CN201918952U

CN201918952U - Swinging device based on linear motor

Info

Publication number: CN201918952U
Application number: CN2010206184913U
Authority: CN
Inventors: 宇景斌; 焦长虹; 曹娟娟
Original assignee: Cama Luoyang Electronics Co Ltd
Current assignee: Cama Luoyang Electronics Co Ltd
Priority date: 2010-11-16
Filing date: 2010-11-16
Publication date: 2011-08-03
Anticipated expiration: 2020-11-16

Abstract

The utility model discloses a swinging device based on a linear motor, which mainly consists of a swinging mechanism base (1), a swinging arm (2), a sliding block (3), the linear motor (4), a zero transducer (6), a left limiting transducer (5), a right limiting transducer (7) and a flange nut (8), wherein the linear motor is fixedly supported on the swinging mechanism base through a supporting piece; an output shaft of the linear motor adopts the threaded rod structure; the flange nut is connected with the output shaft of the linear motor by screw thread and is fixedly connected with the sliding block; the swinging arm is positioned below the flange nut, fixedly connected with the sliding block on the flange nut and supported by the sliding block; the zero transducer, the left limiting transducer and the right limiting transducer are also arranged on the swinging mechanism base; and the zero transducer is positioned in the middle of the stroke of the swinging arm (2). The swinging device based on the linear motor solves the problems that the existing swinging device has small swinging amplitude and is complicated to control, etc.; and the swinging device based on the linear motor improves the property of the swinging mechanism and ensures the reliable operation of the swinging mechanism in such motion states as the back-and-forth motion state, the zeroing motion state and the reaching motion state.

Description

A kind of pendulous device based on linear electric motors

Technical field

The utility model belongs to the motion control device technical field in the target simulation system, and what relate generally to is a kind of pendulous device based on linear electric motors.

Background technology

At present, motion device in most target analogue systems all is to adopt electric rotating machine to drive the rotating disk rotation, realize swing by stirring the such transmission mechanism of eccentric pendulum, owing to be subjected to the restriction in rotating disk size and space, the amplitude of fluctuation of swing mechanism has been subjected to great limitation, has serial problems such as amplitude of fluctuation is little, motion control complexity.

Summary of the invention

At above these problems, the utility model proposes a kind of pendulous device based on linear electric motors.Solution has problems such as the pendulous device amplitude of fluctuation is little, control complexity now, improves the performance of swing mechanism, guarantees back and forth movement, time zero reliability service that moves and reach motion states such as position motion of swing mechanism.

The utility model realizes that the technical scheme that above-mentioned purpose is taked is: mainly by the swing mechanism base, swing arm, slide block, linear electric motors, null pick-up, the left limit transducer, right limit transducer and flange nut are formed, linear electric motors are fixedly supported on the swing mechanism base by strutting piece, its output shaft is a screw-rod structure, flange nut is by on the output shaft that is threaded in linear electric motors, on flange nut, be fixedly connected with slide block, swing arm is positioned at the below of flange nut, it is fixedlyed connected with the slide block on the flange nut and is supported by this slide block 3, on the swing mechanism base, also be provided with a null pick-up and a left side, right limit transducer, null pick-up are positioned at the centre position of swing arm 2 strokes.

The utility model drives swing arm by the linear motor driving flange nut and realizes swing, because the stroke of linear electric motors is unrestricted, can increase the stroke of linear electric motors as required, and linear electric motors also have the characteristics that running is steady, driving torque is big, motion control is simple to operation, therefore can satisfy the demand of pendulous device reliably.Efficiently solve shortcomings such as the amplitude of fluctuation that conventional pendulous device exists is little, control complexity, improved the performance of swing mechanism.Its control mode produces pulse signal by logic controller and comes linear electric motors are controlled, the user by guidance panel to the logic controller sending controling instruction, logic controller produces corresponding pulse and direction signal according to the control command of receiving, thereby realizes satisfying the swinging track of customer requirements.

Description of drawings

Fig. 1 is a structural representation of the present utility model.

Fig. 2 is swing mechanism control schematic diagram.

Fig. 3 is a software flow pattern.

Among the figure: 1, swing mechanism base, 2, swing arm, 3, slide block, 4, linear electric motors, 5, the left limit transducer, 6, null pick-up, 7, the right limit transducer, 8, flange nut.

Embodiment

In conjunction with the accompanying drawings, it is as follows to provide embodiment of the present utility model:

As Figure 1-3: a kind of pendulous device based on linear electric motors mainly is made up of swing mechanism base 1, swing arm 2, slide block 3, linear electric motors 4, null pick-up 6, left limit transducer 5, right limit transducer 7 and flange nut 8, linear electric motors adopt linear stepping motor, be fixedly supported on the swing mechanism base 1 by strutting piece, its output shaft is a screw-rod structure.Flange nut 8 is fixedly connected with slide block 3 by on the output shaft that is threaded in linear electric motors on flange nut 8.Swing arm 2 is positioned at the below of flange nut 8, and it is connected with slide block 3 on the flange nut, also is provided with null pick-up and left and right limit sensors on the swing mechanism base.Null pick-up is positioned at the centre position of swing arm 2 strokes.By the flexible signal cable motor, motor driver, logic controller and control panel are electrically connected.Whole motion control mainly is divided into the control of system initialization, back and forth movement, return zero motion control, reach several modules such as a motion control.Concrete control mode be finish behind the system initialization by control panel control button to the I of logic controller O mouth input control order, logic controller by to after the analyzing and processing of control command by I the O mouth export corresponding pulse and direction signal to motor driver, movement velocity, distance and the direction of control motor, that realizes swing mechanism comes and goes, returns zero and reach motion state such as position.For guaranteeing the reliability service of swing mechanism, also added stopping means for swing mechanism, when exceeding movement travel under improper situation, pendulous device will touch the limit sensors of the left and right sides, transducer will send a signal to logic controller, logic controller is received the motion that will stop motor behind the signal, guarantees that motor and other mechanism can not sustain damage.

Its operation principle is: linear stepping motor is to control by the input pulse signal, just rotate a fixing angle promptly for a pulse signal linear stepping motor, flange nut on the linear electric motors will move a fixing length, this length is called step-length, general linear stepping motor revolves to turn around needed for 200 steps, but the step-length of motor is also relevant with the helical pitch of linear electric motors, so the step-length of different model motor may be not quite similar.But the motor step-length of a certain model is fixed certainly, the step-length of supposing the motor M that we select for use is L, the total kilometres that flange nut need move are S, movement velocity is V, finish the umber of pulse N that whole stroke need send so and then be S/L, pulse period T then is L/V, in this kinetic control system, also need a reference point, it is reference position with it all that the stroke of whole swing mechanism in the process of swing changes.The position that promptly is set in reference point is a zero position, is designated as positive and negative stroke when mobile to the left and right respectively.The determining of reference point finished by photoelectric sensor in the system initialization process.Under the situation that S, L, N, T and reference point are all determined, finish with the at the uniform velocity back and forth movement of speed V only need send after N positive direction cycle be the pulse signal of T to motor driver by logic controller, sending N opposite direction cycle again is the pulse signal of T.So circulation go down motor just can be always with speed V at the uniform velocity back and forth movement go down till the pulse generation of closing logic controller.This is a back and forth movement at the uniform velocity.If but swing mechanism needs is not back and forth movement at the uniform velocity, but the back and forth movement of speed change just will bother relatively, take even speed change back and forth movement for example, solution of the present utility model is as follows: V is divided into V1 by required precision with speed, V2, V3 ... Vn is total to the sub-speed that the n section is successively decreased successively, then can obtain corresponding pulse period T1, T2, T3 ... T is respectively L/V1, L/V2, L/V3 ... L/Vn, finish the umber of pulse N1 that a sub-stroke needs, N2, N3 ... Nn is respectively 2S/NL, 2SV2/NLV1,2SV3/NLV1 ... 2SVn/NLV1 finishes just to be divided for N speed from the uniformly retarded motion of speed V to 0 being respectively V1 so, V2, V3 ... at the uniform velocity son motion of Vn.This a little motion is carried out the reverse uniformly accelerated motion that has just become for one time from speed 0 to speed V in the other direction again according to opposite order.It is exactly that a speed is decremented to 0 by V that whole process links up, and oppositely accelerates to the back and forth movement of V then.In like manner, can obtain various velocity variations control mode, as sine, cosine, trapezoidal etc.Can converse corresponding kinematic parameter as required in actual applications.

Return zero motion control, with respect to reference point, what return zero finger is exactly to get back to reference point, logic controller is understood real time record apart from reference point length in the process of control swing arm swing, when logic controller receives back zero control command, logic controller will send the reciprocal umber of pulse that can get back to zero-bit to motor.

Reaching a motion control is a kind of manual control model, is divided into positive and negative both direction, and every the transmission to logic controller once reaches a movement instruction, and logic controller will send corresponding several umber of pulses to motor, makes flange nut move a segment distance.

Claims

1. pendulous device based on linear electric motors, mainly by swing mechanism base (1), swing arm (2), slide block (3), linear electric motors (4), null pick-up (6), left limit transducer (5), right limit transducer (7) and flange nut (8) are formed, linear electric motors are fixedly supported on the swing mechanism base by strutting piece, its output shaft is a screw-rod structure, flange nut is by on the output shaft that is threaded in linear electric motors, on flange nut, be fixedly connected with slide block, swing arm is positioned at the below of flange nut, it is fixedlyed connected with the slide block on the flange nut and by this slider support, on the swing mechanism base, also be provided with a null pick-up and a left side, right limit transducer, null pick-up are positioned at the centre position of swing arm stroke.