CN106849786A - A kind of medical stepper motor acceleration and deceleration travel control device - Google Patents
A kind of medical stepper motor acceleration and deceleration travel control device Download PDFInfo
- Publication number
- CN106849786A CN106849786A CN201611235268.9A CN201611235268A CN106849786A CN 106849786 A CN106849786 A CN 106849786A CN 201611235268 A CN201611235268 A CN 201611235268A CN 106849786 A CN106849786 A CN 106849786A
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- China
- Prior art keywords
- type photoelectric
- stepper motor
- groove type
- photoelectric switch
- motor
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
The invention discloses a kind of medical stepper motor acceleration and deceleration travel control device, including main controller module, power module, driving stepper motor module, the stepper motor with length or angle, four groups of groove type photoelectric switches, linkage and catch.Described master controller controls stepper motor driver and then Driving Stepping Motor by way of pulse adjustment, micro-stepping control；The controller judges the particular location of stepper motor Stroke Control by the state of four tunnel groove type photoelectric switches of acquisition, and then makes the specific control command such as corresponding self-inspection, start and stop, acceleration and deceleration.The functions such as the control program algorithm without complexity of the invention, stepper motor acceleration and deceleration Stroke Control of achievable start motor position state vdiverse in function self-inspection, spacing, zero-bit, redundancy protecting and hardware trigger.
Description
Technical field：The present invention relates to medical motion control field, especially a kind of control of medical stepper motor.
Technical background：
Automaticity and precise requirements more and more higher in terms of medical research and medical inspection.Such as detect entering automatically for sample
Sample, quantitative intake are required for strict length Stroke Control to require.How fast and reliable and inexpensive high-precision row is realized
The important use value of process control.Due to the main trend of the automation of medical detecting Instrument, and angle driven by stepper motors
Turn into most basic comprising modules with Stroke Control.It is existing to be related to the Stroke Control device mostly external import of medical automation,
The high control of price is complicated, is a no small burden for maintenance for the research and development for automating medical detecting Instrument.
The content of the invention：
The characteristics of in order to overcome the control with high costs of prior art complicated, added and subtracted the invention provides a kind of medical stepper motor
Fast travel control device.
A kind of medical stepper motor acceleration and deceleration travel control device, including stepper motor and Stroke Control plate, stepper motor
On be provided with screw mandrel, slide block connecting rod device is connected with screw mandrel, catch is provided with slide block connecting rod device, set on Stroke Control plate
It is equipped with four groove type photoelectric switches, wherein upper limit setting two, groove type photoelectric switch one and groove type photoelectric switch two, lower limit
Setting two, groove type photoelectric switch three and groove type photoelectric switch four, when the catch on slide block connecting rod device moves to groove profile photoelectricity
When between the groove on switch, groove type photoelectric switch produces a level triggers signal, stepper motor connection main controller module, electricity
Source module and driving stepper motor module, control stepper motor are comprised the following steps：
Step 1：After device electrifying startup, main controller module elder generation self-inspection, the condition adjudgement according to each groove type photoelectric switch is current
Motor position state；
Step 2：If the groove type photoelectric switch one of upper limit is in triggering state, master controller judges that current location is normal
Original state；
Step 3：If the groove type photoelectric switch one of upper limit is not in triggering state, master controller judges that motor is in nonzero digit
State, main controller controls motor operation to original state；
Step 4：Master controller sends motor operation instruction, motor low rate start, when catch is run to groove type photoelectric switch two
Groove between, groove type photoelectric switch two produce trigger signal when, motor is accelerated to and traveled at the uniform speed, when catch is run to groove profile photoelectricity
Between groove on switch three, when groove type photoelectric switch three produces trigger signal, then decelerating through motor operation, when catch is run to groove profile
Between groove on optoelectronic switch four, when groove type photoelectric switch four produces trigger signal, then motor is out of service.
The main control module has RS232 serial ports or SPI or IIC using ARM microcontroller chips, ARM microcontroller chips
Or CAN or RJ45 or USB communication interface.
Described power module includes to main controller module power pack and gives driving stepper motor module for power supply portion
Point.
Beneficial effects of the present invention:
1. level of integrated system is high, integrated ARM main control chips, stepper motor driving circuit, groove type photoelectric switch and acceleration and deceleration row
Process control device and its control method.
2. vdiverse in function, the covering device can be used for Stroke Control, also can be used as spacing redundancy protection device and stepping
The drive device of motor.
3. simple and reliable, either controller that device is used and optoelectronic switch etc. are all conventional electronic installations,
Cheap, control method is easy and effective.
4. the system integration is easy to, with reference to the communication interface that main control chip is provided, in that context it may be convenient to be linked into other instruments instrument
In table equipment, to automate the exploitation provides convenient of medical detecting Instrument.
Brief description of the drawings：
Fig. 1 is system structure diagram of the invention.
Fig. 2 is control panel of the present invention and electric machine schematic diagram.
Fig. 3 driving stepper motor module diagrams.
Fig. 4 is zero-bit of the present invention, spacing, feed speed control flow chart.
Specific embodiment：
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing and embodiment to this hair
It is bright to be further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and without
It is of the invention in limiting.
A kind of medical stepper motor acceleration and deceleration travel control device, including stepper motor 6 and Stroke Control plate 10, stepping electricity
Screw mandrel 8 is provided with machine 6, slide block connecting rod device 5 is connected with screw mandrel 8, slide block connecting rod device is used to drive other equipment, such as enters
Sample pin, fixed-quantity injector etc.；Catch 7 is provided with slide block connecting rod device 5, four groove profile photoelectricity are provided with Stroke Control plate 10
Switch, wherein upper limit setting two, groove type photoelectric switch 1 and groove type photoelectric switch 22, lower limit set two, groove profile
Optoelectronic switch 33 and groove type photoelectric switch 44, the groove in groove type photoelectric switch is moved to when the catch 7 on slide block connecting rod device
Between when, groove type photoelectric switch produce a level triggers signal, stepper motor 6 connection main controller module, power module and
Driving stepper motor module, control stepper motor is comprised the following steps：
Step 1：After device electrifying startup, main controller module elder generation self-inspection, the condition adjudgement according to each groove type photoelectric switch is current
Motor position state；
Step 2：If the groove type photoelectric switch 1 of upper limit is in triggering state, master controller judges current location for just
Normal original state；
Step 3：If the groove type photoelectric switch 1 of upper limit is not in triggering state, master controller judges that motor is in non-zero
Position state, main controller controls motor operation to original state；
Step 4：Master controller sends motor operation instruction, motor low rate start, when catch 7 is run to groove type photoelectric switch 22
On groove between, groove type photoelectric switch 22 produce trigger signal when, motor is accelerated to and traveled at the uniform speed, when catch 7 is run to groove profile
Between groove on optoelectronic switch 33, when groove type photoelectric switch 33 produces trigger signal, then decelerating through motor operation, when catch 7 is transported
, between the groove in groove type photoelectric switch 44, when groove type photoelectric switch 44 produces trigger signal, then motor is out of service for row.
Groove type photoelectric switch totally four, wherein upper limit two, lower limit two, groove type photoelectric switch is by infrared emitting
Pipe and infrared receiver tube are combined, the catch on its tangible slide block device of effect move to groove in groove type photoelectric switch it
Between when, groove type photoelectric switch produce a level triggers signal, the signal between the signal and groove type photoelectric switch reset condition
Conversely, master controller judges current position or running status when receiving the signal, and then corresponding control command is made, institute
Four groove type photoelectric switches stated act on two：First, have up and down each two groups of switches as spacing up and down, when wherein some upper limit
When the optoelectronic switch of position or lower limit breaks down, another plays a part of redundancy protecting；Secondth, as stepper motor
The trigger signal of acceleration or deceleration, stepper motor generally requires certain low frequency and starts, when being moved on fixed journey system, plus-minus
Speed needs to be calculated, and software implementing course is complicated, optoelectronic switch 1 and photoelectricity in four groove type photoelectric switches of the present apparatus
Switching 44 can be used as upper and lower limit switch, and optoelectronic switch 22 and optoelectronic switch 33 can be as acceleration and deceleration trigger signals, when correspondence
Photoelectricity trigger when, master controller according to operation direction and state make corresponding acceleration or deceleration order.
Main control module has RS232 serial ports or SPI or IIC or CAN using ARM microcontroller chips, ARM microcontroller chips
Or RJ45 or USB communication interface, can conveniently be linked into other automatons or Aulomatizeted Detect instrument, realize one with this
Plant simple and effective medical Stroke Control.Power module is included to main controller module power pack and to driving stepper motor
Module for power supply part.Driving stepper motor module can drive the stepper motor of the line of two-phase four, maximum drive current to reach more than 3A,
The pulse that can be exported according to controller and micro-stepping control foot control motor rotation speed, turn according to direction controlling pin controlled motor
Dynamic direction, according to the break-make start and stop for enabling control pin controlled motor.
Claims (3)
1. a kind of medical stepper motor acceleration and deceleration travel control device, it is characterised in that including stepper motor（6）And Stroke Control
Plate（10）, stepper motor（6）On be provided with screw mandrel（8）, screw mandrel（8）On be connected with slide block connecting rod device（5）, slide block connecting rod device
（5）On be provided with catch（7）, Stroke Control plate（10）On be provided with four groove type photoelectric switches, wherein upper limit sets two,
Groove type photoelectric switch one（1）With groove type photoelectric switch two（2）, lower limit setting two, groove type photoelectric switch three（3）With groove profile light
Electric switch four（4）, the catch on slide block connecting rod device（7）When moving between the groove in groove type photoelectric switch, groove profile photoelectricity
Switch produces a level triggers signal, stepper motor（6）Connection main controller module, power module and driving stepper motor mould
Block, control stepper motor is comprised the following steps：
Step 1：After device electrifying startup, main controller module elder generation self-inspection, the condition adjudgement according to each groove type photoelectric switch is current
Motor position state；
Step 2：If the groove type photoelectric switch one of upper limit（1）In triggering state, then master controller judges that current location is
Normal original state；
Step 3：If the groove type photoelectric switch one of upper limit（1）Triggering state is not in, it is non-that master controller judges that motor is in
Zero-bit state, main controller controls motor operation to original state；
Step 4：Master controller sends motor operation instruction, and motor low rate start works as catch（7）Run to groove type photoelectric switch two
（2）On groove between, groove type photoelectric switch two（2）When producing trigger signal, motor is accelerated to and traveled at the uniform speed, and works as catch（7）Fortune
Go to groove type photoelectric switch three（3）On groove between, groove type photoelectric switch three（3）When producing trigger signal, then decelerating through motor is transported
OK, catch is worked as（7）Run to groove type photoelectric switch four（4）On groove between, groove type photoelectric switch four（4）Produce trigger signal
When, then motor is out of service.
2. a kind of medical stepper motor acceleration and deceleration travel control device according to claims 1, it is characterised in that described
Main control module use ARM microcontroller chips, ARM microcontroller chips have RS232 serial ports or SPI or IIC or CAN or RJ45 or
USB communication interface.
3. a kind of medical stepper motor acceleration and deceleration travel control device according to claims 1, it is characterised in that described
Power module include to main controller module power pack and giving driving stepper motor module for power supply part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611235268.9A CN106849786A (en) | 2016-12-28 | 2016-12-28 | A kind of medical stepper motor acceleration and deceleration travel control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611235268.9A CN106849786A (en) | 2016-12-28 | 2016-12-28 | A kind of medical stepper motor acceleration and deceleration travel control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106849786A true CN106849786A (en) | 2017-06-13 |
Family
ID=59112666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611235268.9A Pending CN106849786A (en) | 2016-12-28 | 2016-12-28 | A kind of medical stepper motor acceleration and deceleration travel control device |
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| CN (1) | CN106849786A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109981009A (en) * | 2019-04-28 | 2019-07-05 | 维沃移动通信有限公司 | A kind of control method and mobile terminal of stepper motor |
| CN111258339A (en) * | 2019-11-25 | 2020-06-09 | 天津津航技术物理研究所 | Follow-up control device based on stepping motor and photoelectric switch |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080238353A1 (en) * | 2007-03-29 | 2008-10-02 | Samsung Electronics Co., Ltd. | Image forming apparatus and method |
| CN102118128A (en) * | 2009-12-31 | 2011-07-06 | 北大方正集团有限公司 | Control method and device for accurate positioning on stepping motor |
| CN102904512A (en) * | 2012-10-30 | 2013-01-30 | 北京信息科技大学 | Control system and control method for step motor |
| JP2015104303A (en) * | 2013-11-28 | 2015-06-04 | シャープ株式会社 | Control device for stepping motor and carrier apparatus having the same |
| CN204615704U (en) * | 2015-05-28 | 2015-09-02 | 常州先进制造技术研究所 | A kind of modularization controllor for step-by-step motor based on ARM platform |
-
2016
- 2016-12-28 CN CN201611235268.9A patent/CN106849786A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080238353A1 (en) * | 2007-03-29 | 2008-10-02 | Samsung Electronics Co., Ltd. | Image forming apparatus and method |
| CN102118128A (en) * | 2009-12-31 | 2011-07-06 | 北大方正集团有限公司 | Control method and device for accurate positioning on stepping motor |
| CN102904512A (en) * | 2012-10-30 | 2013-01-30 | 北京信息科技大学 | Control system and control method for step motor |
| JP2015104303A (en) * | 2013-11-28 | 2015-06-04 | シャープ株式会社 | Control device for stepping motor and carrier apparatus having the same |
| CN204615704U (en) * | 2015-05-28 | 2015-09-02 | 常州先进制造技术研究所 | A kind of modularization controllor for step-by-step motor based on ARM platform |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109981009A (en) * | 2019-04-28 | 2019-07-05 | 维沃移动通信有限公司 | A kind of control method and mobile terminal of stepper motor |
| CN109981009B (en) * | 2019-04-28 | 2021-12-07 | 维沃移动通信有限公司 | Control method of stepping motor and mobile terminal |
| CN111258339A (en) * | 2019-11-25 | 2020-06-09 | 天津津航技术物理研究所 | Follow-up control device based on stepping motor and photoelectric switch |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20170613 |