CN1466096A - Two-dimension movement imitator adopting cylindrical two-dimension coordinate system - Google Patents
Two-dimension movement imitator adopting cylindrical two-dimension coordinate system Download PDFInfo
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- CN1466096A CN1466096A CNA021309531A CN02130953A CN1466096A CN 1466096 A CN1466096 A CN 1466096A CN A021309531 A CNA021309531 A CN A021309531A CN 02130953 A CN02130953 A CN 02130953A CN 1466096 A CN1466096 A CN 1466096A
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- coordinate system
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- luffing
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Abstract
The invention is a planar sport simulating device which uses cylinder planar coordinate. The character lies in: it includes: orientation sport simulating mechanism and pitching sport simulating mechanism, the former includes arc guide which has a bearing slipping block and is supported on the ground vertically by the grinders, the stator induction conductor is fixed on the grinders, and the rotor which connects with the alternating current is set on the asnchronous linear electrical machine and the orientation sport sensor of the bearing slipping block; the latter includes: step-by-step electrical machine which connected with the rotor, the chain wheel driving mechanism which is made up of the steel wire driven by the electrical machine and two chain wheels, the linear guides for pitching sport of the simulating object connected with the steel wire.
Description
Technical field
Adopt the two dimensional motion simulator of cylinder two-dimensional coordinate system to belong to two dimensional motion analogue technique field.
Background technology
The simulation system of two dimension or three-dimensional motion generally adopts the X-Y-Z coordinate system, uses step motor drive, and computing machine is by the motion of stepping motor control card such as PCL1839 control motor, the position of reading coordinate axis by the photoetching degree.Therefore, can not simulate spheric motion.Often adopt line inductance electromotor in the occasion that needs the high speed acceleration and deceleration.The sensor conductor vertical cell of general its stator all is distributed on the motion guide rail of mover, conductor in each unit is placed perpendicular to mover direction of motion, when producing the vortex induction electric current in the stator conductors during by electric current in the mover, makes motion smoothing, cost is low, and loss is also little.But induction motor can not be done movement in a curve.When main winding is an arc-shaped device, be motion parts and respond to side, just can make the induction side on main winding, make arcuate movement, but can not in the arc surface of vertical ground, do movement in a curve as the X-axis in the cylinder two-dimensional coordinate system.If adopt then complex manufacturing technology of arc electric motor, cost is also very high.
Therefore, present two-dimensional analog device can't be done to the high speed acceleration and deceleration motion of various tracks in the arc surface of vertical ground.
Summary of the invention
The object of the present invention is to provide a kind of two dimensional motion simulator that can make to the high speed acceleration and deceleration employing cylinder two-dimensional coordinate system of various orbiting motions on perpendicular to the arc surface on ground.
The invention is characterized in: it comprises orientation motion simulation mechanism and luffing simulation mechanism, wherein, orientation motion simulation mechanism is contained: have bearing-type slide block and vertical support arc-shaped guide rail on the ground, the stator sensor conductor is fixed on the crossbeam that supports arc-shaped guide rail and the mover that connects AC power is placed in asynchronous linear motor and the orientation motion sensor on the bearing-type slide block; The luffing simulation mechanism contains: the stepper motor that links to each other with the mover of above-mentioned asynchronous linear motor, by the pulley drive mechanism that is subjected to stepper motor driven steel cable and constitutes with upper and lower two pulleys that steel cable is slidingly connected, line slideway and the support used do luffing for the simulated target that links to each other with steel cable.Described orientation motion sensor constitutes near switch and the photoelectric sensor that is contained on the described asynchronous linear motor mover by being fixed on the motion of location grating on the arc-shaped guide rail and X-axis.In the described orientation motion simulation mechanism, described asynchronous linear motor is controlled by the programmable logic controller (PLC) PLC that links to each other with an industrial computer through frequency converter.In the described orientation motion simulation mechanism, described photoelectric sensor output terminal links to each other with a programmable logic controller (PLC) PLC who is controlled by industrial computer.Described stepper motor is controlled by a programmable logic controller (PLC) that links to each other with industrial computer through driver.In described luffing simulation mechanism, on described line slideway, the anti-collision block of Y-axis, zeroing switch and upright position scale are housed.In described orientation motion simulation mechanism, on described arc-shaped guide rail, along the location grating X-axis is housed and moves near switch, X-axis limit switch.In described luffing simulation mechanism, described line slideway, upper and lower two pulleys, upper and lower two anti-collision blocks all are contained on the luffing support.The stator sensor conductor of described asynchronous linear motor is the copper bar that is layered on the interval joint-cutting on the crossbeam that supports arc-shaped guide rail, and mover then connects AC power.
Operation instruction: it can realize intended purposes.
Description of drawings
Fig. 1 two dimensional motion simulator of the present invention synoptic diagram.
The schematic block circuit diagram of the controller that Fig. 2 and two dimensional motion simulator of the present invention are supporting.
The above-mentioned two dimensional motion simulator of Fig. 3 front view.
The above-mentioned two dimensional motion simulator of Fig. 4 side view
The above-mentioned two dimensional motion simulator of Fig. 5 master looks partial enlarged drawing.
The above-mentioned two dimensional motion simulator of Fig. 6 overlook partial enlarged drawing.
The schematic cross-section of Fig. 7 camber line guide rail and slide block.
The circuit theory diagrams of the above-mentioned controller of Fig. 8.
Fig. 9 asynchronous linear motor mover structural drawing: Fig. 9 (a)-front view; 9 (b)-side views; 9 (c)-vertical views.
Embodiment
Ask for an interview Fig. 1.The 1st, the segmental bearing guide rail adopts the arc-shaped guide rail of the band slipper bearing of Japanese THK company, and its schematic cross-section is seen Fig. 7.In Fig. 7, the 2nd, slide block, the 3rd, bearing constitutes the bearing-type slide block jointly, and 33 for supporting the crossbeam of arc-shaped guide rail.The 4th, the asynchronous linear motor stator, it is the copper bar of joint-cutting at interval that has that is layered on the crossbeam 33, to improve starting torque, passes to alternating current in the mover 5, just produces induction current in stator 4; Simultaneously, mover is placed on the slide block 2 of arc-shaped guide rail 1, the power that slide block 2 is applied by the outer survey of this guide rail 1 on arc-shaped guide rail 1, thus producing a centripetal force, the tangential drawing force of it and motor is synthetic, makes motor do movement in a curve along this guide rail 1.In Fig. 1, the 6th, stepper motor, maximum output torque are 9kg/cm, are the production PRIME series five phase step motor of happy diligent (RORZE) company of Japan.Its line wheel 35 by rotating shaft drive by steel cable 7 and up and down the pulley mechanism that constitutes of pulley 8a, 8b rotatablely moving of rotating shaft become the luffing of the electromagnetic horn (simulated target) 19 that is connected on the steel cable 7.Arc-shaped guide rail 1 is placed on the crossbeam 33, crossbeam 33 by supporting leg 10 vertical twelve Earthly Branches on ground.
Goodbye Fig. 2.The 11st, industrial computer, the CPU of employing Pentium200MHz, the 12nd, programmable logic controller (PLC) PLC, the 13rd, stepper motor driver is the supporting driver of production PRIME series five phase step motor of happy diligent (RORZE) company of Japan.14
XBe the limit switch of X-axis, 15
XFor the motion of X-axis near switch, play X-axis location, zeroing effect, 15
YBe the zeroing switch of Y-axis, model is the NPN-5 proximity Hall switch.Above-mentioned driver 13, stepper motor 6, switch 15
YConstitute the luffing system jointly.The 16th, frequency converter, model for peace river 606-PC3 type (3.7KW, 380V).The 17th, the location grating of band graduated scale, the 18th, photoelectric sensor is separately fixed on arc-shaped guide rail 1 and the mover 5.Above-mentioned frequency converter 16, asynchronous linear motor, location grating 17, photoelectric sensor 18, X-axis limit switch 14
X, X-axis moves near switch 15
XCommon constitute the orientation kinematic system, the annexation of they and industrial computer 11, PLC as above-mentioned.
Goodbye Fig. 3～Fig. 6.Linear motor rotor 5 is contained in the linear motor rotor casing 25, and linking to each other with positioning seat 23 by connecting piece 24 is placed on the slide block 2, and 1 of slide block 2 and arc-shaped guide rail have bearing 3.Line slideway 20, pulley 8a, 8b, brake block 34a, 34b and steel ruler 22 all are fixed on the luffing support 9, and the luggage carrier 21 that electromagnetic horn 19 is housed can be done luffing by bearing 3 on line slideway 20.Steel cable 7 is fixed on the luggage carrier 21 by turnbuckle 26, thereby drives electromagnetic horn 19 motions.The wiring of control circuit by terminal box 27 and linear motor rotor 5, stepper motor 6, about two X-axis limit switches 14
X, X-axis is near switch 15
X, Y-axis zeroing switch 15
YLink to each other.
Goodbye Fig. 7.Bearing-type slide block, linear motor stator electric 4 that crossbeam 33 is supporting camber line guide rail 1, is being made of jointly slide block 2 and bearing 3.
Goodbye Fig. 8.The model of PLC is: the FP1 of Panasonic, the model of frequency converter 16 is that (3.7KW, 380V), the model of stepper motor 6 and its driver 13 is as above-mentioned for peace river 606-PC3 type.Its interconnected relationship is seen Fig. 8.
Goodbye Fig. 9.The 28th, the linear motor rotor iron core is fixed by two clamping plate 29a unshakable in one's determination and 29b.Pass to alternating current in the mover winding 30, in stator 4, produce induction current.Bearing 31 and bearing seat 32 are supporting linear motor rotor 5 and are moving above stator 4.
This shows, the two dimensional motion simulator that constitutes by means of the simulation mechanism of orientation motion and luffing can be under industrial computer control the instruction of execution programmable logic controller (PLC) PLC in the face of cylinder, make the cylinder two dimensional motion of any track perpendicular to ground.
Claims (8)
1. adopt the two dimensional motion simulator of cylinder two-dimensional coordinate system, contain the two dimensional motion simulation mechanism, it is characterized in that, it comprises orientation motion simulation mechanism and luffing simulation mechanism, wherein, orientation motion simulation mechanism is contained: have bearing-type slide block and vertical support arc-shaped guide rail on the ground, the stator sensor conductor is fixed on the crossbeam that supports arc-shaped guide rail and the mover that connects AC power is placed in asynchronous linear motor and the orientation motion sensor on the bearing-type slide block; The luffing simulation mechanism contains: the stepper motor that links to each other with the mover of above-mentioned asynchronous linear motor, by the pulley drive mechanism that is subjected to stepper motor driven steel cable and constitutes with upper and lower two pulleys that steel cable is slidingly connected, line slideway and the support used do luffing for the simulated target that links to each other with steel cable.
2. the two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1 is characterized in that: described orientation motion sensor constitutes near switch and the photoelectric sensor that is contained on the described asynchronous linear motor mover by being fixed on the motion of location grating on the arc-shaped guide rail and X-axis.
3. according to the two dimensional motion simulator of claim 1,2 described employing cylinder two-dimensional coordinate systems, it is characterized in that: in the described orientation motion simulation mechanism, described asynchronous linear motor is controlled by the programmable logic controller (PLC) PLC that links to each other with an industrial computer through frequency converter.Described photoelectric sensor output terminal links to each other with a programmable logic controller (PLC) PLC who is controlled by industrial computer.
4. the two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1 is characterized in that: described stepper motor is controlled by a programmable logic controller (PLC) PLC who links to each other with industrial computer through driver.
5. the two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1 is characterized in that: in described luffing simulation mechanism, on described line slideway, the anti-collision block of Y-axis, zeroing switch and upright position scale are housed.
6. the two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1 is characterized in that: in described orientation motion simulation mechanism, on described arc-shaped guide rail, along the location grating X-axis is housed and moves near switch and X-axis limit switch.
7. the two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1, it is characterized in that: in described luffing simulation mechanism, described line slideway, upper and lower two pulleys, upper and lower two anti-collision blocks all are contained on the luffing support.
8. the two dimensional motion simulator of employing cylinder two-dimensional coordinate system according to claim 1, it is characterized in that: the stator sensor conductor of described asynchronous linear motor is the copper bar that is layered on the interval joint-cutting on the crossbeam that supports arc-shaped guide rail, and mover then connects AC power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 02130953 CN1226694C (en) | 2002-06-14 | 2002-09-23 | Two-dimension movement imitator adopting cylindrical two-dimension coordinate system |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN02121330.5 | 2002-06-14 | ||
| CN20021213305 | 2002-06-14 | ||
| CN02121330 | 2002-06-14 | ||
| CN 02130953 CN1226694C (en) | 2002-06-14 | 2002-09-23 | Two-dimension movement imitator adopting cylindrical two-dimension coordinate system |
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| Publication Number | Publication Date |
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| CN1466096A true CN1466096A (en) | 2004-01-07 |
| CN1226694C CN1226694C (en) | 2005-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 02130953 Expired - Fee Related CN1226694C (en) | 2002-06-14 | 2002-09-23 | Two-dimension movement imitator adopting cylindrical two-dimension coordinate system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106288957A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | A kind of distant object motion simulator |
| CN106288958A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | The arc distant object motion simulator that a kind of linear electric motors drive |
| CN106288956A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | A kind of arc distant object motion simulator |
-
2002
- 2002-09-23 CN CN 02130953 patent/CN1226694C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106288957A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | A kind of distant object motion simulator |
| CN106288958A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | The arc distant object motion simulator that a kind of linear electric motors drive |
| CN106288956A (en) * | 2016-10-11 | 2017-01-04 | 北京航空航天大学 | A kind of arc distant object motion simulator |
| CN106288957B (en) * | 2016-10-11 | 2018-05-08 | 北京航空航天大学 | A kind of distant object motion simulator |
| CN106288956B (en) * | 2016-10-11 | 2018-05-08 | 北京航空航天大学 | A kind of arc distant object motion simulator |
| CN106288958B (en) * | 2016-10-11 | 2018-05-25 | 北京航空航天大学 | A kind of arc distant object motion simulator of linear motor driving |
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| Publication number | Publication date |
|---|---|
| CN1226694C (en) | 2005-11-09 |
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