CN201107034Y - Double thread guidance virtual guide rails apparatus - Google Patents

Abstract

The utility model discloses a mariages-navigated virtual guide rail device and consists of a worktable driven by an electric motor. The worktable is provided with a wire irradiating device and, the wire irradiating device consists of a light source and a wire. A CCD detector is arranged in the irradiation area of the wire irradiated by the light source, and the CCD detector is connected with a singlechip. The speed-detecting port of the electric motor is connected with the input end of an amplifier circuit, the amplifier circuit is connected with the singlechip through an A/D converter, the singlechip is then connected with a proportion-amplifying circuit through a flip-latch, an amplifier and a D/A converter in sequence, and the output end of the proportion-amplifying circuit is connected with the electric motor. The mariages-navigated virtual guide rail device has the advantages that the cost is saved, the weight is light, the adjustment is easy, the structure is simple and digitalization is achieved. The mariages-navigated virtual guide rail device is applicable to the measurement of a large length and a linear detecting system for a large length, such as a distomat, a laser interferometric length-measuring system and so on.

Description

The virtual track-type facilities of a kind of Double-Wire Navigation

Technical field

The utility model belongs to the movement navigation technical field, relates to the virtual track-type facilities of a kind of Double-Wire Navigation.

Background technology

The movement guide system extensively is present in the middle of the system that determinacy motion needs are arranged, and in the laser interference length-measuring system, the target mirror is installed in usually to be done on the straight-line worktable, finishes the measurement of air line distance along beam direction.In order to guarantee that doing straight-line worktable does linear reciprocating motion on assigned direction, guide rail is essential, and guide rail form commonly used is the mechanical type guide rail.For the occasion of short distance, high-precision requirement, use high precision guide rail guiding and lead screw transmission, can guarantee necessary accuracy; For big length, in high-precision measurement, if still rely on guide rail to guarantee that guiding accuracy is inappropriate fully because along with the lengthening of guide rail, manufacturing cost fast rise, and environmental baseline such as temperature is big to the influence of benchmark, adjust safeguard also very difficult.Therefore at the application of specific occasion, study and a kind ofly can avoid processing long guideway and guarantee that simultaneously the methods and applications system of measuring accuracy is necessary, the virtual guide rail technology of Double-Wire Navigation adopts composite wire as the rectilinear motion benchmark exactly, utilize line array CCD that this benchmark is made non-cpntact measurement, producing control signal adjusts operating position, replace traditional mechanical type guide track system with this, for the line measurement of big length provides a kind of simpler, more accurate method.

Summary of the invention

The purpose of this utility model provides the virtual track-type facilities of a kind of Double-Wire Navigation, solve exist in the prior art do the lengthening of straight-line worktable along with guide rail, the manufacturing cost fast rise, and environmental baseline such as temperature is big to the influence of benchmark, adjusts problem difficult in maintenance.

The technical scheme that the utility model adopted is, the virtual track-type facilities of a kind of Double-Wire Navigation, comprise and be subjected to motor-driven worktable, the tinsel irradiation unit is installed on the worktable, the tinsel irradiation unit comprises light source and tinsel, at light source irradiation irradiated region wiry ccd detector is installed, ccd detector is connected with single-chip microcomputer; The port that tests the speed of motor inserts the input end of amplifying circuit, and amplifying circuit is connected with single-chip microcomputer by A/D converter, and single-chip microcomputer is connected successively by latch, amplifier, D/A converter and ratio amplifying circuit again, and the output terminal of ratio amplifying circuit inserts motor.

Selection of Motor TA7291S direct current generator.

Amplifying circuit is selected OP07 for use.

Single-chip microcomputer is selected the AT89S52 chip for use.

Latch is selected DAC0832 for use.

A/D converter is selected the ADC0809 converter for use.

The beneficial effects of the utility model are, the equipment making cost is low, and environmental baseline such as temperature is little to the influence of benchmark, and it is simple that adjustment mode is installed by this system, can realize automatic guiding function, therefore have application promise in clinical practice long in apart from linear guiding.

Description of drawings

Fig. 1 is the application fundamental diagram that utilizes the infrared range-measurement system verification system;

Fig. 2 is the part-structure synoptic diagram of the utility model worktable;

Fig. 3 is a principle of work synoptic diagram of the present utility model.

Among the figure, 1, D/A converter, 2, motor, 3, worktable, 4, tinsel irradiation unit, 5, ccd detector, 6, amplifying circuit, 7, single-chip microcomputer, 8, latch, 9, amplifier, 10, infrared range-measurement system, 11, the target mirror, 12, dolly, 13, two-frequency laser interferometer, 14, light source, 15, guide rail, 16, A/D converter, 17, tinsel, 18, the ratio amplifying circuit.

Embodiment

Below in conjunction with the drawings and specific embodiments the utility model is elaborated.

As shown in Figure 1, the application principle of work of examining and determine for infrared range-measurement system.General is 0～30 meter by the length of check system, infrared range-measurement system 10 and two-frequency laser interferometer 13 lay respectively at two ends, for meeting abbe ' s principle, the optical axis of two instruments should be on same straight line, their light of sending is in target mirror 11 returns separately receiver like this, when being 30 meters by the length of check system, it requires the distance of dolly 12 motions is 30 meters, but require the motion straightness error of motion workbench in 30 meters long scope of target mirror 11 to be no more than 1mm, promptly require the motion straightness deviation of dolly 12 to be no more than 1mm.

Shown in Figure 1, for utilizing the application fundamental diagram of infrared range-measurement system verification system, infrared range-measurement system 10 and two-frequency laser interferometer 13 are fixed, dolly 12 moves back and forth in the centre, but dolly 12 must have guide rail 15 to guarantee its rectilinear motion along 13 of infrared range-measurement system 10 and two-frequency laser interferometers, the deviation of its linearity should be very little, otherwise light can not turn back in the receiver.Back and forth movement at this dolly just can use mariages to realize guiding, guarantees its high-precision rectilinear motion.

As shown in Figure 2, be the part-structure synoptic diagram of the utility model worktable.Tensioning one one metal wire 4 (abbreviation pull spring) on worktable 18 direction of motion at first during work, as worktable 18 rectilinear motion benchmark, the light beam that light source 14 sends is projected in line array CCD 5 surfaces with tinsel, thereby obtain the position quantity of tinsel in x, y direction, in worktable 18 motion when x, y direction move skew, the size of side-play amount just can reflect by CCD, this offset signal is after single-chip microcomputer 7 is handled, produce control signal, the motion of control motor 17, two-dimentional work bench is adjusted, thus the precision of rectilinear motion of assurance worktable.

Structure of the present utility model comprises the worktable 3 that driven by motor 2, tinsel irradiation unit 4 is installed on the worktable 3, tinsel irradiation unit 4 comprises light source 14 and tinsel 17, and ccd detector 5 is installed on the irradiated region of light source 14 irradiation tinsels 17, and ccd detector 5 is connected with single-chip microcomputer 7; The port that tests the speed of motor 2 inserts the input end of amplifying circuit 6, amplifying circuit 6 is connected with single-chip microcomputer 7 by A/D converter 16, single-chip microcomputer 7 is connected with ratio amplifying circuit 18 successively by latch 8, amplifier 9, D/A converter 1 again, the output terminal of ratio amplifying circuit 18 inserts motor 2, worktable 3 is arranged on the dolly 12, and dolly 12 is along guide rail 15 rectilinear motions.

Motor 2 is selected the TA7291S direct current generator of Toshiba.

Single-chip microcomputer 7 has been selected the AT89S52 chip of U.S. Atmel company for use.Single-chip microcomputer 7 is as the core of hardware, and data bus thereon is used for reading and sending data, and address bus is used for the sheet choosing of control chip.When the chip selection signal gating during A/D converter, single-chip microcomputer reads the result of A/D conversion with data bus; When the chip selection signal gating during D/A converter, single-chip microcomputer uses data bus that data are sent in the D/A converter.

Control circuit partly be meant from the single-chip microcomputer output signal begin to control motor till.Comprising D/A converter 1, ratio amplifying circuit 18, latch 8, amplifier 9, motor 2.D/A converter 1 is a functional unit in the system, has connection performance, and its connection performance has the following aspects: the type and the polarity of the width of input buffering ability, input data, input code system, output analog quantity.Because D/A converter 1 is to link to each other with eight single-chip microcomputer 7, the inversion frequency of Yao Qiuing is roughly at 1MHz, simultaneously because the treatment capacity of single-chip microcomputer 7 is bigger, so need to add in addition a latch 8 before D/A changes, selection DAC0832 simultaneously.DAC0832 is one eight a D/A converter chip, single power supply power supply, from+5～+ 15V all can work.Reference voltage range is ± 10V, and electric current Time Created is 1 μ S, CMOS/Si-Cr technology, and low-power consumption 20mW, chip are 20 pins, dual-in-line package.With AT89S52 Series chip phase configuration, hardware interface is simple, and design is convenient.Output computing formula by DAC0832 can calculate its output valve, but its output valve is a negative value, moreover its output valve not necessarily can satisfy the maximum demand voltage of motor, the maximal value V of its output _{Out max}=-12V is again because the maximum rated operating voltage of motor is+12V that the sign-changing amplifier 9 of an enlargement factor for-1 is being set thereafter.

Feedback circuit partly is meant the signal that comes out from speed measuring motor, sends into the A/D conversion links through behind certain amplifying element, sends into the more accurate control that realizes motor in the single-chip microcomputer at last.It comprises the bridge rectifier link, a certain proportion of amplifying element and A/D conversion links.In this module, since the tachometer output signal have just have negative, it all is the analog quantity (voltage) of reflection motor speed, moreover turning to of motor is that two paths of signals by chip for driving is controlled, so will all be converted to positive signal from the voltage that the motor speed measuring machine comes out for convenience.

Amplifying circuit 6 is selected the OP07 of AD company for use.In the reality test, when machine operation under rated voltage (± 12V) time, record the speed measuring motor output voltage and be to the maximum ± 11.04V, but in the design of A/D conversion links, the reference voltage of its input (REF+) is+5V, so will add enlargement factor less than 1 amplifying element.

A/D converter 16 is selected the ADC0809 converter.ADC0809 is eight A/D converters using always, belongs to successive approximation.By single+5V power supply power supply, inside has eight road simulant electronic switches of latch function, can finish the time that once conversion needs about 100 μ s to eight road analog voltage signal timesharing conversion of 0-5V, output has the TTL three-state and latchs impact damper, can directly be connected with the data bus of AT89S52.

As shown in Figure 3, be principle of work synoptic diagram of the present utility model.During work, single-chip microcomputer 7 at first sends steering order according to the tinsel radiation data that ccd detector 5 is gathered, and the signal that D/A converter 1 comes out will be delivered to the rotating speed that is used for controlling motor 2 among the motor drive ic TA7291 through behind the ratio amplifying circuit 18.The signal of the reaction motor speed that speed measuring motor comes out behind overcommutation and a certain proportion of amplifying element, is delivered to the IN0 end of A/D converter, has so just finished feedback element.

The utility model utilizes tinsel to set up the virtual guide rail navigation benchmark of navigational system for material, utilize line array CCD that this benchmark is made non-cpntact measurement, the data of its measurement suitable accurately, after measuring measurement data is sent into single-chip microcomputer, these data are sent through calculating and processing in single-chip microcomputer, through D/A converter data are finally sent into motor, realize motor speed and the control that turns to, motor feeds back to some signals again simultaneously, current feedback is arranged, velocity feedback and position feedback, from and realize the high-precision control of motor, the High Accuracy Control of motor from and guaranteed the High Accuracy Control of worktable to realize precise navigation.

The utlity model has following advantage: save cost, utilize mariages to realize guiding, and pass in the past The mechanical type mechanism of system compares, and quality is light, with respect in the past heavy mechanical mechanism, has saved and has been permitted Many materials just use two one metal wires just to realize navigation, so so just saved many costs. Be easy to adjust, owing to navigate with mariages, mechanism is simple, utilizes again single-chip microcomputer to realize control simultaneously, If so when deviation or error occurring, can realize adjusting by the program of revising in the single-chip microcomputer, no longer elephant The people that places one's entire reliance upon like that realizes adjusting mechanical mechanism in the past. Utilize line array CCD to realize detecting, The data that detect are sent into single-chip microcomputer calculate and process, single-chip microcomputer is changed data again through D/A Device is finally controlled motor, adds again some feedback elements simultaneously and realizes high-precision control, special Require the lower communication that also can be implemented in computer, thus this winding machine digitlization. The utility model Can be widely used in the straight-line detection measuring system of big-length.

Claims (6)

1, the virtual track-type facilities of a kind of Double-Wire Navigation, it is characterized in that, comprise the worktable (3) that driven by motor (2), tinsel irradiation unit (4) is installed on the worktable (3), tinsel irradiation unit (4) comprises light source (14) and tinsel (17), irradiated region at light source (14) irradiation tinsel (17) is equipped with ccd detector (5), and ccd detector (5) is connected with single-chip microcomputer (7); The port that tests the speed of motor (2) inserts the input end of amplifying circuit (6), amplifying circuit (6) is connected with single-chip microcomputer (7) by A/D converter (16), single-chip microcomputer (7) is connected with ratio amplifying circuit (18) successively by latch (8), amplifier (9), D/A converter (1) again, and the output terminal of ratio amplifying circuit (18) inserts motor (2).

2, the virtual track-type facilities of Double-Wire Navigation according to claim 1 is characterized in that: described motor (2) is selected the TA7291S direct current generator.

3, the virtual track-type facilities of Double-Wire Navigation according to claim 1 is characterized in that: described amplifying circuit (6) is selected OP07 for use.

4, the virtual track-type facilities of Double-Wire Navigation according to claim 1 is characterized in that: described single-chip microcomputer (7) is selected the AT89S52 chip for use.

5, the virtual track-type facilities of Double-Wire Navigation according to claim 1 is characterized in that: described latch (8) is selected DAC0832 for use.

6, the virtual track-type facilities of Double-Wire Navigation according to claim 1 is characterized in that: described A/D converter (16) is selected the ADC0809 converter for use.