CN206388027U - The position limitation protection circuit and its device of a kind of X-ray production apparatus kinematic system - Google Patents

The position limitation protection circuit and its device of a kind of X-ray production apparatus kinematic system Download PDF

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CN206388027U
CN206388027U CN201621309878.4U CN201621309878U CN206388027U CN 206388027 U CN206388027 U CN 206388027U CN 201621309878 U CN201621309878 U CN 201621309878U CN 206388027 U CN206388027 U CN 206388027U
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pin
resistance
data selector
spacing
signal
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庄严
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Shanghai Huiying Medical Technology Co., Ltd.
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TCL Medical Radiology Beijing Co Ltd
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Abstract

The utility model discloses a kind of position limitation protection circuit of X-ray production apparatus kinematic system and its device, the limiting and protecting device of X-ray production apparatus kinematic system, including position limitation protection circuit, the CPU being connected with position limitation protection circuit, spacing identification circuit and motor-drive circuit;CPU exports corresponding steering controling signal, pulse control signal and jerk push button signalling according to current working condition;Spacing identification circuit exports corresponding one group of spacing trigger signal according to current working condition;Position limitation protection circuit exports corresponding one group of drive signal according to steering controling signal, pulse control signal, jerk push button signalling, one group of spacing trigger signal;Motor-drive circuit carries out jerk, spacing, steering, the control run well to motor according to one group of drive signal.By the working condition of hardware circuit controlled motor, compared with existing CPU response controls, the occupancy to cpu resource is reduced, the reliability of spacing, sudden-stop function response real-time is improved.

Description

The position limitation protection circuit and its device of a kind of X-ray production apparatus kinematic system
Technical field
The utility model is related to X-ray production apparatus Motion Technology field, more particularly to a kind of limit of X-ray production apparatus kinematic system Position protection circuit and its device.
Background technology
In X-ray production apparatus kinetic control system, for the consideration to cost and load forces, using stepper motor to machine Tool arm configuration carries out motion control.Position limitation protection in whole process includes limit function and sudden-stop function.So-called limit function Refer to that constraint of the complete machine by system space in motion process is limited, it is to avoid complete machine motion is influenceed and entered by maloperation Out-of-the way position, use of the influence doctor to complete machine.Such as mechanical arm during X-ray production apparatus motion control lifts spacing, machinery Arm rotary stopper and compression device sports limiting etc..Jerk control refers to realize that complete machine motion stops immediately by outside scram button Only.The function of the two in practical application extends complete machine service life, improved whole for reducing because maloperation to doctor brings puzzlement Machine motion credibility is significant.
Traditional limit function and the implementation method of sudden-stop function are directly that spacing trigger signal, jerk push button signalling is anti- Be fed to the CPU of controller, by CPU respond after control stepper motor stop operating.But, CPU responds spacing trigger signal, jerk Push button signalling needs a period of time, it is impossible to stop stepper motor at once;And response process can take certain cpu resource, drop Low CPU reliability.
Thus prior art could be improved and improve.
Utility model content
In view of in place of above-mentioned the deficiencies in the prior art, the purpose of this utility model is to provide a kind of X-ray production apparatus kinetic system The position limitation protection circuit and its device of system, cause CPU usage is larger to ask to solve existing position limitation protection by CPU responses Topic.
In order to achieve the above object, the utility model takes following technical scheme:
A kind of position limitation protection circuit of X-ray production apparatus kinematic system, connection CPU, spacing identification circuit, wherein, it is described spacing Protection circuit includes:
Isolated and level conversion for the jerk push button signalling to input, output enables the isolated location of signal;
For one group of spacing trigger signal according to input and steering controling signal output first via control signal, Yi Jigen According to the control unit for enabling signal and pulse control signal the second tunnel control signal of output;
The steering output unit of drive signal is turned to for being exported according to first via control signal;
Pulse output unit for exporting pulse drive signal according to the second tunnel control signal;
Described control unit connection isolated location, steering output unit and pulse output unit, spacing identification circuit connection Control unit, CPU connection isolated locations and control unit.
In the position limitation protection circuit of described X-ray production apparatus kinematic system, the isolated location includes optical coupling isolator and the One resistance;
The 1st pin connection CPU of the optical coupling isolator, the 2nd pin connection button of optical coupling isolator, optical coupling isolator 3rd pin is grounded;The 4th pin connection control unit of optical coupling isolator simultaneously connects power end by first resistor.
In the position limitation protection circuit of described X-ray production apparatus kinematic system, described control unit includes data selector, second Resistance and 3rd resistor;
A pin, the B pin of the data selector connect spacing identification circuit, the 1G pin ground connection of data selector, data selection The 1C0 pin connection CPU and the 1C3 pin of data selector of device, the 1C1 pin of data selector connect power end by second resistance, The 1C2 pin of data selector are grounded by 3rd resistor, and the 2G pin of data selector connect the 4th pin of optical coupling isolator;Data 2C0 pin, 2C1 pin, the 2C2 pin of selector are all connected with CPU;The 2C3 pin ground connection of data selector, the VCC pin of data selector connect Power end is connect, the GND pin ground connection of data selector, the 1Y pin connection of data selector turns to output unit, data selector 2Y pin connect pulse output unit.
In the position limitation protection circuit of described X-ray production apparatus kinematic system, the steering output unit includes the 4th resistance, the Five resistance, the 6th resistance, the first triode and the first indicator lamp;
One end of 4th resistance connects the negative pole of the first indicator lamp and the 1Y pin of data selector, the 4th resistance it is another One end connects the base stage of the first triode, and the positive pole of the first indicator lamp connects power end by the 5th resistance;First triode Colelctor electrode connects motor-drive circuit, also passes through the 6th resistance connection power end;The grounded emitter of first triode.
In the position limitation protection circuit of described X-ray production apparatus kinematic system, the pulse output unit includes the 7th resistance, the Eight resistance, the 9th resistance, the second triode and the second indicator lamp;
One end of 7th resistance connects the negative pole of the second indicator lamp and the 2Y pin of data selector, the 7th resistance it is another One end connects the base stage of the second triode, and the positive pole of the second indicator lamp connects power end by the 8th resistance;Second triode Colelctor electrode connects motor-drive circuit, also passes through the 9th resistance connection power end;The grounded emitter of second triode.
In the position limitation protection circuit of described X-ray production apparatus kinematic system, the model TLP521-4 of the optical coupling isolator, Data selector selects a data selector using double the four of model 74LS153.
A kind of limiting and protecting device of X-ray production apparatus kinematic system, with motor connection, including CPU, spacing identification circuit and electricity Drive circuit, it is characterised in that also including described position limitation protection circuit;The spacing identification electricity of position limitation protection circuit connection Road, CPU and motor-drive circuit, motor-drive circuit connection motor;
The CPU exports corresponding steering controling signal, pulse control signal and jerk according to current working condition and pressed Key signals;Spacing identification circuit exports corresponding one group of spacing trigger signal according to current working condition;Position limitation protection circuit According to steering controling signal, pulse control signal, jerk push button signalling, described one group spacing trigger signal output corresponding one Group drive signal;Motor-drive circuit carries out jerk, spacing, steering, normal fortune to motor according to one group of described drive signal The control turned.
The position limitation protection circuit and its device of the X-ray production apparatus kinematic system provided compared to prior art, the utility model, Corresponding steering controling signal, pulse control signal and jerk push button signalling are exported according to current working condition by CPU;It is spacing Identification circuit exports corresponding one group of spacing trigger signal according to current working condition;Position limitation protection circuit is according to course changing control Signal, pulse control signal, jerk push button signalling, one group of spacing trigger signal export corresponding one group of drive signal;Motor drives Dynamic circuit carries out jerk, spacing, steering, the control run well to motor according to one group of drive signal.Pass through hardware circuit control The working condition of motor processed, compared with existing CPU response controls, reduces the occupancy to cpu resource, improves spacing, jerk The reliability of the real-time of functional response.
Brief description of the drawings
Fig. 1 is the structural frames of the limiting and protecting device Application Example for the X-ray production apparatus kinematic system that the utility model is provided Figure.
Fig. 2 is the circuit diagram of the position limitation protection circuit for the X-ray production apparatus kinematic system that the utility model is provided.
Embodiment
The utility model provides a kind of the position limitation protection circuit and its device of X-ray production apparatus kinematic system, passes through hardware circuit Spacing trigger signal is recognized, the state of a control of stepper motor is selected according to default logical relation, so as to realize to stepper motor Spacing, sudden-stop function control, improve the real-time and reliability of system.To make the purpose of this utility model, technical side Case and advantage are clearer, clear and definite, and the utility model is further described the embodiment that develops simultaneously referring to the drawings.It should manage Solution, specific embodiment described herein only to explain the utility model, is not used to limit the utility model.
Referring to Fig. 1, the limiting and protecting device and motor connection of the X-ray production apparatus kinematic system that the utility model is provided, limit Position protection device includes CPU 10, spacing identification circuit 20, position limitation protection circuit 30 and motor-drive circuit 40.Position limitation protection electricity The connection of road 30 CPU 10, spacing identification circuit 20 and motor-drive circuit 40, the connection motor of motor-drive circuit 40.The CPU 10 export corresponding steering controling signal StepDir, pulse control signal StepPlus and jerk according to current working condition Push button signalling ESSW_STP.Spacing identification circuit 20 exports corresponding one group of spacing trigger signal according to current working condition (SW_A, SW_B).Position limitation protection circuit 30 is pressed according to steering controling signal StepDir, pulse control signal StepPlus, jerk Key signals ESSW_STP, described one group spacing trigger signal export corresponding one group of drive signal(StepDirOut, StepPlusOut).Motor-drive circuit 40 according to one group of described drive signal to motor carry out jerk, it is spacing, turn to, just The control often operated.
The CPU 10 is prior art, and it also has other control functions;The present embodiment is mainly using the steering that it is exported Control signal StepDir, pulse control signal StepPlus and jerk push button signalling ESSW_STP, do not go to live in the household of one's in-laws on getting married to its concrete structure State.
In the present embodiment, built-in two limit switches in spacing identification circuit 20, for limiting a stroke.Such as motor When control machinery arm is lifted, limit switch limit can be raised to where, another limit most low energy drop to where, highest A lifting travel is constituted with minimum.During normal work, limit switch disconnects the low level spacing trigger signal of output.It is spacing During protection, the spacing trigger signal of limit switch conducting output high level.Spacing identification circuit 20 is prior art, the present embodiment Mainly using one group of spacing trigger signal that it is exported(SW_A, SW_B), its particular circuit configurations is not construed as limiting.
The improvement of the present embodiment is position limitation protection circuit 30, it include isolated location 310, control unit 320, turn to it is defeated Go out unit 330 and pulse output unit 340.The isolated location 310 is used to isolate jerk push button signalling ESSW_STP And level conversion, output enable signal EN.Control unit 320 is according to one group of described spacing trigger signal(SW_A, SW_B)With Steering controling signal StepDir output first via control signals DIR;According to enable signal EN and pulse control signal StepPlus Export the second tunnel control signal PLUS.The steering output unit 330 turns to driving letter according to first via control signal DIR outputs Number StepDirOut.Pulse output unit 340 exports pulse drive signal according to the second tunnel control signal PLUS StepPlusOut.The connection of described control unit 320 isolated location 310, steering output unit 330 and pulse output unit 340, Spacing identification circuit 20 connects control unit 320, CPU10 connections isolated location 310 and control unit 320.
Also referring to Fig. 2, in the present embodiment, because jerk push button signalling is external signal, the form for passing through button is given birth to Into feeding back in circuit, it is necessary to EMC isolation and level conversion be carried out by isolated location 310, to avoid external disturbance, moreover it is possible to will The level value of jerk push button signalling is converted into the level demand needed for control unit 320.The isolated location 310 include optocoupler every From device U1 and first resistor R1;The connection of the 1st the pin CPU 10, optical coupling isolator U1 of the optical coupling isolator U1 the 2nd pin connection Button, optical coupling isolator U1 the 3rd pin ground connection;Optical coupling isolator U1 the 4th pin connection control unit 320 simultaneously passes through the first electricity Hinder R1 connection power ends 5VB.
Wherein, optical coupling isolator U1 is that EMC isolation and level turn can be achieved using model TLP521-4 optic coupling element Change.It is the ground of external key button, its series capacitance and resistance between the ground in the application, particular circuit configurations are existing There is technology, be not described further herein.When jerk push button signalling ESSW_STP is high level, optical coupling isolator U1 conductings export low electricity Flat enable signal EN;When jerk push button signalling ESSW_STP is low level, optical coupling isolator U1 cut-offs enable signal EN by the The high level that one resistance R1 pull-up is+5V.
Described control unit 320 includes data selector U2, second resistance R2 and 3rd resistor R3;The data selector U2 A pin, B pin connects spacing identification circuit 20, data selector U2 1G pin ground connection, data selector U2 1C0 pin connection CPU and data selector U2 1C3 pin, data selector U2 1C1 pin pass through second resistance R2 connection power end 5VB, data Selector U2 1C2 pin are grounded by 3rd resistor R3, data selector U2 2G pin connection optical coupling isolator U1 the 4th pin; Data selector U2 2C0 pin, 2C1 pin, 2C2 pin is all connected with CPU;Data selector U2 2C3 pin ground connection, data selector U2 The connection of VCC pin power end 5VB, data selector U2 GND pin ground connection, it is single that data selector U2 1Y pin connection turns to output Member 330, data selector U2 2Y pin connection pulse output unit 340.
The data selector U2 selects a data selector using double the four of model 74LS153(I.e. multiplexing is opened Close), its fast response time, be delayed it is small, the quick control, the purpose of real-time response of the present embodiment could be met.The data choosing The logic level relation for selecting each pins of device U2 is as shown in table 1 below.
Table 1
Wherein, L represents low level, and H represents high level;X represent can be arbitrary value, i.e., no matter herein be high level or Low level, does not affect output.There is two group four to select one, A pin, B pin in data selector U2 while controlling two groups of result.1G Pin, 1C0 pin, 1C1 pin, 1C2 pin, 1C3 pin, 1Y pin belong to first group of input and output and gating pin.2G pin, 2C0 pin, 2C1 pin, 2C2 pin, 2C3 pin, 2Y pin belong to second group of input and output and gating pin.
The steering output unit 330 includes the 4th resistance R4, the 5th resistance R5, the 6th resistance R6, the first triode Q1 With the first indicator lamp D1;One end of the 4th resistance R4 connects the first indicator lamp D1 negative pole and data selector U2 1Y Pin, the 4th resistance R4 other end connects the first triode Q1 base stage, and the first indicator lamp D1 positive pole passes through the 5th resistance R5 Connect power end 5VB;First triode Q1 colelctor electrode connects motor-drive circuit 40, also passes through the 6th resistance R6 connection power supplys Hold 5VB;First triode Q1 grounded emitter.
The pulse output unit 340 includes the 7th resistance R7, the 8th resistance R8, the 9th resistance R9, the second triode Q2 With the second indicator lamp D2;One end of the 7th resistance R7 connects the second indicator lamp D2 negative pole and data selector U2 2Y Pin, the 7th resistance R7 other end connects the second triode Q2 base stage, and the second indicator lamp D2 positive pole passes through the 8th resistance R8 Connect power end 5VB;Second triode Q2 colelctor electrode connects motor-drive circuit 40, also passes through the 9th resistance R9 connection power supplys Hold 5VB;Second triode Q2 grounded emitter.
Please continue to refer to Fig. 1 and Fig. 2, the operation principle of the limiting and protecting device 5 kinds of situations as shown in table 2 below(Knot Close table 1).
Table 2
Situation one, when jerk button is triggered, jerk push button signalling ESSW_STP is high level, then enables signal EN to be low Level, two groups of data selector U2 are enabled.Because 2C3 pin keep low level, the second tunnel control signal PLUS exports low electricity Flat L, then the second triode Q2 cut-offs, pulse drive signal StepPlusOut is pulled up as high level.No matter drive signal is turned to StepDirOut limited location trigger signals for how much and whether(SW_A, SW_B), because now no pulse is exported, motor will not Rotate, realize sudden-stop function.
Situation two, work as infinite place(That is SW_A=L, SW_B=L), without jerk(ESSW_STP=L)During control, signal EN is enabled For high level, second group of data selector U2 is disabled.
State stepper motor is limited to without jerk, nothing to run well.
Situation three, motor are moved to the spacing directions of SW_A, cpu control StepDir=+ 5VB, when the spacing triggerings of SW_A, SW_A =H, 74LS153 gate 1Y=+ 5VB, and NPN diode current flows, StepDirOut outputs are equal to GNDB, with the spacing preceding direction of motion Conversely.
Situation four, motor are moved to the spacing directions of SW_B, cpu control StepDir=GNDB, when the spacing triggerings of SW_B, SW_ A=L, 74LS153 gate 1Y=GNDB, and NPN diodes cut-off, StepDirOut outputs are equal to+5VB, with the spacing preceding direction of motion Conversely.
Situation five, SW_A, SW_B are triggered, and should not occur such phenomenon in x-ray system kinematic system, and acquiescence is lost Effect, stop pulse is sent.
It is to be appreciated that the spacing identification circuit 20 of said one, a position limitation protection circuit 30 and a motor driving Correspondence one stepper motor of control of circuit 40.When there are multiple stepper motors, multiple spacing identification circuits, spacing guarantor need to be correspondingly arranged Protection circuit and motor-drive circuit.
In summary, the position limitation protection circuit and its device of X-ray production apparatus kinematic system of the present utility model, by hardware circuit The mechanical arm of X-ray production apparatus kinematic system is controlled according to the associated control signal of input, spacing, jerk defencive function is realized;Compare The occupancy to cpu resource is relieved in conventional method;Actual test improves the real-time response of jerk, adds limit function Reliability, effectively prevent mechanical moving element exceed stroke, cause unnecessary damage.
It should be appreciated that application of the present utility model is not limited to above-mentioned citing, those of ordinary skill in the art are come Say, can according to the above description be improved or converted, all these modifications and variations should all belong to the appended power of the utility model The protection domain that profit is required.

Claims (7)

1. a kind of position limitation protection circuit of X-ray production apparatus kinematic system, connection CPU, spacing identification circuit, it is characterised in that described Position limitation protection circuit includes:
Isolated and level conversion for the jerk push button signalling to input, output enables the isolated location of signal;
For one group of spacing trigger signal according to input and steering controling signal output first via control signal, and according to making Energy signal and pulse control signal export the control unit of the second tunnel control signal;
The steering output unit of drive signal is turned to for being exported according to first via control signal;
Pulse output unit for exporting pulse drive signal according to the second tunnel control signal;
Described control unit connection isolated location, steering output unit and pulse output unit, spacing identification circuit connection control Unit, CPU connection isolated locations and control unit.
2. the position limitation protection circuit of X-ray production apparatus kinematic system according to claim 1, it is characterised in that the isolation list Member includes optical coupling isolator and first resistor;
The 1st pin connection CPU of the optical coupling isolator, the 2nd pin connection button of optical coupling isolator, the 3rd of optical coupling isolator the Pin is grounded;The 4th pin connection control unit of optical coupling isolator simultaneously connects power end by first resistor.
3. the position limitation protection circuit of X-ray production apparatus kinematic system according to claim 2, it is characterised in that the control list Member includes data selector, second resistance and 3rd resistor;
A pin, the B pin of the data selector connect spacing identification circuit, and the 1G pin of data selector are grounded, data selector 1C0 pin connect the 1C3 pin of CPU and data selector, and the 1C1 pin of data selector connect power end, data by second resistance The 1C2 pin of selector are grounded by 3rd resistor, and the 2G pin of data selector connect the 4th pin of optical coupling isolator;Data are selected 2C0 pin, 2C1 pin, the 2C2 pin of device are all connected with CPU;The 2C3 pin ground connection of data selector, the VCC pin connection electricity of data selector Source, the GND pin ground connection of data selector, the 1Y pin connection of data selector turns to output unit, the 2Y pin of data selector Connect pulse output unit.
4. the position limitation protection circuit of X-ray production apparatus kinematic system according to claim 3, it is characterised in that the steering is defeated Going out unit includes the 4th resistance, the 5th resistance, the 6th resistance, the first triode and the first indicator lamp;
One end of 4th resistance connects the negative pole of the first indicator lamp and the 1Y pin of data selector, the other end of the 4th resistance The base stage of the first triode is connected, the positive pole of the first indicator lamp connects power end by the 5th resistance;The current collection of first triode Pole connects motor-drive circuit, also passes through the 6th resistance connection power end;The grounded emitter of first triode.
5. the position limitation protection circuit of X-ray production apparatus kinematic system according to claim 4, it is characterised in that the pulse is defeated Going out unit includes the 7th resistance, the 8th resistance, the 9th resistance, the second triode and the second indicator lamp;
One end of 7th resistance connects the negative pole of the second indicator lamp and the 2Y pin of data selector, the other end of the 7th resistance The base stage of the second triode is connected, the positive pole of the second indicator lamp connects power end by the 8th resistance;The current collection of second triode Pole connects motor-drive circuit, also passes through the 9th resistance connection power end;The grounded emitter of second triode.
6. the position limitation protection circuit of X-ray production apparatus kinematic system according to claim 3, it is characterised in that the optocoupler every From the model TLP521-4 of device, data selector selects a data selector using double the four of model 74LS153.
7. a kind of limiting and protecting device of X-ray production apparatus kinematic system, with motor connection, including CPU, spacing identification circuit and motor Drive circuit, it is characterised in that also including the position limitation protection circuit as described in any one of claim 1 to 6;The position limitation protection Circuit connects spacing identification circuit, CPU and motor-drive circuit, motor-drive circuit connection motor;
The CPU exports corresponding steering controling signal, pulse control signal and jerk button according to current working condition to be believed Number;Spacing identification circuit exports corresponding one group of spacing trigger signal according to current working condition;Position limitation protection circuit according to Steering controling signal, pulse control signal, jerk push button signalling, described one group spacing trigger signal export corresponding one group of drive Dynamic signal;Motor-drive circuit according to one group of described drive signal to motor carry out jerk, it is spacing, turn to, run well Control.
CN201621309878.4U 2016-12-01 2016-12-01 The position limitation protection circuit and its device of a kind of X-ray production apparatus kinematic system Active CN206388027U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107678122A (en) * 2017-11-17 2018-02-09 北京长峰科威光电技术有限公司 A kind of focus adjusting mechanism safe spacing control method
CN112073627A (en) * 2019-06-10 2020-12-11 海信视像科技股份有限公司 Motor control circuit, driving device and display device

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107678122A (en) * 2017-11-17 2018-02-09 北京长峰科威光电技术有限公司 A kind of focus adjusting mechanism safe spacing control method
CN107678122B (en) * 2017-11-17 2020-02-07 北京长峰科威光电技术有限公司 Safety limit control method for focusing mechanism
CN112073627A (en) * 2019-06-10 2020-12-11 海信视像科技股份有限公司 Motor control circuit, driving device and display device
CN112073626A (en) * 2019-06-10 2020-12-11 海信视像科技股份有限公司 Motor control circuit, driving device and display device
CN112073626B (en) * 2019-06-10 2021-10-19 海信视像科技股份有限公司 Motor control circuit, driving device and display device
CN112073627B (en) * 2019-06-10 2021-10-19 海信视像科技股份有限公司 Motor control circuit, driving device and display device

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Effective date of registration: 20181226

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Patentee after: TCL medical nuclear magnetic technology (Wuxi) Co., Ltd.

Address before: 102199 Beijing Daxing District, Beijing Economic and Technological Development Zone, No. 10 Boxing Five Road, 1 Building, 4 Floors

Patentee before: TCL Medical Radiation Technology (Beijing) Co., Ltd.

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Effective date of registration: 20190510

Address after: Room 516-3, Building 58 Xiangke Road, Pudong New Area Free Trade Pilot Area, Shanghai 200000

Patentee after: Shanghai Huiying Medical Technology Co., Ltd.

Address before: 214000 Building 108, Zone B, Science Park, University of Sensor Network, No. 20 Qingyuan Road, Wuxi New District, Wuxi City, Jiangsu Province

Patentee before: TCL medical nuclear magnetic technology (Wuxi) Co., Ltd.

TR01 Transfer of patent right