CN106678094B - A kind of motion platform and control method based on the driving of duopoly void column plug airdraulic actuator - Google Patents
A kind of motion platform and control method based on the driving of duopoly void column plug airdraulic actuator Download PDFInfo
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- CN106678094B CN106678094B CN201611070850.4A CN201611070850A CN106678094B CN 106678094 B CN106678094 B CN 106678094B CN 201611070850 A CN201611070850 A CN 201611070850A CN 106678094 B CN106678094 B CN 106678094B
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/06—Servomotor systems without provision for follow-up action; Circuits therefor involving features specific to the use of a compressible medium, e.g. air, steam
- F15B11/072—Combined pneumatic-hydraulic systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a kind of motion platform and control method based on the driving of duopoly void column plug airdraulic actuator, including mobile platform part, cylinder portion, detection part and control section；Mobile platform part includes guide rail, sliding block and mobile platform, cylinder portion includes two cylinders, detection part includes linear displacement transducer, control section uses a set of gas-liquid linked control jointly including two airdraulic actuators, using D/A conversion card control Pneumatic proportional control valves on pneumatic circuit, the controlled quentity controlled variable as gas flow；Liquid control loop is completed to control jointly using oil circuit breaker valve and throttle valve.The big hydraulic pressure oil medium of rigidity height, viscosity is introduced on pneumatic circuit into pneumatic circuit, by gas-liquid linked control, make motion platform that there is stable drive, damping is big, the characteristics of can easily be accommodated control, both combine the robust motion and control accuracy that can preferably improve platform.
Description
Technical field
The present invention relates to motion platform control field, and in particular to a kind of movement based on the driving of duopoly void column plug airdraulic actuator
Platform and control method.
Background technology
With the development of science and technology, precision positioning and shift technique are in national defense industry, microelectronic engineering, aerospace and biology
The fields such as engineering all play irreplaceable effect.It directly affects the technology development of whole machinery industry, determine machinery
The capability and performance of machining accuracy and product, and then influence the reliability and stability of equipment.A large amount of optical instruments are to high accuracy
Displacement platform have beyond very high requirement, this kind of displacement mechanism of working environment it is also proposed the requirement of higher, for example lubricate
Condition, installation space and vibration etc.；In photoelectric tracking equipment, also displacement platform is proposed very high：It is required that adjust sensitivity
Height, fast response time.
The type of drive of straight-line displacement platform mainly has hydraulic-driven, air pressure driving, electrically driven and new driving at present
Device etc..Having something for pneumatic actuation is energy saving, pollution-free, high-speed and high-efficiency and it is easily controllable the characteristics of, hydraulic-driven have it is larger
Power-weight ratio, it is simple and compact for structure, rigidity it is good, can be achieved optional position start-stop, can be realized in very big adjusting range
The advantages that stepless time adjustment.
The content of the invention
The shortcomings that in order to overcome the prior art with deficiency, the present invention provide it is a kind of based on duopoly void column plug airdraulic actuator driving
Motion platform and control method.
The present invention adopts the following technical scheme that：
A kind of motion platform based on the driving of duopoly void column plug airdraulic actuator, including mobile platform part, cylinder portion, detection
Part and control section；
The mobile platform part, including silent flatform, two guide rails of parallel installation on the silent flatform, set on the guide rail
Sliding block is put, motion platform is installed on sliding block, motion platform carries out straight line back-and-forth motion with guide rail, and motion platform passes through connector
It is connected with the side plate at both ends, forms a mobile platform；
The cylinder portion, includes the airdraulic actuator of two parallel installations, the piston-rod end difference of described two airdraulic actuators
Airdraulic actuator universal joint is connected, two airdraulic actuator universal joints connect the side plate at motion platform both ends, two gas-liquid cylinder piston rods respectively
The direction of stretching is parallel, and the direction stretched out is opposite；
The detection part, including for measuring the linear displacement transducer of motion platform displacement, the straight-line displacement passes
Sensor is installed on silent flatform, the boom end connection linear displacement transducer universal joint of the linear displacement transducer, described
Linear displacement transducer universal joint is connected with one of side plate, the overhang and gas-liquid of the boom of the linear displacement transducer
The piston rod overhang of cylinder is identical, and the displacement information of the motion platform of linear displacement transducer detection is inputted by A/D transition cards
Corresponding control information is obtained into industrial computer；
The control section, including Pneumatic control circuit and liquid control loop, the Pneumatic control circuit turn including D/A
Card, I/O output cards, pneumatic proportional valve, air pump, pressure reducing valve, pneumatic triple piece and two position-5 way valves are changed to form；
The liquid control loop is connected with the oil cylinder of two airdraulic actuators, including is used for realization two oil circuits of oil circuit switching
Switch valve and throttle valve；
The air pump output high-pressure gas obtains source of the gas, the calculating by pressure reducing valve respectively after pneumatic triple piece
Machine is sent to D/A transition cards and I/O output cards after obtaining corresponding control information, and card control pneumatic proportional valve, I/ are changed by D/A
O outputs card control oil control switch valve and two position-5 way valves, further control gas source and flow amount；Gas source and flow amount after control passes through
Two position-5 way valves control the direction of motion of two gas-liquid cylinder piston rods.
The liquid control loop includes repairing cup.
The source of the gas includes driving source of the gas Ps1, driving source of the gas Ps2 and back pressure source of the gas Ps0, the driving source of the gas Ps1 and drive
Take offence two ports of two position-5 way valve of source Ps2 connections, described back pressure source of the gas Ps0 connected after check valve two five it is logical
The a port of reversal valve.
Two guide rails are installed in parallel on silent flatform by support base, and the support base is trapezium structure, on every guide rail
Two sliding blocks are set.
The variable quantity of the piston rod of two airdraulic actuators is identical, is fixed before the cylinder body of the airdraulic actuator with preceding pedestal, behind
Fixed with rear pedestal.
The airdraulic actuator is duty plunger airdraulic actuator, its cylinder portion uses piston rod, and fluid cylinder part uses plunger rod.
A kind of control method of the motion platform based on the driving of duopoly void column plug airdraulic actuator, includes the following steps：
The first step in the track that working space is run and posture, obtains two gas-liquid cylinder piston rods and meets the tendency of according to motion platform
Capable track and motion state；
The gas-liquid cylinder piston rod displacement signal that second step detects linear displacement transducer, it is defeated by passage A/D transition cards
Enter to industrial computer, and and the obtained airdraulic actuator movement locus of planning carry out asking for deviation obtaining feedback control after treatment
Signal；
3rd step is by obtained feedback control signal by I/O output cards and the corresponding switch control of D/A transition cards output
Amount is output to corresponding switch valve and pneumatic proportional control valve, the output action of gas-liquid cylinder piston rod is controlled, so as to fulfill movement
The desired motion requirement of platform；
If the 4th step carries out location control to motion platform, the movement designated position needed according to motion platform, passes through
Gas-liquid control loop controls so that airdraulic actuator piston rod movement causes platform to reach designated position, so as to reach determining for workbench
Position control requires, and makes the control accuracy higher of platform by the control of airdraulic actuator.
Beneficial effects of the present invention：
(1) gas has preferable compressibility, and system has good flexibility, and the structure of system is simple, two airdraulic actuators
Oil pocket it is identical, fluid is complementary, has subtracted the use of the air-liquid converter in general airdraulic actuator control circuit, greatly simplifies and is
System, saves cost；
(2) two airdraulic actuator two-way pneumatics quickly move, and two-way switching oil throttling, oil circuit breaker valve is opened, and quick movement, oil closes
Valve, then throttle, and speed slows down, and throttle valve can also be effectively adjusted using oil circuit breaker valve series throttle；
(3) only a Pneumatic control circuit is used, you can the movement of two pneumatic duty plunger airdraulic actuators of control
(4) two airdraulic actuators drive at the same time, add the driving force of platform so that response speed is rapider
(5) use of airdraulic actuator introduces high rigidity, and the oily medium of big viscosity is into pneumatic circuit so that structure motion is more
Add steadily, speed is evenly, it is easier to controls, positioning accuracy higher；
(6) the gas-liquid linked circuit of cylinder, SERVO CONTROL is carried out using pneumatic proportional valve, and gas-liquid linked loop structure is simple,
Of low cost, reliability is high, and control accuracy is high；
(7) gas-liquid linked control loop is used, the system of being allowed to has the advantages that simple in structure, efficient, free of contamination.
Brief description of the drawings
Fig. 1 a are the duopoly void column plug airdraulic actuator driving linear motion platform device overall assembling figures of the present invention；
Fig. 1 b are the structure diagrams for hiding display scanning platform portion；
Fig. 1 c are the top views for the motion platform for hiding display motion platform；
Fig. 2 be the present invention duopoly void column plug airdraulic actuator driving linear motion platform hide display scanning platform portion show
It is intended to；
Fig. 3 is the structure diagram of motion platform, side plate and platform connector；
Fig. 4 is the assembling schematic diagram of airdraulic actuator, preceding pedestal, rear pedestal and airdraulic actuator universal joint；
Fig. 5 is the structure diagram of airdraulic actuator；
Fig. 6 is the structure diagram of control section；
Fig. 7 is the installation diagram of guide supporting seat, guide rail and sliding block.
Embodiment
With reference to embodiment and attached drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment
As shown in Fig. 1 a- Fig. 1 c, Fig. 2, Fig. 3 and Fig. 4, a kind of motion platform based on the driving of duopoly void column plug airdraulic actuator,
Including mobile platform part, cylinder portion, detection part and control section；
As shown in fig. 7, the mobile platform part, including silent flatform, silent flatform set two guide rail branch being parallel to each other
Seat 8 is supportted, 8 support of guide supporting seat plays the weight of whole mobile platform, guide supporting seat upper mounting rail 9, two guide rail parallels peace
Dress, when installation, must ensure certain depth of parallelism, to reduce friction；There are two sliding blocks 10 on each guide rail 9, between two sliding blocks 10
Spaced apart, when ensureing that motion platform 11 moves, sliding block will not remove guide rail stroke, and sliding block moves linearly on guide rail,
Installation motion platform, motion platform and sliding block are fixedly mounted by screw above sliding block, can move back and forth platform straight line, and two
A side plate 12 is located at the both ends of motion platform 11, and is fixed by platform connector 13 and form a mobile platform.Side plate has altogether
Have two, the specific both ends for being installed on motion platform, are connected by four platforms connector 13, consider mobile platform and side plate it
Between stress relation, select the platform connector of four screws fastening.
The cylinder portion, includes the airdraulic actuator 1,14 of two parallel installations, and airdraulic actuator of the present invention selects duty plunger type
Airdraulic actuator, the piston-rod end of the airdraulic actuator connect airdraulic actuator universal joint 4 respectively, and two side plates of mobile platform pass through respectively
Airdraulic actuator universal joint 4 connects the piston rod of two airdraulic actuators, the direction side that is parallel, and stretching out that two gas-liquid cylinder piston rods stretch out
To on the contrary, so promoting the movement of side plate by airdraulic actuator motion control；Side plate is connected with motion platform with connector, relatively solid
Fixed, motion platform also follows movement to set one of airdraulic actuator to stretch out the direction of piston rod to be positive when side plate moves, when the gas
During fluid cylinder positive movement, another cylinder piston rod recycling, while platform positive movement is driven, vice versa.
The detection part, including for measuring the linear displacement transducer 5 of motion platform displacement, the straight-line displacement passes
Sensor 5 is fixed on silent flatform by fixed frame 6, the boom end connection straight-line displacement sensing of the linear displacement transducer 5
Device universal joint 7, the linear displacement transducer universal joint 7 are fixed with one of side plate 12, the linear displacement transducer
The overhang of boom is identical with the piston rod overhang of airdraulic actuator, for measuring the movement of side plate, that is, measures the position of motion platform
Move, linear displacement transducer universal joint 7 and above-mentioned airdraulic actuator universal joint 4 can eliminate installation error, reduce frictional force；Straight line
The displacement information of the motion platform of displacement sensor detection is input in industrial computer by A/D transition cards accordingly to be controlled
Information, gas is output to by I/O control cards output switching value to corresponding oil control switch valve and reversal valve and by D/A transition cards
Dynamic proportioning valve 20, controls the movement of airdraulic actuator, so as to control the movement of moving platform.
As shown in fig. 6, the control section, two airdraulic actuators, which share a set of gas-liquid control loop, includes Pneumatic control circuit
And liquid control loop, the Pneumatic control circuit include D/A transition cards, I/O output cards, pneumatic proportional valve 20, air pump 15, subtract
Pressure valve 17,16 and two position-5 way valve 19 of pneumatic triple piece are formed.
15 output high-pressure gas of air pump obtains source of the gas, institute by pressure reducing valve 17 respectively after pneumatic triple piece 16
State after computer obtains corresponding control information and be sent to D/A conversion card control pneumatic proportional valves, further control gas source and flow amount；Control
Gas source and flow amount after system controls the direction of motion of two gas-liquid cylinder piston rods by two position-5 way valves；
The liquid control loop is connected with the oil cylinder of two airdraulic actuators, including is used for realization two oil circuits of oil circuit switching
Switch valve 22,23 and throttle valve 21.
Guide supporting seat 8 has two altogether, and two support bases prop up the weight of whole mobile platform, support base trapezium structure
It is up big and down small, by increasing capacitance it is possible to increase the stability of support base, the line slideway 9 of 960mm is installed on support base, two are installed on every guide rail
A sliding block 10, has four sliding blocks 10 altogether and is fixed with motion platform 11, and design support base certain altitude causes upper mounting plate and airdraulic actuator
Certain safe gap is left in height.
The type selecting of airdraulic actuator universal joint and linear displacement transducer universal joint has the size of respective diameters, and straight-line displacement passes
Sensor universal joint then uses universal joint supporting in KPC linear displacement transducers, and the universal joint of airdraulic actuator can use Zhejiang god precious
The cylinder of pneumatic equipment Co., Ltd swings universal floating connector, should according to the airdraulic actuator piston cylinder size 20mm in this example
The cylinder of M20*1.5 is selected to swing universal floating connector.
Two 200mm airdraulic actuators in the present embodiment, the effect of two airdraulic actuators can exchange, and the gas circuit of two airdraulic actuators is
In parallel but direction is different, and the piston elongation of an airdraulic actuator, the piston of another airdraulic actuator shortens, two gas-liquid cylinder piston rods
Driving at the same time is responsible for driving force being delivered in motion platform displacement acting, the parallel reversely installation of two airdraulic actuators 1, before cylinder body
Fixed with preceding pedestal 2, fixed afterwards with rear pedestal 3, the size of two pedestals is designed according to airdraulic actuator 1, and the installation of two pedestals makes
Airdraulic actuator can severity place, at a distance of airdraulic actuator 1 (two) type selecting be diameter 63mm between two cylinders, the airdraulic actuator
For duty plunger shape airdraulic actuator, cylinder portion uses piston rod, and fluid cylinder part uses plunger rod, the long 200mm of extension bar
The same set of gas-liquid linked path of two airdraulic actuators；Source of the gas Ps1, Ps2 are driving source of the gas, and source of the gas Ps0 is back pressure gas
Source, they provide energy production movement to airdraulic actuator, and source of the gas is with the clean gas for stablizing air pressure, three sources of the gas herein
Be air pump output gases at high pressure after pneumatic triple piece, the source of the gas of corresponding air pressure is obtained after three pressure reducing valves respectively,
Air pressure controls setup parameter according to actual.
Source of the gas Ps1, Ps2 are driving source of the gas, and source of the gas Ps0 is back pressure source of the gas, and three sources of the gas are the high pressure gas that air pump 15 produces
For body after pneumatic triple piece 16 after three pressure reducing valves 17, source of the gas Ps1, Ps2 are logical for pneumatic two five of driving source of the gas connection
Two ports of reversal valve 19, wherein back pressure source of the gas Ps0 connect the one of two position-5 way valves 19 after a check valve 18
Two ports.
Two position-5 way valves 19 are used for controlling the direction of motion of the direction of motion, i.e. motion platform of gas-liquid cylinder piston rod；
Oil passage control valve includes 21, two fuel path switch valves 22,23 of throttle valve, and fuel path switch valve 23 realizes cutting for oil circuit
Change, its effect is so that in airdraulic actuator that oil pocket is drained into another gas-liquid by the fluid that duty plunger excludes by throttle valve
In cylinder, increase damping and the throttle grverning of system；Fuel path switch valve 22 is used for controlling the break-make of throttling oil circuit, can also adjust section
21 cross-sectional flow area of valve is flowed, adjusts damping size, when fuel path switch valve 22 is closed, throttling oil circuit cut-out, whole airdraulic actuator
Piston realizes positioning.Repairing cup 24 is used for giving oil circuit repairing, and fluid is replenished in time when oil pocket oil circuit leaks and is ensureing airdraulic actuator just
Often work, one check valve of series connection of repairing cup 24 cause extraneous fluid only import but no export, and check valve is used in control repairing in oil circuit and leads to
The break-make on road, when airdraulic actuator does not work for a long time, can disconnect path, avoid wasting；Oil circuit path phase between two oil pockets
What the realization mutually circulated was leaned on is the reverse design of airdraulic actuator, and when an airdraulic actuator extends piston rod, fluid is forced out, and another
A airdraulic actuator, which shortens, sucks back fluid, and since the variable quantity of two-piston bar is equal, total oil mass of two oil pockets keeps stable one
A numerical value, fluid path are the keys of gas-liquid driving；In view of oil circuit and seal etc. oil liquid leakage thus increase by one repairing
Cup 24.
The control of fuel path switch valve 22,23 can cause the oil stopping or slowly mobile in oil cylinder, play the resistance of fluid
Buddhist nun's effect, fuel path switch valve 23 are used for realizing the switching of oil circuit, selection plus the throttling action for being added without oil, and fuel path switch valve 22 is used
To control the break-make of oil circuit, while the opening of oil circuit can also be adjusted, adjust damping size；During piston F.F., fuel path switch valve
22nd, 23 be powered, be added without oil throttling action, piston work into when, fuel path switch valve 23 powers off, and fuel path switch valve 22 is powered, and adds
Enter the throttling action of oil.
As shown in figure 5,1-1,1-6 and 1-10 are respectively the left end cap of airdraulic actuator, and middle through cover, the saturating end cap of right end；1-2 and
1-8 is the two air cavity cylinder barrels and an oil pocket cylinder barrel of the cylinder of airdraulic actuator；1-3 is piston；1-5 is duty plunger rod；1-9
The exhausting-gas hole (after the air of discharge oil pocket, being sealed by screw and sealing ring) of oil pocket；1-4,1-7 and 1-11 be respectively it is left, in,
The sealing ring of right three end caps or transparent cover.
A kind of control method of the motion platform based on the driving of duopoly void column plug airdraulic actuator, including
The first step in the track that working space is run and posture, obtains two gas-liquid cylinder piston rods and meets the tendency of according to motion platform
Capable track and motion state；
The gas-liquid cylinder piston rod displacement signal that second step detects linear displacement transducer, it is defeated by passage A/D transition cards
Enter to industrial computer, and and the obtained airdraulic actuator movement locus of planning carry out asking for deviation obtaining feedback control after treatment
Signal；
3rd step is by obtained feedback control signal by I/O output cards and the corresponding switch control of D/A converter output
Amount is output to corresponding switch valve and pneumatic proportional control valve, controls the output action of gas-liquid cylinder piston rod, so as to fulfill dynamic flat
The desired motion requirement of platform；
If the 4th step carries out location control to motion platform, the movement designated position needed according to motion platform, passes through
Gas-liquid control loop controls so that airdraulic actuator piston rod movement causes platform to reach designated position, so as to reach determining for workbench
Position control requires, and makes the control accuracy higher of platform by the control of airdraulic actuator.
The pneumatic triple piece 16 selected in this example is by air filter (model：AF30-03), pressure reducing valve (model：
) and oil mist separator (model AR25-03：AFM30-03 2 partition plate (models) are passed through：Y300T) fit together, and with pressure
Power table (model：G36-10-01) one, produced by the gas-liquid linked companies of Japanese SMC；Air pump 15 is by Shanghai Jaguar Compressor Manufacturing
The mute air compressor of the model FB-0.017/7 of Co., Ltd's production；The pneumatic companies of SMC of Japan can be selected in check valve 18
The AK2000 type Pneumatic check valves of production；
The reversal valve of the model VK3120 of two position-5 way valves, the 19 optional pneumatic company's productions of Japan SMC；Pneumatic ratio
Example valve 20 is optional to be produced by the pneumatic companies of Japanese SMC, model：ITV2050-212L；Fuel path switch valve 22,23 and throttle valve 21 collect
Into solution-air unit is formed together, solution-air unit is air-liquid converter is compactly integrated with valve cell, Japanese SMC gas
Three valves in the model CC63-200S115G solution-air converting units of dynamic company's production；Marx can be selected in repairing cup 24
The MXM-Y200 of advanced in years/MXM, can realize automatic repairing；Three sources of the gas Ps1, Ps2 and Ps0 are realized by air pressure reducing device, can be selected
The AR2000-02 type pneumatic pressure-release valves of the Japanese pneumatic company's productions of SMC, and carry a pressure gauge (model：G36-10-01).
Above-described embodiment is the preferable embodiment of the present invention, but embodiments of the present invention and from the embodiment
Limitation, other any Spirit Essences without departing from the present invention with made under principle change, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (7)
1. a kind of motion platform based on the driving of duopoly void column plug airdraulic actuator, it is characterised in that including mobile platform part, cylinder
Partly, detection part and control section；
The mobile platform part, including silent flatform, two guide rails of parallel installation on the silent flatform, set on the guide rail and slide
Block, motion platform is installed on sliding block, and motion platform carries out straight line back-and-forth motion with guide rail, and motion platform passes through connector and two
The side plate connection at end, forms a mobile platform；
The cylinder portion, includes the airdraulic actuator of two parallel installations, and the piston-rod end of described two airdraulic actuators connects respectively
Airdraulic actuator universal joint, two airdraulic actuator universal joints connect the side plate at motion platform both ends respectively, and two gas-liquid cylinder piston rods stretch out
Direction it is parallel, and stretch out direction it is opposite；
The detection part, including for measuring the linear displacement transducer of motion platform displacement, the linear displacement transducer
On silent flatform, the boom end connection linear displacement transducer universal joint of the linear displacement transducer, the straight line
Displacement sensor universal joint is connected with one of side plate, the overhang of the boom of the linear displacement transducer and airdraulic actuator
Piston rod overhang is identical, and the displacement information of the motion platform of linear displacement transducer detection is input to work by A/D transition cards
Corresponding control information is obtained in control computer；
The control section, including Pneumatic control circuit and liquid control loop, the Pneumatic control circuit are changed including D/A
Card, I/O output cards, pneumatic proportional valve, air pump, pressure reducing valve, pneumatic triple piece and two position-5 way valves are formed；
The liquid control loop is connected with the oil cylinder of two airdraulic actuators, including is used for realization two fuel path switchs of oil circuit switching
Valve and throttle valve；
The air pump output high-pressure gas obtains source of the gas by pressure reducing valve respectively after pneumatic triple piece, and the computer obtains
D/A transition cards and I/O output cards are sent to after to corresponding control information, card control pneumatic proportional valve is changed by D/A, I/O is defeated
Go out card control oil control switch valve and two position-5 way valves, further control gas source and flow amount；Gas source and flow amount after control passes through two
Position-5 way valve controls the direction of motion of two gas-liquid cylinder piston rods.
2. motion platform according to claim 1, it is characterised in that the liquid control loop includes repairing cup.
3. motion platform according to claim 1, it is characterised in that the source of the gas includes driving source of the gas Ps1, driving source of the gas
Two ports of Ps2 and back pressure source of the gas Ps0, the driving source of the gas Ps1 and two position-5 way valve of driving source of the gas Ps2 connections, institute
Say that back pressure source of the gas Ps0 connects a port of two position-5 way valves after check valve.
4. motion platform according to claim 1, it is characterised in that two guide rails are installed in parallel in quiet flat by support base
On platform, the support base is trapezium structure, and two sliding blocks are set on every guide rail.
5. motion platform according to claim 1, it is characterised in that the variable quantity of the piston rod of two airdraulic actuators is identical,
Fixed before the cylinder body of the airdraulic actuator with preceding pedestal, behind fixed with rear pedestal.
6. motion platform according to claim 5, it is characterised in that the airdraulic actuator is duty plunger airdraulic actuator, its gas
Cylinder part uses piston rod, and fluid cylinder part uses plunger rod.
7. according to the control method of claim 1-6 any one of them motion platforms, it is characterised in that include the following steps：
The first step in the track that working space is run and posture, obtains two gas-liquid cylinder piston rods and meets the tendency of row according to motion platform
Track and motion state；
The gas-liquid cylinder piston rod displacement signal that second step detects linear displacement transducer, is input to by passage A/D transition cards
Industrial computer, and and the obtained airdraulic actuator movement locus of planning carry out asking for deviation obtaining feedback control letter after treatment
Number；
3rd step is defeated by I/O output cards and the corresponding switch controlled quentity controlled variable of D/A transition cards output by obtained feedback control signal
Go out the output action that gas-liquid cylinder piston rod is controlled to corresponding switch valve and pneumatic proportional control valve, so as to fulfill motion platform
Desired motion requirement；
If the 4th step carries out location control to motion platform, the movement designated position needed according to motion platform, passes through gas-liquid
Control loop controls so that airdraulic actuator piston rod movement causes platform to reach designated position, so as to reach the positioning control of workbench
System requires, and makes the control accuracy higher of platform by the control of airdraulic actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611070850.4A CN106678094B (en) | 2016-11-29 | 2016-11-29 | A kind of motion platform and control method based on the driving of duopoly void column plug airdraulic actuator |
Applications Claiming Priority (1)
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| CN111322451B (en) * | 2018-12-13 | 2022-03-29 | 中国石油天然气股份有限公司 | Gas-liquid linkage actuating mechanism |
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