in the multiple stroke limiting mechanism, the connection by kinetoplast 500 connected by Passive part connection end
Dynamic, the moving mass of at least one stroke limiting mechanism is limited at the fixed block of other stroke limiting mechanisms in a second direction
The movement travel defined of chute in.
Preferably, the Passive part connection end is rigidly connected with Passive part, or the Passive part connection end is by elasticity
Body connects Passive part.
Preferably, also including flexible restoring organ；
Passive part is connected between flexible restoring organ and the Passive part connection end of moving mass 100.
Preferably, in the stroke limiting mechanism, except first direction, moving mass 100 is limited also on third direction
It is scheduled in the movement travel that the chute of fixed block 200 is defined.
Preferably, the chute of fixed block 200 matches with the space configuration constraint of moving mass 100；
Movement travel is determined by moving mass 100 with the physical dimension difference of the chute of fixed block 200；Wherein, the size difference
It is fixed value or adjustable value；
The chute plays guiding restriction effect in the non-athletic stroke directions of moving mass 200 to moving mass 200；
The drive mechanism is driven using open loop control mode.
Preferably, moving mass 100 is decussate texture, and fixed block 200 has the criss-cross cunning matched with moving mass 100
Groove；
The two-arm direction of the intersection of decussate texture is respectively first direction, third direction.
The present invention provide it is a kind of according to it is above-mentioned can opened loop control accurately repeats Locating driver system control method, lead to
Overdrive the driving of mechanism, make to be carried out scanning motion by the appointed part of kinetoplast.
Compared with prior art, the present invention has following beneficial effect：
The restriction that the present invention realizes forming the motion of moving mass by the respective outer side edges between moving mass and fixed block, when
The compound stroke of moving mass can also be defined during with multiple stroke limiting mechanisms, so as to improve the essence of drive control
Degree, it is possible to realization scan wait move.
Brief description of the drawings
The detailed description made to non-limiting example with reference to the following drawings by reading, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1, Fig. 2, Fig. 3, Fig. 4 for first embodiment of the invention provide can opened loop control accurately repeats Locating driver system
The structural representation of system.
Fig. 5 for second embodiment of the invention provide can opened loop control accurately repeats Locating driver system structural representation
Figure.
Fig. 6 for third embodiment of the invention provide can opened loop control accurately repeats Locating driver system structural representation
Figure.
Fig. 7 for fourth embodiment of the invention provide can opened loop control accurately repeats Locating driver system structural representation
Figure.
Fig. 8, Fig. 9 for fifth embodiment of the invention provide can opened loop control accurately repeats Locating driver system structure
Schematic diagram.
Figure 10 for sixth embodiment of the invention provide can the structure of accurately repeats Locating driver system of opened loop control show
It is intended to.
Figure 11, Figure 12 for seventh embodiment of the invention provide can opened loop control accurately repeats Locating driver system knot
Structure schematic diagram.
Figure 13 for eighth embodiment of the invention provide can the structure of accurately repeats Locating driver system of opened loop control show
It is intended to.
Shown in figure：
Moving mass 100
Fixed block 200
First magnet 300
Second magnet 400
By kinetoplast 500
Elastomer 600
Optical fiber 700
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the ordinary skill of this area
For personnel, without departing from the inventive concept of the premise, some changes and improvements can also be made.These belong to the present invention
Protection domain.
Basic embodiment
The present invention provide it is a kind of can opened loop control accurately repeats Locating driver system, including：Stroke limiting mechanism；It is described
Stroke limiting mechanism, including：Moving mass 100, fixed block 200, drive mechanism；Moving mass 100 has Passive part connection end；Drive
Mechanism can powered motion block 100 move；What the chute that moving mass 100 is limited at fixed block 200 in a first direction was defined
In movement travel；The quantity of stroke limiting mechanism is one or more, wherein, moving mass in multiple stroke limiting mechanisms
The direction of movement travel exists different.
Next with reference to accompanying drawing, each preference to basic embodiment is specifically described.
First embodiment
As shown in Figure 1, Figure 2, Figure 3, Figure 4, in the first embodiment, You Liangge stroke limitings mechanism.In each stroke limit
Determine in mechanism, the motion mode that moving mass 100 is driven the driving of mechanism is translation, correspondingly, first direction is straight line side
To.
Drive mechanism includes producing the first magnet 300, second magnet 400 of magnetic circuit；First magnet 300 is arranged on fortune
On motion block 100；Second magnet 400 is arranged on fixed block 200；First magnet include electromagnet, the second magnet include electromagnet,
Magnetic conductor or permanent magnet；Or, the first magnet includes electromagnet, magnetic conductor or permanent magnet, and the second magnet includes electromagnet.
The linkage by kinetoplast 500 connected by Passive part connection end, the moving mass of each stroke limiting mechanism is in a second direction
It is limited in the movement travel that the chute of the fixed block of other stroke limiting mechanisms is defined.
The Passive part connection end is rigidly connected with Passive part.Preferably, drive mechanism is carried out using open loop control mode
Drive.Alternatively, drive mechanism can also be driven using close-loop control mode.
Specifically, the dashed circle in Fig. 1 to Fig. 4 represents the privileged site of Passive part.In Fig. 1, the privileged site is first
First quartile is located at during the beginning, when underlying moving mass moves to chute right side by chute left side in Fig. 1, the specific part
The second quadrant is moved to, as shown in Figure 2.Further, when the moving mass in Fig. 2 positioned at right side moves to chute by chute downside
During upside, the specific part moves to third quadrant, as shown in Figure 3.Further, when the moving mass of the lower section in Fig. 3 is by sliding
When groove right side moves to chute left side, the specific part moves to fourth quadrant, as shown in Figure 4.Therefore, by the first magnet
300th, the driving of the second magnet 400, the specific part can carry out scanning motion in each quadrant.
Second embodiment
As shown in figure 5, change case of the second embodiment for first embodiment.In the first embodiment, the second magnet 400 with
It is parallel to each other between the axial direction of the first magnet 300；And in a second embodiment, the axial direction of the second magnet 400 and the first magnet 300
Between be mutually perpendicular to.
Can be with it should be noted that in more change case, between the axial direction of the first magnet 300 and the second magnet 400
It is set as other angles, as long as ensuring that between the first magnet 300 and the second magnet 400 magnetic structure can be formed, so that first
Can attract each other or repel between the magnet 400 of magnet 300 and second, realize driving.Further, the first magnet
300th, the quantity of the second magnet 400 can also increase.
3rd embodiment
As shown in fig. 6, change case of the 3rd embodiment for first embodiment.In the third embodiment, stroke limiting mechanism
Quantity be four, wherein, left and right Liang Ge stroke limitings mechanism in Fig. 6 is a pair, and upper and lower Liang Ge stroke limitings mechanism is another
A pair.By the Liang Ge stroke limitings mechanism of every centering, electromagnetic actuation force can be increased.For example Fig. 6 show original state,
In the Liang Ge stroke limitings mechanism of left and right, the two stroke limiting mechanisms can be made to drive Passive part to move upwards simultaneously, so as to increase
Big electromagnetic actuation force.
Fourth embodiment
As shown in fig. 7, change case of the fourth embodiment for first embodiment.In the fourth embodiment, it is described can open loop control
The accurately repeats Locating driver system of system also includes flexible restoring organ, and flexible restoring organ in Fig. 7 is spring, and quantity is
Two.Passive part 500 is connected between flexible restoring organ and the Passive part connection end of moving mass 100.
Specifically, on the one hand, flexible restoring organ can make Passive part playback to unpowered state, for example, Fig. 7 show
Original state, causes Passive part side shifting to the right, after power-off, can make by spring after the first magnet, the second energizing magnets
Passive part returns to original state to the left, and need not pass to reverse current and drive Passive part to be moved to the left.On the other hand, spring can be with
Cushioning effect is provided, due to the difference in size present invention is particularly suitable for accurate control, therefore between moving mass and chute generally very
It is small, after using a period of time, changed because moving mass and the shock of chute cell wall are easily caused the difference in size, therefore it is logical
Crossing spring can absorb part energy, mitigate the Impact energy between moving mass and chute cell wall.Also on the one hand, in change
In example, flexible restoring organ can be used to adjust movement travel scope, i.e., by changing spring moving mass can be caused in motion
Movement travel scope in stroke is adjustable.
5th embodiment
As shown in Figure 8, Figure 9, the 5th embodiment is the change case of first embodiment.In the first embodiment, it is described passive
Part connection end is rigidly connected with Passive part；And in the 5th embodiment, the Passive part connection end connects passive by elastomer
Part.Specifically, Passive part is connected by elastomer, translation can be obtained and compound motion is rotated, and movement travel is defined
Determined by the depth of chute.Wherein, elastomer can be flexure strip, and movement flexible piece can have preferably just on movement travel direction
Property is not flexible, rather than movement flexible piece is flexible on movement travel direction so that moving mass can be in the movement direction
Stroke is realized, and guiding restriction is carried out to Passive part in non-athletic stroke directions.
Sixth embodiment
As shown in Figure 10, sixth embodiment is the preference of first embodiment.In the sixth embodiment, set in Passive part
There is optical fiber 700, therefore, under the driving of drive mechanism, optical fiber can carry out scanning motion in four quadrants.
It should be noted that in change case, drive mechanism can be driven using other energy, for example air and heat, machinery,
The modes such as electrostatic, intellectual material deformation.
Explanation is needed further exist for, is light in fiber port by scan that motion changes in the present embodiment
Propagation path, and in change case, fiber port can become to turn to medium output and lead mouth and be scanned, such as air-flow, liquid etc.
Medium, can also become and turn to probe, so as to realize the swing of probe.
7th embodiment
As shown in Figure 11, Figure 12, the 7th embodiment is the preference of first embodiment.In the 7th embodiment, described
In stroke limiting mechanism, except first direction, moving mass 100 is also limited at chute circle of fixed block 200 on third direction
In fixed movement travel.As shown in figure 12, first aspect is mutually perpendicular to third direction.The chute and moving mass of fixed block 200
100 space configuration constraint matches.Moving mass 100 is decussate texture, and fixed block 200 has and moving mass 100
The criss-cross chute matched somebody with somebody；The two-arm direction of the intersection of decussate texture is respectively first direction, third direction.
Specifically, can be clearly understood from by Figure 11, movement travel is by moving mass 100 and the chute of fixed block 200
Physical dimension difference determine；Wherein, the size difference is fixed value or adjustable value；The movement travel direction of moving mass 100
It is vertical paper direction and paper left and right directions, and paper above-below direction is non-athletic stroke directions, therefore chute is on paper
The height in lower direction is more essentially identical than the thickness of moving mass 100, so as to play guiding restriction effect.
In fig. 12, the direction of magnet coil and putting position can change, as long as Electromagnetic Drive can be realized.
8th embodiment
As described in Figure 13, in the 8th embodiment, the moving mass 100 in stroke limiting mechanism is driven the driving of mechanism
Motion mode for rotate, correspondingly, first direction is circumferential direction.Wherein, moving mass 100 is sector structure, fixed block 200
Chute be the sector structure for matching.Moving mass relative with fixed block can be articulated and connected.So, moving mass is confined within
In fan-shaped chute, and movement travel is the restriction of angle, and the restriction is by the fan angle of moving mass 100 and the angle of fan-shaped chute
Between differential seat angle determine.
Specific embodiment of the invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can within the scope of the claims make a variety of changes or change, this not shadow
Sound substance of the invention.In the case where not conflicting, feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. it is a kind of can opened loop control accurately repeats Locating driver system, it is characterised in that including：Stroke limiting mechanism；
The stroke limiting mechanism, including：Moving mass (100), fixed block (200), drive mechanism；
Moving mass (100) is with Passive part connection end；
Drive mechanism being capable of powered motion block (100) motion；
Moving mass (100) is limited in the movement travel that the chute of fixed block (200) is defined in a first direction；
The quantity of stroke limiting mechanism is one or more, wherein, the motion row of the moving mass in multiple stroke limiting mechanisms
The direction of journey exists different.
2. it is according to claim 1 can opened loop control accurately repeats Locating driver system, it is characterised in that degree of being expert at
Determine in mechanism, the motion mode of moving mass (100) is：
- translation, correspondingly, first direction is rectilinear direction；Or
- rotate, correspondingly, first direction is circumferential direction.
3. it is according to claim 1 can opened loop control accurately repeats Locating driver system, it is characterised in that drive mechanism
Including it is following any one or appoint various devices：
- the first magnet (300), the second magnet (400)；First magnet (300) is arranged on moving mass (100)；Second magnet
(400) it is arranged on fixed block (200)；First magnet includes electromagnet, and the second magnet includes electromagnet, magnetic conductor or permanent magnetism
Body；Or, the first magnet includes electromagnet, magnetic conductor or permanent magnet, and the second magnet includes electromagnet；
- thermic retractable driving device；
- electrostatic drive；
- intellectual material drive device；
- pneumatic actuating device；Or
- mechanical actuation device.
4. it is according to claim 1 can opened loop control accurately repeats Locating driver system, it is characterised in that it is the multiple
In stroke limiting mechanism, the linkage by kinetoplast (500) connected by Passive part connection end, at least one stroke limiting machine
The moving mass of structure is limited in the movement travel that the chute of the fixed block of other stroke limiting mechanisms is defined in a second direction.
5. it is according to claim 1 can opened loop control accurately repeats Locating driver system, it is characterised in that it is described passive
Part connection end is rigidly connected with Passive part, or the Passive part connection end connects Passive part by elastomer.
6. it is according to claim 1 can opened loop control accurately repeats Locating driver system, it is characterised in that also including bullet
Property resetting-mechanism；
Passive part is connected between the Passive part connection end of flexible restoring organ and moving mass (100).
7. it is according to claim 1 can opened loop control accurately repeats Locating driver system, it is characterised in that in the row
Degree is determined in mechanism, and except first direction, moving mass (100) is also limited at the chute of fixed block (200) on third direction
In the movement travel defined.
8. it is according to claim 1 can opened loop control accurately repeats Locating driver system, it is characterised in that fixed block
(200) chute matches with the space configuration constraint of moving mass (100)；
Movement travel is determined by moving mass (100) with the physical dimension difference of fixed block (200) chute；Wherein, the size difference
It is fixed value or adjustable value；
The chute plays guiding restriction effect in the non-athletic stroke directions of moving mass (200) to moving mass (200)；
The drive mechanism is driven using open loop control mode.
9. it is according to claim 7 can opened loop control accurately repeats Locating driver system, it is characterised in that moving mass
(100) it is decussate texture, fixed block (200) is with the criss-cross chute matched with moving mass (100)；
The two-arm direction of the intersection of decussate texture is respectively first direction, third direction.
10. it is a kind of it is according to any one of claim 1 to 9 can opened loop control accurately repeats Locating driver system control
Method processed, it is characterised in that by the driving of drive mechanism, makes to be carried out scanning motion by the appointed part of kinetoplast.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611249961.1A CN106774150B (en) | 2016-12-29 | 2016-12-29 | Accurate repeated positioning driving system capable of being controlled in open loop and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611249961.1A CN106774150B (en) | 2016-12-29 | 2016-12-29 | Accurate repeated positioning driving system capable of being controlled in open loop and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN106774150A true CN106774150A (en) | 2017-05-31 |
| CN106774150B CN106774150B (en) | 2023-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611249961.1A Active CN106774150B (en) | 2016-12-29 | 2016-12-29 | Accurate repeated positioning driving system capable of being controlled in open loop and control method thereof |
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| GB807672A (en) * | 1954-04-09 | 1959-01-21 | Christopher Arthur Henn Collin | Improvements in and relating to selective positioning mechanisms |
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| CN106774150B (en) | 2023-05-26 |
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