CN106938406A - A kind of circular index device and grading method - Google Patents
A kind of circular index device and grading method Download PDFInfo
- Publication number
- CN106938406A CN106938406A CN201610011937.8A CN201610011937A CN106938406A CN 106938406 A CN106938406 A CN 106938406A CN 201610011937 A CN201610011937 A CN 201610011937A CN 106938406 A CN106938406 A CN 106938406A
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- Prior art keywords
- motion
- linear motion
- load
- circular index
- unit
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q16/00—Equipment for precise positioning of tool or work into particular locations not otherwise provided for
- B23Q16/02—Indexing equipment
- B23Q16/022—Indexing equipment in which only the indexing movement is of importance
- B23Q16/026—Indexing equipment in which only the indexing movement is of importance by converting a reciprocating or oscillating movement into a rotary indexing movement
Abstract
The invention discloses a kind of circular index device, including pedestal, linear motion unit, conversion of motion device, pilot unit, load, position-detection sensor, controller.Wherein：Linear motion unit is connected with pedestal, and it provides accurate straight-line displacement and rectilinear movement power, and current position is fed back into controller by built-in encoder；Conversion of motion device and linear motion unit fixed connection, and it is for linear motion under the driving of linear motion unit；Load and position output unit as the angle of circular index device, it can be circled under the guiding of pilot unit；The displacement of position-detection sensor Real-time Feedback load.Controller to above-mentioned feedback quantity by carrying out computing, and control linear motion unit motion for linear motion, so as to drive conversion of motion device for linear motion in the lump, conversion of motion device promotes load, under the guide effect of pilot unit, load rotates to specified angle position.In this way, small angle of revolution, the accurate revolution positioning of high pulling torque output are efficiently solved.The invention also discloses the grading method of this kind of circular index device.
Description
Technical field
The present invention relates to a kind of circular index device and grading method, belong to precision indexing field, it is particularly big
The precision indexing field of load, the big radius of gyration, angle of revolution no more than 90 °.
Background technology
It is well known that precision indexing some instrument, digital control processing field occur, its common form be
Being filled between load and motor often has the speed worm gear bigger than very in the decelerator of a big speed ratio, decelerator
Worm-drive, and Worm Wheel System presence in terms of processing installation cost, lubrication, abrasion is relatively dashed forward
The problem of going out, so, existing circular index device driving torque is smaller.And (pitched in some flexion-extension mechanisms
Angle is generally less than 90 degree) in, load is up to several tons, and this is accomplished by a kind of precision for being capable of transmitting large torque point
Spend device.Therefore, needed badly among prior art and want a kind of new technical scheme to solve this problem.
The content of the invention
The technical problems to be solved by the invention are：A kind of circular index device and grading method are provided, its profit
The angle of revolution output quantity of the straight-line displacement input quantity of linear motion unit and load is transported with controller
Calculate, and be gyration by transform linear motion, so as to control load to be turned back to specified angle position.
A kind of circular index device that the present invention is provided at least includes：Pedestal, linear motion unit, motion turn
Makeup put, pilot unit, load, position detecting device, controller；
The linear motion unit is connected with the pedestal, and it provides accurate straight-line displacement and rectilinear movement is dynamic
Power, and current position is fed back to by the controller by built-in encoder, it at least includes servomotor
With straight-line displacement movement output interface；
The conversion of motion device is connected with the straight-line displacement movement output interface of the linear motion unit, and
For linear motion under the driving of linear motion unit, its movement output module is roller or sliding block；
The pilot unit at least has the arc-shaped rail playing the guiding role or rotating shaft, and it is arranged on described
On pedestal, and the load is oriented to；
The load is the angle positioning output unit of circular index device, its guiding in the pilot unit
Under can circle, it at least includes contact plate, contact plate and the motion in conversion of motion device
Output module is contacted, and the form contacted is that linear contact lay or face are contacted；
The position detecting device is used for the displacement for detecting the load, and feeds back to the controller；
A kind of circular index device, it is characterised in that：Movement output module in the conversion of motion device is
During roller, it shows as linear contact lay with the contact form of the contact plate in load.
A kind of circular index device, it is characterised in that：Movement output module in the conversion of motion device is
During sliding block, it shows as face with the contact form of the contact plate in load and contacted.
A kind of circular index device, it is characterised in that：Contact plate in the load has two pieces, the fortune
Movement output module in dynamic reforming unit is located between two contact plates.
A kind of circular index device, it is characterised in that：The servomotor built-in encoder, and possess embrace
Lock function.
A kind of circular index device, it is characterised in that：The servomotor band-type brake so that linear motion output
Interface and conversion of motion device are remained stationary as, due to the movement output module and the spacing pass of contact plate
System, loads stuck in specified location.
A kind of circular index device, it is characterised in that：The gyration of the load is by the linear motion
The transform linear motion of unit and come.
A kind of circular index device, it is characterised in that：The circular index device is indexed applied to horizontal rotation
Or during tilting rotary table (angle of inclination is generally less than 10 °) indexing, the load is made under the constraint of rotating shaft
Circular motion, and position detecting device is near rotating shaft.
A kind of circular index device, it is characterised in that：The circular index device is used as low-angle Precision trimming
Device, and after being combined with other conventional panoramic tables, 360 ° of circular indexs can be realized.
A kind of circular index device, it is characterised in that：The circular index device is applied to vertical circular index
When (pitching indexing) or tilting rotary table (inclination angle is not limited) indexing, the device does not include rotating shaft, described negative
Load is circled under the guiding of arc-shaped rail, and position detecting device is arranged on arc-shaped rail
Near.
A kind of grading method of circular index device, it is characterised in that：The position detecting device Real-time Feedback
The displacement of the load, the linear motion unit passes through the current straight line position of built-in encoder Real-time Feedback
Move, the controller controls linear motion unit motion to make straight by carrying out computing to above-mentioned feedback quantity
Line is moved, so as to drive conversion of motion device for linear motion in the lump, conversion of motion device promotes load,
Under the guiding of pilot unit, load rotates to specified angle position.
By above-mentioned design, what the present invention was brought has the beneficial effect that：The present invention utilizes transform linear motion
For the form of rotary motion, the indexing of circular index device is realized, on the basis of the accuracy of indexing is ensured,
The output of the big radius of gyration, high-torque can also be realized；Linear drive technique can be made full use of (such as：Directly
The technology of line motor-drive technique, servomotor with decelerator and ball-screw) in technology maturity, standard
Advantage in terms of change degree, accuracy, lubrication, backlass, simplifies the structure of indexing means；Utilize
Movement output module in special structure design, servomotor band-type brake, and conversion of motion device is with contacting
The spacing relation of plate, realizes the reliable location of indexing means.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram under a kind of the first applicable cases of circular index device of the invention.
(first embodiment)
Fig. 2 is conversion of motion device using schematic diagram of the roller as movement output module.(first embodiment)
Fig. 3 is conversion of motion device using schematic diagram of the sliding block as movement output module.(first embodiment)
Fig. 4 is a kind of operation logic schematic diagram of circular index device of the invention.(first embodiment)
Fig. 5 is that the linear motion involved by a kind of circular index device grading method of the invention turns with rotary motion
The Computing Principle schematic diagram of change relation.(first embodiment)
Fig. 6 is the general structure schematic diagram under a kind of second of applicable cases of circular index device of the invention.
(second embodiment)
Embodiment
Below, embodiments of the present invention are illustrated based on accompanying drawing.
First embodiment
Fig. 1~Fig. 5 shows the first embodiment of the present invention.
General structure under a kind of the first applicable cases of circular index device of the present invention as shown in figure 1, its
Vertical circular index (pitching indexing) or tilting rotary table (inclination angle is not limited) indexing occasion are mainly used in,
The circular index device at least includes the pedestal (1) for support, the linear motion list for providing driving force
First (2) and the linear motion unit fixed connection simultaneously promote the conversion of motion device (3) of load, play guiding
The pilot unit 4 (i.e. arc-shaped rail (4.1)) of effect, the load (5) for exporting and positioning as angle, inspection
The position detecting device (6) for surveying the load output displacement, the control being controlled to linear motion unit (2)
Device (7).
The linear motion unit (2) is connected with the pedestal (1), and it provides accurate straight-line displacement and straight line
Mobile power, and current position is fed back to by the controller (7) by built-in encoder, it is at least wrapped
Include servomotor (2.1) and straight-line displacement movement output interface (2.2)；
As shown in Figure 1, Figure 2 and Figure 3, the conversion of motion device (3) and the linear motion unit (2)
Straight-line displacement movement output interface (2.2) connection, and make under the driving of linear motion unit (2) straight line fortune
Dynamic, its movement output module (3.1) uses roller or sliding block；
The arc-shaped rail (4.1) is connected with the pedestal (1), and to it is described load (5) be oriented to
And carrying effect；
The load (5) is the angle positioning output unit of circular index device, and it is in the arc-shaped rail
(4.1) it can be circled under guiding, it at least includes a contact plate, and (this example has two, bag
Include contact plate (5.1), contact plate (5.2)), the contact plate (5.1) and contact plate (5.2) are positioned at described
The both sides of movement output module (3.1) in conversion of motion device, and the form contacted is linear contact lay or face
Contact；
The position detecting device (6) is used for the displacement for detecting the load (5), and feeds back to the control
Device (7), it installs in the position shown in the figure 1 one；
The controller (7) makees computing according to above-mentioned feedback quantity, and controls the linear motion unit (2)
It is for linear motion, so that drive conversion of motion device (3) for linear motion in the lump, conversion of motion device (3)
The load (5) is promoted, under the guiding of the arc-shaped rail (4.1), the load (5) rotates to
Specified angle position.
A kind of grading method of circular index device, as shown in Figure 4 and Figure 5：Based on computing, with reference to by straight line
Conversion of motion is the circular index device of rotary motion, realizes accurate angle positioning output；
A. after given input quantity, controller according to the transforming relationship of linear motion and rotary motion and
Speed reducing ratio exports pulsed quantity, so as to control executing agency's (i.e. linear motion unit) to make straight line
Motion, drive control object (loading) makees gyration；
B. the displacement (i.e. output quantity) of position detecting device real-time feedback control object, controller is according to defeated
Output and input quantity do interpolation operation, and export compensated pulse amount so that control object is (i.e.
Load) accurately it is turned back to specified location；
Now so that the load turns clockwise indexing as an example, illustrate linear motion and the transforming relationship of rotary motion
It is as follows：
As shown in fig. 5, it is assumed that the radius of turn of the load is R, the centre of gyration of load to the motion
The vertical direction distance of the roller centre of reforming unit is A, and radius of roller is the contact plate friction in r, load
Face is parallel with the radius of gyration and spacing is e, then when it is φ to load dextrorotation gyration, the conversion of motion
Device is moved to position Q from position P, and displacement is S, then can draw linear motion and rotary motion
Transforming relationship computing formula：
For interpolation operation, it will be assumed that anglec of rotation variable quantity is Δ φ, displacement variable quantity is Δ S, then two
Person's relation can be expressed as：
It is preferred that one：Desirable r=e, then linear motion and the transforming relationship computing formula of rotary motion are changed into：
S=A × tan φ
During interpolation operation, change magnitude relation is changed into：Δ S=A × tan (φ+Δ φ)-A × tan (φ).
It is preferred that two：Desirable e=0, then linear motion and the transforming relationship computing formula of rotary motion are changed into：
During interpolation operation, change magnitude relation is changed into：
It should be noted that during load (5) rotate counterclockwise indexing, linear motion turns with rotary motion
Change relation computing formula can be drawn with similar.
Second embodiment
Then, second embodiment of the present invention is illustrated based on Fig. 6.
In the first embodiment, the load (5) is oriented to by the progress of arc-shaped rail (4.1),
And arc-shaped rail can also play carrying effect, this is in vertical circular index (pitching indexing) or tilts
It is advantageous to turn round (inclination angle is not limited) indexing occasion, and in horizontal rotation indexing, the setting of rotating shaft,
No matter from machining angle or installation and debugging angle, all have a clear superiority, in view of this, implement second
In mode, increase rotating shaft (4.2), while position detecting device (6) is arranged on into the position two shown in Fig. 6.
According to the second embodiment, the load (5) is oriented to by the progress of rotating shaft (4.2), circular arc
Shape guide rail is to play carrying effect, and such a embodiment can also realize Fig. 2, Fig. 3, Fig. 4 and Fig. 5
Described various structures and function, it is ensured that load is accurately turned back to specified location, while the circular index is filled
Put after being combined with other conventional panoramic tables, can realize 360 ° as low-angle precision micrometer adjustable device
Circular index.
In a word, because linear drives (motion) Technical comparing is ripe, indexing means of the present invention is entering
Advantage is notable during row non-standard de-sign；If linear drives use servomotor+ball-screw form, in lubrication side
Face effect more preferably, when coordinating motor internal contracting brake, easily realizes the locking of mechanism.
The present invention is not limited to above-described embodiment, and it is accurate that it can carry out low-angle as independent indexing means
Indexing, can also coordinate other conventional indexing forms to realize 360 degree of circular indexs as Precision trimming mechanism,
All designs or mentality of designing being had been pointed out using the present invention, are considered as in protection scope of the present invention
Within.
Claims (11)
1. a kind of circular index device, it is characterised in that：The circular index device at least includes：Pedestal (1),
Linear motion unit (2), conversion of motion device (3), pilot unit (4), load (5), position detecting device (6),
Controller (7)；
The linear motion unit (2) at least includes servomotor (2.1) and linear motion output interface (2.2),
And on the pedestal (1)；
The conversion of motion device (3) is connected with the linear motion output interface (2.2), and single in linear motion
For linear motion under the driving of first (2), its movement output module (3.1) is roller or sliding block；
The pilot unit (4) at least has the arc-shaped rail (4.1) playing the guiding role or rotating shaft (4.2),
And on the pedestal (1)；
The load (5) is the angle positioning output unit of circular index device, and it is in the pilot unit (4)
Guide effect under can circle, it at least includes contact plate, contact plate with it is described move it is defeated
Go out module (3.1) contact；
The displacement of position detecting device (6) the detection load (5), and feed back to the controller (7).
2. a kind of circular index device according to claim 1, it is characterised in that：The conversion of motion
When movement output module (3.1) in device (3) is roller, its contact form table with the contact plate in load (5)
It is now linear contact lay.
3. a kind of circular index device according to claim 1, it is characterised in that：The conversion of motion
When movement output module (3.1) in device (3) is sliding block, its contact form table with the contact plate in load (5)
Now contacted for face.
4. a kind of circular index device according to claim 1-3, it is characterised in that：The load (5)
On contact plate include contact plate (5.1) and contact plate (5.2), the motion in the conversion of motion device (3) is defeated
Go out module (3.1) to be located between contact plate (5.1) and contact plate (5.2).
5. a kind of circular index device according to claim 1, it is characterised in that：The servomotor
(2.1) built-in encoder, and possess band-type brake function.
6. a kind of circular index device according to claim 1-5, it is characterised in that：The servo electricity
Machine (2.1) band-type brake so that linear motion output interface (2.2) and conversion of motion device (3) are remained stationary as, due to
The movement output module (3.1) and the spacing relation of contact plate (including contact plate (5.1), contact plate (5.2)),
(5) are loaded also by reliable spacing.
7. a kind of circular index device according to claim 1, it is characterised in that：The load (5)
Gyration be by the transform linear motion of the linear motion unit (2) Lai.
8. a kind of circular index device according to claim 1-7, it is characterised in that：The revolution point
When spending device applied to horizontal rotation indexing or tilting rotary table (angle of inclination is generally less than 10 °) indexing, institute
Stating load (5) is circled under the constraint of rotating shaft (4.2), and position detecting device (6) is arranged on rotating shaft
(4.2) near.
9. a kind of circular index device according to claim 1-7, it is characterised in that：The revolution point
When spending device applied to vertical circular index (pitching indexing) or tilting rotary table (inclination angle is not limited) indexing,
The device does not include rotating shaft (4.2), and the load (5) is to make circumference fortune under the guiding of arc-shaped rail (4.1)
It is dynamic, and position detecting device (6) is near arc-shaped rail (4.1).
10. a kind of circular index device according to claim 1-9, it is characterised in that：The revolution
Indexing means is as low-angle precision micrometer adjustable device, after it is combined with other conventional panoramic tables, it is possible to achieve
360 ° of circular indexs.
11. a kind of grading method of circular index device, it is characterised in that：The position detecting device (6) is in real time
The displacement of the feedback load (5), the linear motion unit (2) is current by built-in encoder Real-time Feedback
Straight-line displacement, the controller (7) controls linear motion single by carrying out computing to above-mentioned feedback quantity
Member motion (2) is for linear motion, so that drive conversion of motion device (3) for linear motion in the lump, conversion of motion dress
Put (3) and promote load (5), under the guiding of pilot unit (4), load (5) rotates to specified angle position.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610011937.8A CN106938406A (en) | 2016-01-04 | 2016-01-04 | A kind of circular index device and grading method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610011937.8A CN106938406A (en) | 2016-01-04 | 2016-01-04 | A kind of circular index device and grading method |
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Family
ID=59469365
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| CN201610011937.8A Pending CN106938406A (en) | 2016-01-04 | 2016-01-04 | A kind of circular index device and grading method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108008298A (en) * | 2017-12-13 | 2018-05-08 | 格力电器（武汉）有限公司 | The monitoring device and its control method and control device of motor working life |
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| CN201102141Y (en) * | 2007-10-09 | 2008-08-20 | 宜昌长机科技有限责任公司 | Inclination angle adjusting device for working platform of gear shaping machine |
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Application publication date: 20170711 |