CN206209414U - The axle slide unit of stepper motor three based on virtual instrument control system - Google Patents
The axle slide unit of stepper motor three based on virtual instrument control system Download PDFInfo
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- CN206209414U CN206209414U CN201621324991.XU CN201621324991U CN206209414U CN 206209414 U CN206209414 U CN 206209414U CN 201621324991 U CN201621324991 U CN 201621324991U CN 206209414 U CN206209414 U CN 206209414U
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Abstract
The utility model discloses a kind of axle slide unit of stepper motor three based on virtual instrument control system, including X-axis travelling carriage, Y-axis travelling carriage, Z axis travelling carriage and control device, the X-axis slide rail vertical with X-axis travelling carriage is provided with below X-axis travelling carriage, the upper surface of X-axis travelling carriage is provided with Y-axis slide rail, and the front end face of Y-axis travelling carriage is provided with vertical Z axis slide rail；The rear end of X-axis slide rail is provided with X-axis stepper motor, the inside of X-axis slide rail is provided with the X-axis leading screw set along X-axis slide rail length direction, the rear end of X-axis leading screw is coaxially assembled with the motor shaft of X-axis stepper motor, and X-axis screw set is equipped with X-axis nut, and X-axis nut is fixedly connected with the lower surface of X-axis travelling carriage.The utility model mechanical structure is simple, and stable transmission, positioning precision is high；Whole system is formed the closed-loop system that a personal-machine is interacted by PCI1245 motion control cards, motion slide unit, position sensor and host computer, can be very good to realize the location control of three axle slide units, system run all right.
Description
Technical field
The utility model belongs to step motor control technical field, relates generally to a kind of based on virtual instrument control system
The axle slide unit of stepper motor three.
Background technology
Three axle slide units are a kind of commonly used experimental facilities, but existing three axles slide unit complex structure, and control accuracy is poor.Step
Stepper motor is the three commonly used driving equipments of axle slide unit.Stepper motor is that electric impulse signal is converted into angular displacement or displacement of the lines
Executing agency.When stepper motor driver receives a pulse signal, Driving Stepping Motor is rotated by the direction of setting
One fixed angle, can control angular displacement by controlling the number of pulse, can accurately position；Can pass through simultaneously
Control the frequency of pulse to carry out speed and the acceleration that controlled motor is rotated, carry out electric machine speed regulation.Stepper motor can be used as control
Specific type of electric machine, have that rotor inertia is low, positioning precision is high due to it, without accumulated error, control simple the features such as, so as to turn into
One of main executive component of control system.Traditional step motor control system is such as single mainly by using hardware device
Piece machine, DSP devices or PLC etc., but these traditional control methods, not only circuit is complicated, and control accuracy is not high, hardware connection
After be difficult adjustment, very flexible, and programming also acquire a certain degree of difficulty.
Utility model content
In order to solve three axle slide unit complex structures, control accuracy is poor, and stepping motor control circuit is complicated, the skill of very flexible
Art problem, the utility model provides a kind of axle slide unit of stepper motor three based on virtual instrument control system.
The technical solution of the utility model is：
A kind of axle slide unit of stepper motor three based on virtual instrument control system, including X-axis travelling carriage, Y-axis travelling carriage, Z
Axle travelling carriage and control device, are provided with the X-axis slide rail vertical with X-axis travelling carriage below X-axis travelling carriage, X-axis travelling carriage it is upper
End face is provided with Y-axis slide rail, and the front end face of Y-axis travelling carriage is provided with vertical Z axis slide rail；The rear end of X-axis slide rail is provided with X-axis stepping electricity
Machine, the inside of X-axis slide rail is provided with the X-axis leading screw set along X-axis slide rail length direction, rear end and the X-axis stepper motor of X-axis leading screw
Motor shaft coaxially assemble, X-axis screw set is equipped with X-axis nut, and X-axis nut is fixedly connected with the lower surface of X-axis travelling carriage；X-axis
The left end of travelling carriage is provided with y-axis stepper motor, and the inside of X-axis travelling carriage is provided with the Y-axis silk set along Y-axis slide rail length direction
Thick stick, the left end of Y-axis leading screw is coaxially assembled with the motor shaft of y-axis stepper motor, and Y-axis screw set is equipped with Y-axis nut, Y-axis nut and Y
The front/rear end of axle travelling carriage is fixedly connected；The upper end of Y-axis travelling carriage is provided with Z axis stepper motor, and the inside of Y-axis travelling carriage is provided with
Along the Z axis leading screw that Z axis slide rail length direction is set, upper end and the motor shaft of Z axis stepper motor of Z axis leading screw are coaxially assembled, Z axis
Screw set is equipped with Z axis nut, and Z axis nut is fixedly connected with the left and right end face of Z axis travelling carriage；X-axis stepper motor, Y-axis stepping electricity
Machine, Z axis stepper motor are electrically connected with control device.
Preferably, described X-axis travelling carriage is installed with X-axis auxiliary frame near the lower surface of right-hand member, is slided in X-axis auxiliary frame
It is coated with X-axis auxiliary slide rail.
Preferably, the side of described X-axis slide rail is installed with X-axis displacement transducer, Y-axis along the length direction of X-axis slide rail
The side of slide rail is installed with Y-axis displacement transducer along the length direction of Y-axis slide rail, the side of Z axis slide rail along Z axis slide rail length
Direction is installed with Z axis displacement transducer；X-axis displacement transducer, Y-axis displacement transducer, Z axis displacement transducer are and control device
It is electrically connected with.
Preferably, described X-axis slide rail is provided with X-axis front limit switch near the upper surface of front end, and X-axis slide rail is near rear end
Upper surface be provided with X-axis rear limit switch；Y-axis slide rail is provided with Y-axis left limit switch near the upper surface of left end, and Y-axis slide rail is leaned on
The upper surface of nearly right-hand member is provided with Y-axis right limit switch；Front end face of the Z axis slide rail near upper end is provided with Z axis upper limit position switch, Z axis
Slide rail is provided with Z axis lower position switch near the right side of lower end；X-axis front limit switch, X-axis rear limit switch, Y-axis left limit are opened
Pass, Y-axis right limit switch, Z axis upper limit position switch, Z axis lower position switch are electrically connected with control device.
Preferably, described control device includes that PCI1245 motion control cards, X-axis motor driver, y-axis motor drive
Device and Z axis motor driver, X-axis motor driver, y-axis motor driver and Z axis motor driver are SD528 stepper motors
Driver, PCI1245 motion control cards are set up communication and are connected with host computer；The U3_CW+ pins of X-axis motor driver with
The U1_P38 pins connection of PCI1245 motion control cards, U3_CCW+ pins are connected with U1_P40 pins, U3_A, U3_B, U3_C,
U3_D, U3_E are connected with X-axis stepper motor；The U4_CW+ pins of y-axis motor driver and PCI1245 motion control cards
U1_P47 pins are connected, and U4_CCW+ pins are connected with U1_P49 pins, and U4_A, U4_B, U4_C, U4_D, U4_E are walked with Y-axis
Stepper motor is connected；The U5_CW+ pins of Z axis motor driver are connected with the U1_P88 pins of PCI1245 motion control cards, U5_
CCW+ pins are connected with U1_P90 pins, and U5_A, U5_B, U5_C, U5_D, U5_E are connected with Z axis stepper motor；X-axis displacement
Sensor, Y-axis displacement transducer, Z axis displacement transducer are KA300 grating rule displacement sensors；X-axis displacement transducer
U6_6 pins are connected with the U1_P15 pins of PCI1245 motion control cards, and U6_8 pins are connected with U1_P17 pins；Y-axis displacement
The U7_6 pins of sensor are connected with the U1_P23 pins of PCI1245 motion control cards, and U7_8 pins are connected with U1_P25 pins；
The U8_6 pins of Z axis displacement transducer are connected with the U1_P65 pins of PCI1245 motion control cards, and U8_8 pins are managed with U1_P67
Pin is connected；X-axis front limit switch is connected with the U1_P03 pins of PCI1245 motion control cards, X-axis rear limit switch with
The U1_P04 pins connection of PCI1245 motion control cards；Y-axis left limit is switched manages with the U1_P08 of PCI1245 motion control cards
Pin is connected, and Y-axis right limit switch is connected with the U1_P09 pins of PCI1245 motion control cards；Z axis upper limit position switch with
The U1_P53 pins connection of PCI1245 motion control cards, Z axis lower position switch is managed with the U1_P54 of PCI1245 motion control cards
Pin is connected.
The beneficial effects of the utility model are：
Three axles slide unit mechanical structure of the present utility model is simple, and stable transmission, positioning precision is high；Moved by PCI1245
Control card, motion slide unit, position sensor and host computer make whole system form the closed-loop system of personal-machine interaction, can be very
The good location control for realizing three axle slide units, system run all right.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is circuit diagram of the present utility model
Fig. 3 is the corresponding Software for Design flow chart of the utility model；
Fig. 4 is the corresponding man-machine interaction panel of the utility model.
In figure：1 is X-axis travelling carriage, and 2 is X-axis slide rail, and 3 is X-axis auxiliary frame, and 4 is that X-axis aids in slide rail, and 5 slide for Y-axis
Frame, 6 is Y-axis slide rail, and 7 is Z axis travelling carriage, and 8 is Z axis slide rail, and 9 is X-axis stepper motor, and 10 is y-axis stepper motor, and 11 is Z axis
Stepper motor, 12 is X-axis displacement transducer, and 13 is Y-axis displacement transducer, and 14 is Z axis displacement transducer, and 15 is X-axis front limit
Switch, 16 switch for Y-axis left limit, and 17 switch for Y-axis right limit, and 18 is Z axis upper limit position switch, and 19 is Z axis lower position switch,
20 is X-axis rear limit switch.
Specific embodiment
Specific embodiment of the present utility model is referring to Fig. 1-4, a kind of stepper motor based on virtual instrument control system
Three axle slide units, including X-axis travelling carriage, Y-axis travelling carriage, Z axis travelling carriage and control device, are provided with and X-axis below X-axis travelling carriage
The vertical X-axis slide rail of travelling carriage, the upper surface of X-axis travelling carriage is provided with Y-axis slide rail, and the front end face of Y-axis travelling carriage is provided with vertical Z
Axle slide rail；The rear end of X-axis slide rail is provided with X-axis stepper motor, and the inside of X-axis slide rail is provided with the X set along X-axis slide rail length direction
Axial filament thick stick, rear end and the motor shaft of X-axis stepper motor of X-axis leading screw are coaxially assembled, and X-axis screw set is equipped with X-axis nut, X-axis spiral shell
Mother is fixedly connected with the lower surface of X-axis travelling carriage；The left end of X-axis travelling carriage is provided with y-axis stepper motor, the inside of X-axis travelling carriage
The Y-axis leading screw set along Y-axis slide rail length direction is provided with, the left end of Y-axis leading screw is coaxially filled with the motor shaft of y-axis stepper motor
Match somebody with somebody, Y-axis screw set is equipped with Y-axis nut, Y-axis nut is fixedly connected with the front/rear end of Y-axis travelling carriage；The upper end of Y-axis travelling carriage
Be provided with Z axis stepper motor, the inside of Y-axis travelling carriage is provided with the Z axis leading screw set along Z axis slide rail length direction, Z axis leading screw it is upper
End is coaxially assembled with the motor shaft of Z axis stepper motor, and Z axis screw set is equipped with the left and right of Z axis nut, Z axis nut and Z axis travelling carriage
End face is fixedly connected；X-axis stepper motor, y-axis stepper motor, Z axis stepper motor are electrically connected with control device.
X-axis travelling carriage is installed with X-axis auxiliary frame near the lower surface of right-hand member, is slided in X-axis auxiliary frame and is coated with X-axis auxiliary
Slide rail.
The side of X-axis slide rail is installed with X-axis displacement transducer along the length direction of X-axis slide rail, and the side of Y-axis slide rail is along Y
The length direction of axle slide rail is installed with Y-axis displacement transducer, and the side of Z axis slide rail is installed with Z axis along the length direction of Z axis slide rail
Displacement transducer；X-axis displacement transducer, Y-axis displacement transducer, Z axis displacement transducer are electrically connected with control device.
X-axis slide rail is provided with X-axis front limit switch near the upper surface of front end, and X-axis slide rail is provided with X near the upper surface of rear end
Axle rear limit switch；Y-axis slide rail is provided with Y-axis left limit switch near the upper surface of left end, and Y-axis slide rail is near the upper surface of right-hand member
It is provided with Y-axis right limit switch；Front end face of the Z axis slide rail near upper end is provided with Z axis upper limit position switch, and Z axis slide rail is near lower end
Right side is provided with Z axis lower position switch；X-axis front limit switch, X-axis rear limit switch, Y-axis left limit switch, Y-axis right limit are opened
Pass, Z axis upper limit position switch, Z axis lower position switch are electrically connected with control device.
Control device includes that PCI1245 motion control cards, X-axis motor driver, y-axis motor driver and Z axis motor drive
Dynamic device, X-axis motor driver, y-axis motor driver and Z axis motor driver are SD528 stepper motor drivers,
PCI1245 motion control cards are set up communication and are connected with host computer；The U3_CW+ pins of X-axis motor driver are moved with PCI1245
The U1_P38 pins connection of control card, U3_CCW+ pins are connected with U1_P40 pins, and U3_A, U3_B, U3_C, U3_D, U3_E are equal
It is connected with X-axis stepper motor；The U4_CW+ pins of y-axis motor driver connect with the U1_P47 pins of PCI1245 motion control cards
Connect, U4_CCW+ pins are connected with U1_P49 pins, U4_A, U4_B, U4_C, U4_D, U4_E are connected with y-axis stepper motor；Z
The U5_CW+ pins of spindle motor driver are connected with the U1_P88 pins of PCI1245 motion control cards, U5_CCW+ pins and U1_
P90 pins are connected, and U5_A, U5_B, U5_C, U5_D, U5_E are connected with Z axis stepper motor；X-axis displacement transducer, Y-axis displacement
Sensor, Z axis displacement transducer are KA300 grating rule displacement sensors；The U6_6 pins of X-axis displacement transducer with
The U1_P15 pins connection of PCI1245 motion control cards, U6_8 pins are connected with U1_P17 pins；The U7_ of Y-axis displacement transducer
6 pins are connected with the U1_P23 pins of PCI1245 motion control cards, and U7_8 pins are connected with U1_P25 pins；Z axis displacement sensing
The U8_6 pins of device are connected with the U1_P65 pins of PCI1245 motion control cards, and U8_8 pins are connected with U1_P67 pins；X-axis
Front limit switch is connected with the U1_P03 pins of PCI1245 motion control cards, X-axis rear limit switch and PCI1245 motion controls
The U1_P04 pins connection of card；Y-axis left limit switch is connected with the U1_P08 pins of PCI1245 motion control cards, Y-axis right limit
Switch is connected with the U1_P09 pins of PCI1245 motion control cards；The U1_ of Z axis upper limit position switch and PCI1245 motion control cards
P53 pins are connected, and Z axis lower position switch is connected with the U1_P54 pins of PCI1245 motion control cards.
The axle slide units of XYZ tri-, through screw mandrel machine driving, are converted to the straight-line displacement on X/Y/Z by driving stepper motor, such as scheme
Shown in 1.X-axis stepper motor is the low vibrations five phase step motor of PK-569-A type high torque (HT)s, and step angle is 0.36 °, stroke range
It is 280mm, screw lead is 20mm；Y-axis stepper motor is the low vibrations five phase step motor of PK-569-A type high torque (HT)s, step angle
It it is 0.36 °, stroke range is 400mm, screw lead is 20mm；The low vibrations five of Z axis stepper motor PK-544-A high torque (HT)s are mutually walked
Stepper motor, stroke range is 68mm, and screw lead is 2mm.Step angle and screw lead can provide basis to realize positioning.
Straight-line displacement of the control system from KA300 gratings rule displacement sensor to three axles detects that its measurement is exported
Signal be digit pulse, pulse signal transmission enters horizontal pulse to the encoder input pin of PCI1245 motion control cards, board
Count, and then measure the actual straight-line displacement of grating scale.The grating scale has detection range big, and accuracy of detection is high, fast response time
The characteristics of, the resolution ratio of the axle grating scales of XYZ tri- is respectively 5um, 5um, 1um.
Stepper motor driver is SD528, there is 16 kinds of driving currents, per mutually up to 1.4A.Pulse can be received（1P）
And dipulse（2P）Input mode, and full stepping（Often walk 0.72 °）Or half stepping（Often walk 0.36 °）Type of drive, driver connects
Line is as shown in Figure 3.Driver pulse input mode is triggered by trailing edge, i.e., when pulse-free signal is input into, maintain high level.Double arteries and veins
During punching input control, the Pulse Width Control stepper motor at CW ends turns clockwise, and the Pulse Width Control stepper motor at CCW ends revolves counterclockwise
Turn.During pulse input control, angle and speed that CW ends Pulse Width Control stepper motor is rotated, the high/low level at CCW ends are then controlled
The rotation direction of stepper motor processed.The system uses dipulse input mode.
PCI1245 is the 4 axle universal PC I steppings/impulse type Serve Motor Control card of a support popular motion application.
Because PCI1245 merges DSP and FPGA controller designs, can the elasticity various advanced motion control functions of addition.PCI1245 exists
Various motion control functions are performed, is not drawn sound because computer processor is loaded.The full-window dynamic driving of China's offer is provided
Program Common Motion API share and drive platform and abundant application history, can support 32/64 Windows,
Programming development burden will be greatly decreased.
The system using PCI1245 CW ±/PULS ±, CCW ±/DIR ± pins output pulse signal control step
Stepper motor rotation direction and running speed；LMT+/LMT- is positive and negative limit signal input pin, and lead limit switch is used to protect
System；Encoder input [ECA+/-, ECB+/-, ECZ+/-] pin, receive external displacement sensor feedback signal.
In the present system, the software systems of three axle slide unit kinetic control systems are designed and developed using Virtual instrument LabVIEW,
Manage the operation of PCI1245 motion control cards, there is provided the interface of user and control system.Using the event structure of virtual instrument come
Three-axis stepping motor is controlled：When computer the inside is that board model can be selected containing multiple PCI board cards；Press
After lower opening board button, whole panel can be manipulated；Operating shaft selection can be directed to according to displacement of targets or coordinate
Some axle is selectively controlled, such as the speed of the displacement of motion or operation；There are two kinds of stopping moulds when a certain motion is stopped
Formula is available, and user can slow down according to actual conditions selection and stop or stop immediately；In terms of moving displacement is controlled, use
It is relative distance or absolute distance that family can also select the distance of motion according to actual conditions；Spindle Status can show works as
What state at front axle；The signal of displacement transducer feedback can be shown by actual shaft position and oscillogram.Design
System man-machine interaction panel is as shown in Figure 4.
Embodiment described above is only that preferred embodiment of the present utility model is described, and is not departing from this reality
On the premise of new design spirit, the various modifications that those of ordinary skill in the art make to the technical solution of the utility model
And improvement, all should fall into the protection domain of the utility model claims determination.
Claims (5)
1. a kind of axle slide unit of stepper motor three based on virtual instrument control system, it is characterised in that including X-axis travelling carriage, Y-axis
Travelling carriage, Z axis travelling carriage and control device, are provided with the X-axis slide rail vertical with X-axis travelling carriage below X-axis travelling carriage, X-axis is slided
The upper surface of moving frame is provided with Y-axis slide rail, and the front end face of Y-axis travelling carriage is provided with vertical Z axis slide rail；The rear end of X-axis slide rail is provided with X
Shaft step motor, the inside of X-axis slide rail is provided with the X-axis leading screw set along X-axis slide rail length direction, the rear end of X-axis leading screw and X-axis
The motor shaft of stepper motor is coaxially assembled, and X-axis screw set is equipped with X-axis nut, and X-axis nut is fixed with the lower surface of X-axis travelling carriage
Connection；The left end of X-axis travelling carriage is provided with y-axis stepper motor, and the inside of X-axis travelling carriage is provided with and is set along Y-axis slide rail length direction
Y-axis leading screw, the left end of Y-axis leading screw coaxially assembles with the motor shaft of y-axis stepper motor, and Y-axis screw set is equipped with Y-axis nut, Y-axis
Nut is fixedly connected with the front/rear end of Y-axis travelling carriage；The upper end of Y-axis travelling carriage is provided with Z axis stepper motor, Y-axis travelling carriage
Inside is provided with the Z axis leading screw set along Z axis slide rail length direction, and the upper end of Z axis leading screw is coaxial with the motor shaft of Z axis stepper motor
Assembling, Z axis screw set is equipped with Z axis nut, and Z axis nut is fixedly connected with the left and right end face of Z axis travelling carriage；X-axis stepper motor, Y
Shaft step motor, Z axis stepper motor are electrically connected with control device.
2. the axle slide unit of stepper motor three based on virtual instrument control system according to claim 1, it is characterised in that institute
The X-axis travelling carriage stated is installed with X-axis auxiliary frame near the lower surface of right-hand member, is slided in X-axis auxiliary frame and is coated with X-axis auxiliary cunning
Rail.
3. the axle slide unit of stepper motor three based on virtual instrument control system according to claim 2, it is characterised in that institute
The side of the X-axis slide rail stated is installed with X-axis displacement transducer along the length direction of X-axis slide rail, and the side of Y-axis slide rail is slided along Y-axis
The length direction of rail is installed with Y-axis displacement transducer, and the side of Z axis slide rail is installed with Z axis displacement along the length direction of Z axis slide rail
Sensor；X-axis displacement transducer, Y-axis displacement transducer, Z axis displacement transducer are electrically connected with control device.
4. the axle slide unit of stepper motor three based on virtual instrument control system according to claim 3, it is characterised in that institute
The X-axis slide rail stated is provided with X-axis front limit switch near the upper surface of front end, after X-axis slide rail is provided with X-axis near the upper surface of rear end
Limit switch；Y-axis slide rail is provided with Y-axis left limit switch near the upper surface of left end, and Y-axis slide rail is provided near the upper surface of right-hand member
Y-axis right limit is switched；Front end face of the Z axis slide rail near upper end is provided with Z axis upper limit position switch, right-hand member of the Z axis slide rail near lower end
Face is provided with Z axis lower position switch；X-axis front limit switch, X-axis rear limit switch, Y-axis left limit switch, Y-axis right limit switch, Z
Axle upper limit position switch, Z axis lower position switch are electrically connected with control device.
5. the axle slide unit of stepper motor three based on virtual instrument control system according to claim 4, it is characterised in that institute
The control device stated includes PCI1245 motion control cards, X-axis motor driver, y-axis motor driver and Z axis motor driver,
X-axis motor driver, y-axis motor driver and Z axis motor driver are SD528 stepper motor drivers, PCI1245 motions
Control card is set up communication and is connected with host computer；The U3_CW+ pins of X-axis motor driver and the U1_ of PCI1245 motion control cards
P38 pins are connected, and U3_CCW+ pins are connected with U1_P40 pins, and U3_A, U3_B, U3_C, U3_D, U3_E are electric with X-axis stepping
Machine is connected；The U4_CW+ pins of y-axis motor driver are connected with the U1_P47 pins of PCI1245 motion control cards, U4_CCW+ pipes
Pin is connected with U1_P49 pins, and U4_A, U4_B, U4_C, U4_D, U4_E are connected with y-axis stepper motor；Z axis motor driver
U5_CW+ pins be connected with the U1_P88 pins of PCI1245 motion control cards, U5_CCW+ pins are connected with U1_P90 pins,
U5_A, U5_B, U5_C, U5_D, U5_E are connected with Z axis stepper motor；X-axis displacement transducer, Y-axis displacement transducer, Z axis position
Displacement sensor is KA300 grating rule displacement sensors；The U6_6 pins of X-axis displacement transducer and PCI1245 motion control cards
The connection of U1_P15 pins, U6_8 pins are connected with U1_P17 pins；The U7_6 pins of Y-axis displacement transducer are transported with PCI1245
The U1_P23 pins connection of dynamic control card, U7_8 pins are connected with U1_P25 pins；The U8_6 pins of Z axis displacement transducer with
The U1_P65 pins connection of PCI1245 motion control cards, U8_8 pins are connected with U1_P67 pins；X-axis front limit switch with
The U1_P03 pins connection of PCI1245 motion control cards, X-axis rear limit switch is managed with the U1_P04 of PCI1245 motion control cards
Pin is connected；Y-axis left limit switch be connected with the U1_P08 pins of PCI1245 motion control cards, Y-axis right limit switch and
The U1_P09 pins connection of PCI1245 motion control cards；Z axis upper limit position switch is managed with the U1_P53 of PCI1245 motion control cards
Pin is connected, and Z axis lower position switch is connected with the U1_P54 pins of PCI1245 motion control cards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621324991.XU CN206209414U (en) | 2016-12-06 | 2016-12-06 | The axle slide unit of stepper motor three based on virtual instrument control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621324991.XU CN206209414U (en) | 2016-12-06 | 2016-12-06 | The axle slide unit of stepper motor three based on virtual instrument control system |
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| Publication Number | Publication Date |
|---|---|
| CN206209414U true CN206209414U (en) | 2017-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621324991.XU Expired - Fee Related CN206209414U (en) | 2016-12-06 | 2016-12-06 | The axle slide unit of stepper motor three based on virtual instrument control system |
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| CN (1) | CN206209414U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110726894A (en) * | 2019-11-20 | 2020-01-24 | 北京广利核系统工程有限公司 | Automatic testing device and method for multi-key electronic equipment |
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2016
- 2016-12-06 CN CN201621324991.XU patent/CN206209414U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110726894A (en) * | 2019-11-20 | 2020-01-24 | 北京广利核系统工程有限公司 | Automatic testing device and method for multi-key electronic equipment |
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