CN205238058U - Embedded flexible mechanical arm vibration control device - Google Patents
Embedded flexible mechanical arm vibration control device Download PDFInfo
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- CN205238058U CN205238058U CN201520931574.0U CN201520931574U CN205238058U CN 205238058 U CN205238058 U CN 205238058U CN 201520931574 U CN201520931574 U CN 201520931574U CN 205238058 U CN205238058 U CN 205238058U
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- control device
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- piezoelectric actuator
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- robot arm
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- 238000005259 measurement Methods 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims description 15
- 239000000919 ceramic Substances 0.000 claims description 7
- 230000002457 bidirectional effect Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 208000002925 dental caries Diseases 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 230000036244 malformation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000011160 research Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
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- 230000008054 signal transmission Effects 0.000 description 1
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- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
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Abstract
The utility model discloses an embedded flexible mechanical arm vibration control device, including deformation casing, support base, piezoelectricity actuator and vibration measurement control system, deformation the casing pass through preloaded bolt with support base fixed connection, deformation casing front end links to each other with flexibility machinery arm, and support the base end and link to each other with the motion, the piezoelectricity actuator is inlayed and is established in the deformation casing, the vibration control of flexible mechanical arm is realized by the piezoelectricity actuator that external voltage makes the ejector pin in the actuator and the production interact power between the casing of deforming through exerting, impels the deformation casing to produce structural distortion. A controllable moment of flexure is exerted at the root of flexibility machinery arm to the effect of deformation casing in other words to the piezoelectricity actuator, and moment of flexure size and change rule control through vibration measurement control system to realize suppressing the purpose of flexible mechanical arm vibration, and then improve flexible mechanical arm positioning accuracy and operating efficiency.
Description
Technical field
The utility model relates to vibration control field, relates in particular to a kind of embedded Vibrations of A Flexible Robot Arm controlDevice.
Background technology
The use of flexible armed lever is a kind of effective way that mechanical arm is realized lightweight and high-efficiency operation, domesticStudy comparatively widely existing in this respect outward, in Dynamic Modeling, track following, control and vibrationThe aspects such as inhibition have possessed certain Research foundation. Aspect practical application, the joint of mechanical arm is its coreParts due to consumption or the loss of lubricant, can cause the wearing and tearing of joint gear decelerator in long-term use,Particularly, in the situation that joint driver is used for vibration control, this wearing and tearing will aggravate, thereby impact is drivenThe mechanical property of moving device, even can cause drives fail when serious. In order to alleviate the work of joint of mechanical armBurden, increases the service life, and it need to be freed from the elastic vibration control of mechanical arm, to vibrationThe enforcement of controlling looks for another way. Foreign scholar MarcoSabatini etc. is being published in Acta in 2012In article on Astronautica, set forth by piezoelectric intelligent material the Study on Vibration Control for mechanical arm,On controlled mechanical arm, paste piezoelectric ceramic piece and realize the object of vibration control, make the vibration suppression problem of mechanical armThere is new solution route. This adhesive type piezoelectric ceramics is the main application mode of current piezoelectric, thoughSo can play the object that suppresses mechanical arm vibration and alleviate joint driver work load, but adhered layer holdsEasily, from mechanical arm surface peeling so that inefficacy, be unfavorable for the long-term use of adhesive type piezoelectric ceramics.
Embedded piezoelectric ceramic actuator is a kind of new application mode of piezoelectric, and this actuator is passed throughImbed controlled structures inside, form with controlled structures the entirety intercoupling, there is widely applicable, power outputLarge feature. This actuator can be installed on Flexible Space Mechanical Arms inside in the mode embedding equally, andAnd the impact that not changed by external environment condition can be used for a long time in space environment.
Because above-mentioned defect, the design people, actively research and innovation in addition, a kind of embedded to foundingVibrations of A Flexible Robot Arm control device, makes it have more the value in industry.
Utility model content
For solving the problems of the technologies described above, the purpose of this utility model is to provide one can suppress flexible mechanical armVibration, improve the embedded Vibrations of A Flexible Robot Arm control dress of flexible mechanical arm positioning precision and operational efficiencyPut.
The embedded Vibrations of A Flexible Robot Arm control device of one the utility model proposes, is characterized in that: compriseDeformation housing, base for supporting, piezoelectric actuator and vibration measurement control system, described deformation housing is by pre-Tight bolt is fixedly connected with described base for supporting, and the front end of described deformation housing is installed with for flexible mechanical arm and turnsThe joint connecing, the end of described base for supporting is installed with the projection connecting for motion, described piezoelectric actuatingDevice is embedded in described deformation housing, and the front end of described piezoelectric actuator sets firmly an actuator push rod, described topBar stretches out described piezoelectric actuator and leans on described joint, the rear end of described piezoelectric actuator and describedSupport is fixedly connected with a pressure sensor between base, piezoelectric actuating described in the control of described vibration measurement control systemThe running of device.
As further improvement of the utility model, also comprise a driving power, solid on described piezoelectric actuatorBe provided with driving voltage input port, described driving voltage input port and described driving power are electrically connected.
As further improvement of the utility model, described vibration measurement control system comprises a computer, oneDemodulator of PM signal PM, data collecting card and are arranged on the vibrating sensor on flexible mechanical arm, and described vibration passesSensor is connected with described demodulator of PM signal PM one-way communication, and described demodulator of PM signal PM and described data collecting card are unidirectionalCommunication connection, described data collecting card and the communication connection of described computer bidirectional, described data collecting card and instituteStating driving power one-way communication connects.
As further improvement of the utility model, on described pressure sensor, be installed with signal output port,Described signal output port is connected with described data collecting card one-way communication.
As further improvement of the utility model, described deformation housing and base for supporting are all symmetrical structure and establishMeter, is arranged with two column cavitys in described deformation housing, the fore-end symmetry of described base for supporting is establishedHave two positioning ports, described piezoelectric actuator is two, and described piezoelectric actuator is arranged on described column cavityIn, described pressure sensor is positioned in described positioning port.
As further improvement of the utility model, the head of described actuator push rod is spherical in shape, described jointRear end part symmetry be installed with two stiffness bearers, the head of described actuator push rod leans in described rigidityOn cushion block.
As further improvement of the utility model, described pretension bolt is positioned at described deformation housing and describedThe centre of support base.
As further improvement of the utility model, described piezoelectric actuator is embedded piezoelectric ceramic actuator.
As further improvement of the utility model, described pressure sensor is radial pressure sensor.
As further improvement of the utility model, described deformation housing and base for supporting are made by stainless steel.
By such scheme, the utility model at least has the following advantages: the vibration control of flexible mechanical arm byPiezoelectric actuator is realized, and piezoelectric actuator is connected with driving power, makes actuator top by applying external voltageBetween bar and deformation housing, produce interaction force, impel deformation housing to produce malformation. By vibration measurementControl system is controlled the running of piezoelectric actuator, thereby controls deflection and the distortion rule of deformation housingRule. Piezoelectric actuator is equivalent to apply a controlled moment of flexure at the root of flexible mechanical arm to the effect of deformation housing,Come control moment size and Changing Pattern by regulation voltage, thereby realize the order that suppresses Vibrations of A Flexible Robot Arm, and then improve flexible mechanical arm positioning precision and operational efficiency.
Above-mentioned explanation is only the general introduction of technical solutions of the utility model, new in order to better understand this practicalityThe technological means of type, and can being implemented according to the content of description, below with better reality of the present utility modelExecute example and coordinate accompanying drawing to be described in detail as follows.
Brief description of the drawings
Fig. 1 is the structural representation of the embedded Vibrations of A Flexible Robot Arm control device of the utility model;
Fig. 2 is the structural representation of the utility model vibration measurement control system;
Wherein: 1-deformation housing; 2-base for supporting; 3-piezoelectric actuator; 4-actuator push rod; 5-drives electricityPress input port; 6-pressure sensor; 7-signal output port; 8-stiffness bearer; 9-pretension bolt; 10-Flexible mechanical arm; 14-vibrating sensor; 15-demodulator of PM signal PM; 16-data collecting card; 17-computer; 18-Driving power; 20-joint; 21-projection; 22-column cavity; 23-positioning port; 24-vibration measurement control system.
Detailed description of the invention
Below in conjunction with drawings and Examples, detailed description of the invention of the present utility model is described in further detail.Following examples are used for illustrating the utility model, but are not used for limiting scope of the present utility model.
Embodiment: a kind of embedded Vibrations of A Flexible Robot Arm control device, comprises deformation housing 1, base for supporting2, piezoelectric actuator 3 and vibration measurement control system 24, described deformation housing by pretension bolt 9 with described inBase for supporting is fixedly connected with, and the front end of described deformation housing is installed with the joint 20 of transferring for flexible mechanical arm 10,The end of described base for supporting is installed with the projection 21 connecting for motion, and described piezoelectric actuator is embeddedIn described deformation housing, the front end of described piezoelectric actuator sets firmly an actuator push rod 4, and described push rod stretches out instituteState piezoelectric actuator and lean on described joint, the rear end of described piezoelectric actuator and described base for supporting itBetween be fixedly connected with a pressure sensor 6, the fortune of piezoelectric actuator described in the control of described vibration measurement control systemDo.
Also comprise a driving power 18, on described piezoelectric actuator, be installed with driving voltage input port 5, instituteStating driving voltage input port and described driving power is electrically connected.
Described vibration measurement control system comprises a computer 17, a demodulator of PM signal PM 15, data collecting card 16With the vibrating sensor 14 being arranged on flexible mechanical arm, described vibrating sensor and a described demodulator of PM signal PMOne-way communication connects, and described demodulator of PM signal PM is connected with described data collecting card one-way communication, described data acquisitionTruck and the communication connection of described computer bidirectional, described data collecting card and described driving power one-way communication connectConnect.
On described pressure sensor, be installed with signal output port 7, described signal output port and described data acquisitionTruck one-way communication connects. Piezoelectric actuator applied pretightning force by pretension bolt to it before normal work,Pretightning force size is measured by pressure sensor, and measurement result is passed through pressure sensor output port by dataSignal is transferred to data collecting card, then is transferred to computer by data collecting card.
Described deformation housing and base for supporting are all symmetrical structure design, in described deformation housing, are arranged with twoIndividual column cavity 22, the fore-end of described base for supporting is arranged with two positioning ports 23, and described piezoelectricity is doneMoving device is two, and described piezoelectric actuator is arranged in described column cavity, and described pressure sensor is positioned atIn described positioning port.
The head of described actuator push rod is spherical in shape, and the rear end part symmetry of described joint is installed with two rigidityCushion block 8, the head of described actuator push rod leans on described stiffness bearer. The head of actuator push rod is ballShape, can guarantee that actuator is only subject to axial thrust.
Described pretension bolt is positioned at the centre of described deformation housing and described base for supporting.
Described piezoelectric actuator is embedded piezoelectric ceramic actuator.
Described pressure sensor is radial pressure sensor.
Described deformation housing and base for supporting are made by stainless steel.
The operation principle of the embedded Vibrations of A Flexible Robot Arm control device of the utility model is as follows:
Vibration measurement control system signal transmission form is: vibrating sensor is used for measuring shaking of flexible mechanical armMoving signal, is converted to voltage form through demodulator of PM signal PM by signal, then carries out A/D by data collecting card and turnThe analog signal of changing commanders is converted to data signal, and data collecting card can be arranged in computer by PCI slotPortion, also can be connected with computer by usb port or other PORT COM, completes by corresponding communications protocolExchanges data, control algolithm realizes in computer, is undertaken by the data signal that data collecting card is obtainedAfter processing, adopt specific control algolithm to calculate, after D/A conversion, exported this output by data collecting cardSignal is a low-voltage analog signal, need to further through driving power, voltage amplification rear drive piezoelectricity be doneMoving device.
The vibration control of flexible mechanical arm is realized by piezoelectric actuator, and piezoelectric actuator is connected with driving power,Make to produce interaction force between actuator push rod and deformation housing by applying external voltage, impel deformation shellBody produces malformation. By vibration measurement control system, the running of piezoelectric actuator is controlled, thus controlThe deflection of deformation housing processed and deformation rule. Piezoelectric actuator is equivalent in flexibility the effect of deformation housingThe root of mechanical arm applies a controlled moment of flexure, comes control moment size and Changing Pattern by regulation voltage, fromAnd realize the object that suppresses Vibrations of A Flexible Robot Arm, and then improve flexible mechanical arm positioning precision and operational efficiency.
The above is only preferred embodiment of the present utility model, is not limited to the utility model, shouldWhen pointing out, for those skilled in the art, do not departing from the utility model know-whyPrerequisite under, can also make some improvement and modification, these improve and modification also should be considered as the utility modelProtection domain.
Claims (10)
1. an embedded Vibrations of A Flexible Robot Arm control device, it is characterized in that: comprise deformation housing (1), base for supporting (2), piezoelectric actuator (3) and vibration measurement control system (24), described deformation housing is fixedly connected with described base for supporting by pretension bolt (9), the front end of described deformation housing is installed with the joint (20) for flexible mechanical arm (10) switching, the end of described base for supporting is installed with the projection (21) connecting for motion, described piezoelectric actuator is embedded in described deformation housing, the front end of described piezoelectric actuator sets firmly an actuator push rod (4), described push rod stretches out described piezoelectric actuator and leans on described joint, between the rear end of described piezoelectric actuator and described base for supporting, be fixedly connected with a pressure sensor (6), the running of piezoelectric actuator described in the control of described vibration measurement control system.
2. embedded Vibrations of A Flexible Robot Arm control device according to claim 1, it is characterized in that: also comprise a driving power (18), on described piezoelectric actuator, be installed with driving voltage input port (5), described driving voltage input port and described driving power are electrically connected.
3. embedded Vibrations of A Flexible Robot Arm control device according to claim 2, it is characterized in that: described vibration measurement control system comprises a computer (17), one demodulator of PM signal PM (15), data collecting card (16) and one is arranged on the vibrating sensor (14) on flexible mechanical arm, described vibrating sensor is connected with described demodulator of PM signal PM one-way communication, described demodulator of PM signal PM is connected with described data collecting card one-way communication, described data collecting card and the communication connection of described computer bidirectional, described data collecting card is connected with described driving power one-way communication.
4. embedded Vibrations of A Flexible Robot Arm control device according to claim 3, is characterized in that: on described pressure sensor, be installed with signal output port (7), described signal output port is connected with described data collecting card one-way communication.
5. according to the embedded Vibrations of A Flexible Robot Arm control device described in any one in claim 1-4, it is characterized in that: described deformation housing and base for supporting are all symmetrical structure design, in described deformation housing, be arranged with two column cavitys (22), the fore-end of described base for supporting is arranged with two positioning ports (23), described piezoelectric actuator is two, described piezoelectric actuator is arranged in described column cavity, and described pressure sensor is positioned in described positioning port.
6. embedded Vibrations of A Flexible Robot Arm control device according to claim 5, it is characterized in that: the head of described actuator push rod is spherical in shape, the rear end part symmetry of described joint is installed with two stiffness bearers (8), and the head of described actuator push rod leans on described stiffness bearer.
7. embedded Vibrations of A Flexible Robot Arm control device according to claim 6, is characterized in that: described pretension bolt is positioned at the centre of described deformation housing and described base for supporting.
8. embedded Vibrations of A Flexible Robot Arm control device according to claim 7, is characterized in that: described piezoelectric actuator is embedded piezoelectric ceramic actuator.
9. embedded Vibrations of A Flexible Robot Arm control device according to claim 8, is characterized in that: described pressure sensor is radial pressure sensor.
10. embedded Vibrations of A Flexible Robot Arm control device according to claim 9, is characterized in that: described deformation housing and base for supporting are made by stainless steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520931574.0U CN205238058U (en) | 2015-11-19 | 2015-11-19 | Embedded flexible mechanical arm vibration control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520931574.0U CN205238058U (en) | 2015-11-19 | 2015-11-19 | Embedded flexible mechanical arm vibration control device |
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| CN205238058U true CN205238058U (en) | 2016-05-18 |
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| CN201520931574.0U Withdrawn - After Issue CN205238058U (en) | 2015-11-19 | 2015-11-19 | Embedded flexible mechanical arm vibration control device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105269579A (en) * | 2015-11-19 | 2016-01-27 | 南京航空航天大学 | Embedded vibration control device for flexible mechanical arm |
| CN106773687A (en) * | 2016-12-13 | 2017-05-31 | 西南交通大学 | A kind of flexible cantilever beam active control in structural vibration system and method |
-
2015
- 2015-11-19 CN CN201520931574.0U patent/CN205238058U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105269579A (en) * | 2015-11-19 | 2016-01-27 | 南京航空航天大学 | Embedded vibration control device for flexible mechanical arm |
| CN105269579B (en) * | 2015-11-19 | 2017-03-22 | 南京航空航天大学 | Embedded vibration control device for flexible mechanical arm |
| CN106773687A (en) * | 2016-12-13 | 2017-05-31 | 西南交通大学 | A kind of flexible cantilever beam active control in structural vibration system and method |
| CN106773687B (en) * | 2016-12-13 | 2023-10-03 | 西南交通大学 | Active vibration control system and method for flexible cantilever structure |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160518 Effective date of abandoning: 20170322 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |