A device and method for realizing the rocking motion of the rotary shaft of the rotary table

Abstract

The invention relates to a device and method for realizing swing of a rotating shaft of a turn table. A stepping motor is connected with the rotating shaft via a transmission device, a controller generates pulse signals, a driving unit drives the stepping motor to rotate, and the stepping motor drives the rotating shaft to realize sine swing via the transmission device. A double-axis arc interpolation method is used, one is a practical axis, the other is a virtual axis, and the practical axis generates sinusoidal signals to realize start, swing and stop of the rotating shaft. According to the device and method, the swing precision of the rotating shaft is high, the frequency and amplitude are easy to adjust, half-range co-frequency cosine curve and sine curve are connected during start and stop, so that start and stop of the rotating shaft are smooth; and a servo period is used as the sampling interval, sampling points are more, and the distortion degree of the waveform is greatly reduced.

Description

technical field [0001] The invention relates to a device and a method for realizing the swinging motion of a rotating shaft, in particular to a device and a method for realizing the swinging motion of a rotating shaft through a stepping motor and a transmission device, and belongs to the field of swinging motion control of a rotary table. Background technique [0002] The swing motion of the rotary table generally has two schemes: the direct drive of the rotating shaft and the use of a reduction mechanism. The direct drive of the rotating shaft has high precision, but usually requires a high-torque motor, which will result in a large volume of the rotary table and high cost; the common use of the reduction mechanism is to use two There are two kinds of transmission devices, one is the mode of the reducer, which has a space error, resulting in low swing accuracy; the other is the cam transmission mode, which is not easy to adjust the frequency and amplitude, and the cam is eas...

AI Technical Summary

Problems solved by technology

[0002] The swing motion of the rotary table generally has two schemes: the direct drive of the rotating shaft and the use of a reduction mechanism. The direct drive of the rotating shaft has high precision, but usually requires a high-torque motor, which will result in a large volume of the rotary table and high cost; the common use of the reduction mechanism is to use two There are two kinds of transmission devices, one is the mode of the reducer, which has a space error, resulting in low swing accuracy; the other is the cam transmission mode, which is not easy to adjust the frequency and amplitude, and the cam is easy to wear, which is inconvenient to use

In terms of algorithm, it usually adopts timing positioning method, and the timing interval is generally greater than 10 milliseconds. The start and stop of the rotating shaft generally adopts a sinusoidal smoothing method. The main problem is that there are few sampling points. When the frequency is greater than or equal to 10 Hz, the waveform distortion is relatively large. Jerky starts and stops

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