CN206393671U - A kind of flexible mechanical arm active vibration controller - Google Patents
A kind of flexible mechanical arm active vibration controller Download PDFInfo
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- CN206393671U CN206393671U CN201720030302.2U CN201720030302U CN206393671U CN 206393671 U CN206393671 U CN 206393671U CN 201720030302 U CN201720030302 U CN 201720030302U CN 206393671 U CN206393671 U CN 206393671U
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- mechanical arm
- flexible mechanical
- driving
- piezoelectric patches
- piezoelectric
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Abstract
The utility model provides a kind of flexible mechanical arm active vibration controller, belong to the technology of the vibration realizing vibration suppression to flexible mechanical arm, including sensing piezoelectric piece, drive piezoelectric patches, data acquisition board, driving power supply, driving power source system and host computer, flexible mechanical arm is by clamp on actuating vibration table, actuating vibration table is sequentially connected power amplifier and signal generator, the side that sensing piezoelectric piece is pasted onto flexible mechanical arm is connected in data acquisition board, four pieces of driving piezoelectric patches are pasted in the other side of flexible mechanical arm, driving power supply connection driving piezoelectric patches, host computer controls driving power supply by driving power source system；The utility model passes through the location and installation sensing piezoelectric piece on flexible mechanical arm and driving piezoelectric patches, solve the problem of conventional flex mechanical arm is passively or actively control method, have the advantages that mechanism is simple, piezoelectric efficiency is high, it is different according to the detection data of sensing piezoelectric piece, the driving piezoelectric patches position of vibration is different, and inhibition of vibration is more preferable.
Description
Technical field
The utility model belongs to the technology of the vibration realizing vibration suppression to flexible mechanical arm, is related to a kind of flexible mechanical arm
Active vibration controller.
Background technology
Flexible robot is in the occasion of high-speed motion, and the inertia force of motion structure will become big, and result in the bullet of flexible structure
Property deformation, generate the vibration of flexible arm.Due to the elastic deformation of flexible mechanical arm, perform end and be difficult to obtain higher work
Precision.Traditional passive control methods are by arranging that damping material reduces structural vibration level, and these method additional mass are big, control
Frequency band is narrow, and low frequency control effect is poor.
Vibrating flexible beam Active Control Method control bandwidth, and based on piezoelectric ceramics (PZT) though the active control of material
So have mechanism simple compared to passively control, the advantages of piezoelectric efficiency is high, but efforts be made so that mostly with one or more pairs of PZT biographies
Sensor builds closed-loop control system with driver and realizes vibration suppression.Controller based on piezoelectric is mostly with fixed qty and position
PZT pieces build.However, the piezoelectric controller of the compliant mechanism under being vibrated for different frequency, variable position and structure
Control effect more preferably.For the vibration of different frequency, the optimal paste position of PZT material is also different.
The content of the invention
According to above the deficiencies in the prior art, technical problem to be solved in the utility model is to propose a kind of flexible mechanical
Arm active vibration controller, by the location and installation sensing piezoelectric piece on flexible mechanical arm and driving piezoelectric patches, solves tradition
The problem of flexible mechanical arm is passively or actively control method, has the advantages that mechanism is simple, piezoelectric efficiency is high, according to sensing piezoelectric
The detection data of piece are different, and the driving piezoelectric patches position of vibration is different, and inhibition of vibration is more preferable.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is：A kind of flexible mechanical arm actively shakes
Movement controller, the flexible mechanical arm active vibration controller includes sensing piezoelectric piece, driving piezoelectric patches, data acquisition board, drive
Dynamic power supply, driving power source system and host computer, flexible mechanical arm is by clamp on actuating vibration table, and actuating vibration table is connected with turn
Power amplifier and signal generator, the side that sensing piezoelectric piece is detachably pasted onto flexible mechanical arm are connected to data acquisition board
On, four pieces of driving piezoelectric patches are pasted in the other side of flexible mechanical arm, driving power supply connection driving piezoelectric patches, host computer passes through
Driving power source system controls driving power supply.
In said apparatus, the sensing piezoelectric piece is pasted onto flexible arm surface dynamic strain amplitude maximum everywhere.It is described to drive
Dynamic piezoelectric patches is arranged on maximum strain of the flexible mechanical arm under one class resonant frequency, second order resonant frequency and three rank resonant frequencies
Place.The sensing piezoelectric piece is removably pasted and fixed on flexible mechanical arm in one class resonant frequency, second order resonant frequency and three
At maximum strain under rank resonant frequency.The driving piezoelectric patches includes the first driving piezoelectric patches, the second driving piezoelectric patches, the 3rd
Piezoelectric patches and 4 wheel driven is driven to move piezoelectric patches, the first driving piezoelectric patches is arranged on flexible mechanical arm under one class resonant frequency most
At big strain, the 3rd driving piezoelectric patches is arranged on flexible mechanical arm at the maximum strain under second order resonant frequency, the second driving
Piezoelectric patches and 4 wheel driven move piezoelectric patches and are arranged on flexible mechanical arm at the maximum strain under three rank resonant frequencies.It is described to sense
Piezoelectric patches is pasted onto after flexible mechanical arm surface strain larger part and stands 24 hours at normal temperatures.
The utility model beneficial effect is:The utility model has the advantages that mechanism is simple, vibration suppression efficiency high.Based on multigroup
The vibration control method of sensing piezoelectric piece/driving piezoelectric patches, may be implemented in the vibration suppression of flexible mechanical arm in the range of broad frequency band
System.Pass through closed loop feedback control strategy so that the active control of flexible mechanical arm possesses preferable robustness.
Brief description of the drawings
The mark in the content and figure expressed by this specification accompanying drawing is briefly described below：
Fig. 1 is the structural representation of the flexible mechanical arm active vibration controller of embodiment of the present utility model.
Fig. 2 is the schematic view of the mounting position of the driving piezoelectric patches of embodiment of the present utility model.
1, actuating vibration table in figure, 2, fixture, 3, flexible mechanical arm, 4, driving piezoelectric patches, 5, sensing piezoelectric piece, 6, driving electricity
Source, 7, data acquisition board, 8, host computer, 9, power amplifier, 10, signal generator, the 11, first driving piezoelectric patches, 12, second
Drive piezoelectric patches, the 13, the 3rd driving piezoelectric patches, 14,4 wheel driven move piezoelectric patches.
Embodiment
Below against accompanying drawing, by the description to embodiment, embodiment of the present utility model is for example involved each
Mutual alignment and annexation, the effect of each several part and operation principle, manufacture work between the shape of component, construction, each several part
Skill and operate with method etc., are described in further detail, to help those skilled in the art to invention of the present utility model
Design, technical scheme have more complete, accurate and deep understanding.
As illustrated in fig. 1 and 2,1, actuating vibration table 1,2, fixture 2,3, flexible mechanical arm 3,4, driving piezoelectric patches, 5, sensing piezoelectric
Piece 5,6, driving power supply 6,7, data acquisition board 7,8, host computer 8,9, power amplifier 9,10, signal generator 10,11, first
Drive piezoelectric patches 11,12, second driving piezoelectric patches the 12,13, the 3rd driving piezoelectric patches 13,14,4 wheel driven move piezoelectric patches 14.
A kind of flexible mechanical arm active vibration controller, including sensing piezoelectric piece 5, driving piezoelectric patches 4, data acquisition board 7,
Driving power supply 6, driving power source system and host computer 8, flexible mechanical arm 3 are fastened on actuating vibration table 1 by fixture 2, actuating vibration table 1 according to
Secondary connection power amplifier 9 and signal generator 10, the side that sensing piezoelectric piece 5 is detachably pasted onto flexible mechanical arm 3 connects
It is connected in data acquisition board 7, four pieces of driving piezoelectric patches, the connection driving of driving power supply 6 is pasted in the other side of flexible mechanical arm 3
Piezoelectric patches, the connection driving power source system of host computer 8 (accompanying drawing is not drawn into), driving power source system connection driving power supply 6.Sensing piezoelectric
The position of piece 5 is change, is symmetrically pasted with driving piezoelectric patches 4, the side that sensing piezoelectric piece is pasted with flexible arm is metal
Piezoelectric patches, because flexible mechanical arm is carbon fibre material, such as can be pasted onto on flexible arm, and change by piece with two-sided tape
It can be dismantled during position.
Sensing piezoelectric piece 5 is pasted onto at the dynamic strain amplitude maximum of flexible arm surface.Piezoelectric patches is driven to be arranged on flexible machine
Tool arm 3 is at the maximum strain under one class resonant frequency, second order resonant frequency and three rank resonant frequencies, and driving piezoelectric patches includes the
One driving piezoelectric patches 11, second driving piezoelectric patches the 12, the 3rd driving piezoelectric patches 13 and 4 wheel driven move piezoelectric patches 14, the first driving pressure
Electric piece 11 is arranged on flexible mechanical arm 3 at the maximum strain under one class resonant frequency, and the 3rd driving piezoelectric patches 13 is arranged on soft
Property mechanical arm 3 at maximum strain under second order resonant frequency, the second driving piezoelectric patches 12 and 4 wheel driven move piezoelectric patches 14 and installed
In flexible mechanical arm 3 at the maximum strain under three rank resonant frequencies.Data acquisition board 7 uses Labview data acquisition boards 7,
Sensing piezoelectric piece 5 is wired in Labview data acquisition boards 7, for gathering the vibration signal of flexible mechanical arm 3,
Set driving power source system parameter to be used for controlling drive power supply for piezoelectric ceramics 6 on host computer 8, drive power supply for piezoelectric ceramics 6 is led to
Cross the vibration suppression controller that wire has connected and composed different schemes with each driving piezoelectric patches.Drive power supply for piezoelectric ceramics 6 passes through
The driving piezoelectric patches i.e. PZT drivers that wire driving is pasted onto flexible arm surface produce moment of flexure formation closed-loop control, suppress flexible
The vibration of arm.Under first three rank resonant frequency, the vibration under every one class resonant frequency uses three kinds of vibration suppression schemes, finally by
The contrast of vibration suppression rate draws the optimal vibration suppression scheme under every one class resonant frequency.
Workflow and principle of the present utility model：
1st, sensing piezoelectric piece 5 is pasted onto the surface strain larger part of flexible mechanical arm 3, then stands 24 hours under normal temperature,
Ensure that alite paste thoroughly solidifies；
2nd, the active vibration controller of flexible mechanical arm 3 as shown in Figure 1 is built, wherein the driving voltage width of driving piezoelectric patches
It is worth for 10V；
3rd, it is illustrated in figure 2 the position design conceptual scheme of driving piezoelectric patches；The position that first driving piezoelectric patches 11 is pasted
It is to be determined by flexible mechanical arm 3 under one class resonant frequency at maximum strain to put, and is mainly used to control the single order of flexible mechanical arm 3
Vibration under resonance；The position that 3rd driving piezoelectric patches 13 is pasted is answered by flexible mechanical arm 3 is maximum under second order resonant frequency
Determined at change, be mainly used to control the vibration under the second order resonance of flexible mechanical arm 3；Second and 4 wheel driven move piezoelectric patches 14 paste
Position be to be determined by flexible mechanical arm 3 under three rank resonant frequencies at maximum strain, be mainly used to control flexible mechanical arm 3
Vibration under three rank resonance.
The utility model is exemplarily described above in conjunction with accompanying drawing, it is clear that the utility model implement not by
The limitation of aforesaid way, as long as employing changing for the various unsubstantialities that method design of the present utility model and technical scheme are carried out
Enter, or it is not improved by it is of the present utility model design and technical scheme directly apply to other occasions, in the utility model
Protection domain within.Protection domain of the present utility model should be determined by the scope of protection defined in the claims.
Claims (6)
1. a kind of flexible mechanical arm active vibration controller, it is characterised in that the flexible mechanical arm active vibration controller bag
Include sensing piezoelectric piece (5), driving piezoelectric patches (4), data acquisition board (7), driving power supply (6), driving power source system and host computer
(8), flexible mechanical arm (3) is fastened on actuating vibration table (1) by fixture (2), and actuating vibration table (1) is sequentially connected power amplifier
(9) and signal generator (10), sensing piezoelectric piece (5) is detachably pasted onto the side of flexible mechanical arm (3) and is connected to data and adopts
Collect on plate (7), four pieces of driving piezoelectric patches (4), driving power supply (6) connection driving are pasted in the other side of flexible mechanical arm (3)
Piezoelectric patches (4), host computer (8) controls driving power supply (6) by driving power source system.
2. flexible mechanical arm active vibration controller according to claim 1, it is characterised in that the sensing piezoelectric piece
(5) it is pasted onto at the dynamic strain amplitude maximum of flexible mechanical arm (3) surface.
3. flexible mechanical arm active vibration controller according to claim 1, it is characterised in that the driving piezoelectric patches
(4) it is arranged on maximum strain of the flexible mechanical arm (3) under one class resonant frequency, second order resonant frequency and three rank resonant frequencies
Place.
4. flexible mechanical arm active vibration controller according to claim 1, it is characterised in that the sensing piezoelectric piece
(5) flexible mechanical arm (3) is removably pasted and fixed under one class resonant frequency, second order resonant frequency and three rank resonant frequencies
Maximum strain at.
5. flexible mechanical arm active vibration controller according to claim 1, it is characterised in that the driving piezoelectric patches
(4) the first driving piezoelectric patches (11), the second driving piezoelectric patches (12), the 3rd driving piezoelectric patches (13) and 4 wheel driven dynamic pressure electricity are included
Piece (14), the first driving piezoelectric patches (11) is arranged on flexible mechanical arm (3) at the maximum strain under one class resonant frequency, and the 3rd
Piezoelectric patches (13) is driven to be arranged on flexible mechanical arm (3) at the maximum strain under second order resonant frequency, the second driving piezoelectric patches
(12) move piezoelectric patches (14) with 4 wheel driven and be arranged on flexible mechanical arm (3) at the maximum strain under three rank resonant frequencies.
6. flexible mechanical arm active vibration controller according to claim 1, it is characterised in that described by sensing piezoelectric piece
(5) 24 hours are stood at normal temperatures after being pasted onto flexible mechanical arm (3) surface strain larger part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720030302.2U CN206393671U (en) | 2017-01-11 | 2017-01-11 | A kind of flexible mechanical arm active vibration controller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720030302.2U CN206393671U (en) | 2017-01-11 | 2017-01-11 | A kind of flexible mechanical arm active vibration controller |
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| Publication Number | Publication Date |
|---|---|
| CN206393671U true CN206393671U (en) | 2017-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720030302.2U Expired - Fee Related CN206393671U (en) | 2017-01-11 | 2017-01-11 | A kind of flexible mechanical arm active vibration controller |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656091A (en) * | 2018-07-20 | 2018-10-16 | 上海理工大学 | A kind of industrial robot that vibration control can be realized based on piezo-electricity composite material |
| CN108757820A (en) * | 2018-06-21 | 2018-11-06 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of adaptive absorbing control system and control method based on machine learning |
-
2017
- 2017-01-11 CN CN201720030302.2U patent/CN206393671U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108757820A (en) * | 2018-06-21 | 2018-11-06 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of adaptive absorbing control system and control method based on machine learning |
| CN108656091A (en) * | 2018-07-20 | 2018-10-16 | 上海理工大学 | A kind of industrial robot that vibration control can be realized based on piezo-electricity composite material |
| CN108656091B (en) * | 2018-07-20 | 2024-05-03 | 上海理工大学 | Industrial robot capable of achieving vibration control based on piezoelectric composite material |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170811 Termination date: 20180111 |