CN208713963U - A kind of double-flexibility robot Synchronous motion control device - Google Patents
A kind of double-flexibility robot Synchronous motion control device Download PDFInfo
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- CN208713963U CN208713963U CN201821110253.4U CN201821110253U CN208713963U CN 208713963 U CN208713963 U CN 208713963U CN 201821110253 U CN201821110253 U CN 201821110253U CN 208713963 U CN208713963 U CN 208713963U
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- flexible arm
- servo motor
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- retarder
- motion control
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Abstract
The utility model discloses a kind of double-flexibility robot Synchronous motion control devices, including basic machine part, detection drive part and control section, basic machine part is made of the first flexible body and the second flexible body portion, detecting drive part includes piezoelectric transducer and piezoelectric actuator, control section carries out processing output control signal to received detection signal, carries out vibration control to four flexible arms.The utility model realize to vibratory output can not flexible arm measured directly carry out vibration control, and the control effect of two flexible arms moved synchronously can be compared.
Description
Technical field
The utility model relates to flexible robot field, in particular to a kind of double-flexibility robot Synchronous motion control dress
It sets.
Background technique
With the development of science and technology, robot technology constantly develops towards lightweight, high speed and high-precision direction, special
Be not enter 21st century since, the mankind deepen continuously to the exploration of space, it is contemplated that outer space environment it is severe and complicated
Property and astronaut's inherently safe, when executing complicated space exploration and operation task, it is quite necessary to using combining aviation
The mechanical arm configuration of technology and robot technology replaces spacefarer to complete these tasks.Therefore to the design of the structure of mechanical arm and
The research of vibration control technology has become an important research direction of robot technology and aerospace field.
Traditional industrial robot is generally designed to rigidity in order to avoid generating position error and mechanical oscillation, arm
Structure, with the rapid development of aerospace industry, the task complexity that space manipulator asks for completion increases, to structure and
The requirement of performance is also higher and higher, and complicated task makes the structure of space manipulator increasing, on the other hand in order to reduce
Space flight cost and mechanical arm energy consumption, and guarantee its flexibility, space manipulator often uses new lightweight material to manufacture,
Therefore, space manipulator is towards Low rigidity, high-precision and the trend development of flexibility.It is opened from the flexible mechanical arm of single-degree-of-freedom
Begin, the research of flexible mechanical arm was set something afoot the eighties in last century, single free as task performed by mechanical arm becomes increasingly complex
The flexible mechanical arm of degree is unable to satisfy using needs, and the research of two-freedom flexible mechanical arm is risen therewith, wherein the most famous
It is Canadian arm two (SSRMS-2) that Canadian Aeronautics administration designs for international space station, with traditional Rigid Robot Manipulator phase
Have the characteristics that lightweight, high response speed, Gao Zaichong/self weight than but simultaneously because its Low rigidity and disturbing greatly than, flexible mechanical arm
The characteristics of spending, when receiving external drive, two-freedom flexible mechanical arm is easy to itself low frequency generated, significantly bullet
Property vibration, so as to cause it, there is also some problems in use, by taking the assembly of the first stage of space station as an example, space
Flexible mechanical arm system needs work 47 hours or so, but it was used to wait its own remnants vibration there are about 20%~30% time
Dynamic decaying, while in order to avoid generating biggish elastic vibration during manipulator motion, the expansion process of mechanical arm also needs
The long period is wanted, job requirement of the these problems obviously with flexible mechanical arm high speed and super precision is not inconsistent, and affects mechanical arm work
Positioning accuracy, elastic vibration will be that structure generates premature fatigue rupture, while may cause system resonance and lead to system destruction
And failure, therefore how the dynamic characteristics and drive characteristic and in its motion process of Correct Analysis two-freedom flexible mechanical arm
The inhibition of elastic vibration be particularly important.
Utility model content
In order to overcome shortcoming and deficiency of the existing technology, the utility model provides a kind of double-flexibility robot synchronization fortune
Dynamic control device.
The utility model moves flexible mechanical arm configuration in biggish rotating range, and is allowed in biggish work
It spatially realizes and stablizes, accurately and rapidly reaches presetting positioning, and quickly inhibit vibration, the view positioned at flexible arm end
Feel detection device can real-time detection flexible arm pose, to flexible arm end orbit planning and mechanical arm avoidance play a significant role.
The utility model adopts the following technical solution:
A kind of double-flexibility robot Synchronous motion control device, including basic machine part, detection drive part and control
Part；
The basic machine part is made of the first flexible body and the second flexible body；
First flexible body include the first flexible arm, the first retarder, first servo motor, first movement device,
One end of second flexible arm, the second retarder and the second servo motor, first flexible arm is connected by first flange disk machinery
Connection device is connect with the output end of the first retarder, and the other end is free end, and first servo motor is mounted on the first retarder
Input terminal；The pedestal of first retarder is connect with one end of the second flexible arm；
Second servo motor is connect with the input terminal of the second retarder, and the pedestal of the second retarder is mounted on first movement dress
It sets, the output end of the second retarder is connect by second flange disk attachment device with the other end of the second flexible arm, and described the
One mobile device is fixed on testing stand；
Second flexible body includes third flexible arm, the 4th flexible arm, the 4th servo motor, the 5th servo motor, the 5th
Retarder and the second mobile device；
One end of the third flexible arm is connect by third flange connecting device with bracket, and the other end is freely
End, the bracket are fixed on the 4th servo motor；5th servo motor is connect with one end of the 4th flexible arm, the 4th flexible arm
The other end connect with bracket；5th servo motor is mounted on the 5th retarder, and the 5th retarder is fixed on the second shifting
On dynamic device, the second mobile device is fixed on testing stand；
The detection drive part:
Including piezoelectric patches sensor and piezoelectric actuator, first flexible arm and the second flexible arm are respectively provided with piezoelectric patches biography
Piezoelectric actuator is arranged in sensor, first flexible arm, the second flexible arm, third flexible arm and the 4th flexible arm；
The control section
Control section carries out processing output control signal to received detection signal, carries out vibration control to four flexible arms
System.
The first movement device includes pedestal, ball-screw, the first sliding block and third servo motor, the third servo
The first slide block movement in motor driven ball screws, the pedestal of ball-screw are fixed on the base, and pedestal is fixed on testing stand
On, the pedestal of second retarder is fixed on the first sliding block；
Second mobile device includes linear motor, linear guide and the second sliding block, the linear motor driving second
Sliding block slides in linear guide, and the 5th retarder is fixed on the second sliding block.
The control section includes computer, motion control card, servo-driver, piezoelectricity amplifying circuit and charge amplification
Device；
First, second, third, fourth and the 5th servo motor setting photoelectric encoder detect angular signal by movement
Feedback signal is obtained in control card input computer, servo-driver is exported by motion control card, further drives first, the
Two, the servo motor of third, the 4th and the 5th rotates；
Piezoelectric patches sensor detects the vibration signal of first and second flexible arm, enters motion control by charge amplifier
Card input computer after computer obtains control signal, drives after being output to the amplification of piezoelectricity amplifying circuit by motion control card
Piezoelectric actuator；
The computer is connect with motion control card, and motion control card is connect with servo-driver, the servo-driver
With first, second, third, fourth and the 5th servo motor connect.
The first movement device and the second mobile device are arranged in parallel on testing stand.
The piezoelectric patches sensor and piezoelectric actuator of first flexible arm are positioned close to fixing end side；
The piezoelectric patches sensor and piezoelectric actuator of second flexible arm are positioned close to the second servo motor side；
The piezoelectric actuator of third flexible arm is arranged in the 4th servo motor side；
The piezoelectric actuator of 4th flexible arm is arranged in fixing end side.
The piezoelectric patches sensor is made of two panels piezoelectric patches, and the tow sides of flexible arm are symmetrically pasted, and every face is a piece of.
The course of work of the utility model:
The first step is believed using the corner of the detection first, second, third, fourth of corresponding detecting element and the 5th servo motor
Number, by motion control card input computer, computer obtain control signal by motion control card output servo-driver into
The movement of one step control servo motor；
Position and speed signal of the second step using corresponding detecting element detection linear motor top shoe, input motion control
It is output to computer after card to be handled, corresponding second slide position and feedback speed signal are obtained, generates control straight-line electric
The pulse signal of machine drives linear motor after motion control card and servo-driver, to the position and speed of linear motor
Carry out closed-loop control；
Third step piezoelectric patches sensor detects the vibration signal of the first flexible arm and the second flexible arm, by charge amplifier
Into motion control card, computer is inputted, after computer generates control signal, output piezoelectricity amplifying circuit driving piezoelectric patches driving
Device inhibits vibration.
The utility model has the beneficial effects that
(1) this vibrating flexible beam Synchronous motion control device proposes under a kind of specified conditions that vibrating flexible beam signal can not
Vibration Synchronization control method and device when detection.Detectable flexible arm equipment driver is vibrated with retarder, vibration control
The target flexibility arm assembly decelerator-free of system, and moving along a straight line secondary is that linear motor drives, different driving methods, which combines, to be increased
The universality and novelty of the method for this practical proposition.
(2) this Three-degree-of-freedom flexible manipulator is the system that detects and controls of the input-output of a multichannel, and each
It intercouples between control, the existing analog output control of motor, and have pulsed quantity control, existing drive and control of electric machine, also
Piezoelectric Driving control, using the device can simulation complexity flexible structure very well Coupled Rigid-flexible Study on Vibration Control.
(3) present apparatus combination machine vision detection device can realize the pose detection of flexible arm, can be complete in conjunction with control section
It is also verifying Various Complex control strategy at tasks such as the positioning of Three-degree-of-freedom flexible manipulator, terminal end path planning and avoidances
One good platform is provided.
(4) kinetic model that the present apparatus can also carry out more body flexible robots by multi-sensor information fusion is distinguished
Know, and the research of the Vibration Active Control based on multisensor.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Specific embodiment
Below with reference to examples and drawings, the utility model is described in further detail, but the reality of the utility model
It is without being limited thereto to apply mode.
Embodiment
As shown in Figure 1, a kind of double-flexibility robot Synchronous motion control device, including basic machine part, detection driving
Part and control section；
The basic machine part is made of the first flexible body and the second flexible body.
First flexible body includes the first flexible arm 1, and one end of the first flexible arm is connected by first flange disk machinery
Connection device 4 is connect with the output end of the first retarder 5, which is the fixing end of the first flexible arm, and the other end is free end, and first
Servo motor 6 is mounted on the input terminal of the first retarder 5；The pedestal of first retarder is connect with one end of the second flexible arm 7.
Second servo motor 12 is connect by flange with the input terminal of the second retarder 11, and the pedestal of the second retarder passes through
Mechanical connecting device is mounted on first movement device, the output end of the second retarder by second flange disk attachment device 10 with
The other end of second flexible arm 7 connects, and the first movement device is fixed on testing stand.
The first movement device includes pedestal 17, ball-screw 16, the first sliding block 15 and third servo motor 13, described
Third servo motor drives the first sliding block 15 movement on ball-screw 16 by shaft coupling 14, and the pedestal of ball-screw is fixed on
On pedestal 17, pedestal is fixed on testing stand, and the pedestal of second retarder is fixed on the first sliding block；
Second flexible body includes third flexible arm 18, the 4th flexible arm 23, the 4th servo motor 22, the 5th servo
Motor 26, the 5th retarder and the second mobile device；
4th servo motor 22 is connected on the stent 21 by third flange connecting device 20, bracket and third flexible arm
18 one end connection, one end is the fixing end of third flexible arm, and the other end is free end.
4th servo motor 22 is connect with 23 one end of the 4th flexible arm, and the 5th servo motor 26 is mechanically connected by ring flange
Device 25 is connect with the other end of the 4th flexible arm, and the 5th servo motor is mounted on the 5th retarder, the 5th retarder
It is fixed in the second mobile device, the second mobile device is fixed on testing stand.
Second mobile device includes linear motor 28, linear guide 27 and the second sliding block 30, and the linear motor driving is solid
The second sliding block for being scheduled on linear motor rotor 31 slides in linear guide, and second sliding block and the 5th retarder are fixed on one
It rises.
The detection drive part includes piezoelectric patches sensor and piezoelectric actuator.
First flexible arm pastes piezoelectric actuator 3 and piezoelectric transducer 2, close to the fixing end of the first flexible arm, pressure
Electric transducer 2 be it is a piece of, positioned at the middle position of the width direction of the first flexible arm fixing end, distance the first flexible arm fixing end
7.5cm.Piezoelectric actuator 3 is symmetrically pasted by four piezoelectric patches on the two sides of flexible arm, and 2, every face is connected in parallel, distance and
First flexible arm end 2.5cm of two servo motors, the lower edges of the first flexible arm of distance are 2cm in the direction of the width.
Second flexible arm pastes piezoelectric actuator 9 and piezoelectric patches sensor 8, paste position and number and first
Flexible arm is identical, is specifically pasted onto close to one end of the second servo motor.
Third flexible arm pastes piezoelectric actuator 19, close to one end of the 4th servo motor.
4th flexible arm pastes piezoelectric actuator 24, close to one end of the 5th servo motor.
The control section includes computer 33, motion control card 34, piezoelectricity amplifying circuit 35, charge amplifier 36, watches
Driver 32 is taken, the computer and motion control card are connected with each other, and the motion control card and servo-driver are connected with each other,
Motion control card uses Galil motion control card in the present embodiment.
First, second, third, fourth and the 5th servo motor be respectively provided with photoelectric encoder, for detecting angular signal, pass through
The channel for crossing motion control card enters computer, after computer obtains control signal, exports servo-drive by motion control card
Device further drives the rotation of servo motor.
First flexible arm detects its vibration signal using piezoelectric transducer 2, and the second flexible arm is detected using piezoelectric transducer 8
Vibration signal obtains vibration letter using computer is input to after motion control card progress A/D conversion via charge amplifier
Number, via output control signal after computer disposal, control signal is defeated via the wherein analog quantity after motion control card D/A conversion
Two channels out, are respectively outputted to piezoelectric actuator 3 and piezoelectric actuator 9 after piezoelectricity amplifying circuit 35, thus respectively
Inhibit the vibration of the first flexible arm 1 and the second flexible arm 7；It is aforementioned to measure obtained vibration signal, by computer settings algorithm
Vibration control amount needed for calculating third flexible arm 18 and the 4th flexible arm 23, the wherein analog quantity after control card D/A conversion
Two channels of output, are respectively outputted to piezoelectric actuator 19 and piezoelectric actuator 24 after piezoelectricity amplifying circuit 35, thus
Inhibit the vibration of third flexible arm 18 and the 4th flexible arm 23 respectively.
The position and speed signal that grating scale 29 detects the second sliding block of linear motor is arranged in linear motor, by servo-drive
It is output in computer after device and motion control card 34, obtains slide position and feedback speed signal, it is straight that computer generates control
The pulse signal of line motor, the signal pass through motion control card output linear motor respectively, realize position and the speed of linear motor
Degree carries out double-closed-loop control.
So that flexible mechanical arm configuration moves in biggish rotating range, and it is allowed to realize on biggish working space
Stablize, accurately and rapidly reach presetting positioning, and quickly inhibits vibration, the vision inspection apparatus positioned at flexible arm end
Can real-time detection flexible arm pose, to flexible arm end orbit planning and mechanical arm avoidance play a significant role,
In the present embodiment, flexible arm is made of 3mm epoxy resin board, and the size of the first flexible arm and third flexible arm is
The size of 480mm*100mm, the second flexible arm and the 4th flexible arm is 500mm*100mm；Servo motor selects Japan three respectively
400 watts and 100 watts of AC servo motors of water chestnut company production, wherein the second servo motor, third servo motor and the 4th servo
The model HC-KFS43 of motor, servo-driver MR-J2S-40A, the model of first servo motor and the 5th servo motor
For HC-KFS13, servo-driver MR-J2S-10A；The double diaphragms of the optional metallic membrane shaft coupling light aluminum alloy of shaft coupling；Rolling
Ballscrew selects the structure of the LM rolling guide intelligences combination unit KR type of THK company, Japan production, stroke 600mm screw rod guide rail
System；The ring flange output decelerator of the Niu Kate company production of first retarder and the optional Germany of the second retarder, first
The model PLFN-90 of retarder, the model PLFN-64 of the second retarder；Linear motor motion platform selects Zhengzhou micro-nano
The one-dimensional vertical straight line motor movement platform of science and technology, model WMUC1536075-06-D, table stroke 1400mm, normal thrust
58N, repetitive positioning accuracy ± 1 μm；Using the 4 axis motion controls of the model DMC-18x6PCI of GALIL company, U.S. production
Card.It is that PCI connect with the connection type of computer, computer can be realized and test by not needing to write relevant serial ports program
Directly transmitting and obtaining for number of units evidence, reduces the conversion process of data, improves the speed of human-machine operation and controller processing.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by described
The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing
In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.
Claims (6)
1. a kind of double-flexibility robot Synchronous motion control device, which is characterized in that including basic machine part, detection driving portion
Point and control section；
The basic machine part is made of the first flexible body and the second flexible body；
First flexible body includes the first flexible arm, the first retarder, first servo motor, first movement device, second
One end of flexible arm, the second retarder and the second servo motor, first flexible arm passes through first flange disk mechanical connection dress
It sets and is connect with the output end of the first retarder, the other end is free end, and first servo motor is mounted on the defeated of the first retarder
Enter end；The pedestal of first retarder is connect with one end of the second flexible arm；
Second servo motor is connect with the input terminal of the second retarder, and the pedestal of the second retarder is mounted on first movement device
On, the output end of the second retarder is connect by second flange disk attachment device with the other end of the second flexible arm, and described first
Mobile device is fixed on testing stand；
Second flexible body includes third flexible arm, the 4th flexible arm, the 4th servo motor, the 5th servo motor, the 5th deceleration
Device and the second mobile device；
One end of the third flexible arm is connect by third flange connecting device with bracket, and the other end is free end, institute
Bracket is stated to be fixed on the 4th servo motor；5th servo motor is connect with one end of the 4th flexible arm, the 4th flexible arm it is another
One end is connect with bracket；5th servo motor is mounted on the 5th retarder, and the 5th retarder is fixed on the second mobile dress
It sets, the second mobile device is fixed on testing stand；
The detection drive part:
Including piezoelectric patches sensor and piezoelectric actuator, first flexible arm and the second flexible arm are respectively provided with piezoelectric transducer,
Piezoelectric actuator is arranged in first flexible arm, the second flexible arm, third flexible arm and the 4th flexible arm；
The control section
Control section carries out processing output control signal to received detection signal, carries out vibration control to four flexible arms.
2. a kind of double-flexibility robot Synchronous motion control device according to claim 1, which is characterized in that described first
Mobile device includes pedestal, ball-screw, the first sliding block and third servo motor, and the third servo motor drives ball-screw
On the first slide block movement, the pedestal of ball-screw is fixed on the base, and pedestal is fixed on testing stand, second retarder
Pedestal be fixed on the first sliding block；
Second mobile device includes linear motor, linear guide and the second sliding block, and the linear motor drives the second sliding block
It is slided in linear guide, the 5th retarder is fixed on the second sliding block.
3. a kind of double-flexibility robot Synchronous motion control device according to claim 2, which is characterized in that the control
Part includes computer, motion control card, servo-driver, piezoelectricity amplifying circuit and charge amplifier；
First, second, third, fourth and the 5th servo motor setting photoelectric encoder detect angular signal pass through motion control
Card input computer in obtain feedback signal, by motion control card export servo-driver, further drive first, second,
The rotation of the servo motor of third, the 4th and the 5th；
Piezoelectric patches sensor detects the vibration signal of first and second flexible arm, and it is defeated to enter motion control card by charge amplifier
Enter computer, after computer obtains control signal, piezoelectricity amplifying circuit is output to by motion control card and amplifies rear-guard dynamic pressure electricity
Driver；
The computer is connect with motion control card, and motion control card is connect with servo-driver, the servo-driver and
One, second, third, the 4th and the 5th servo motor connection.
4. a kind of double-flexibility robot Synchronous motion control device according to claim 1, which is characterized in that described first
Mobile device and the second mobile device are arranged in parallel on testing stand.
5. a kind of double-flexibility robot Synchronous motion control device according to claim 1, which is characterized in that first is flexible
The piezoelectric patches sensor and piezoelectric actuator of arm are positioned close to fixing end side；
The piezoelectric patches sensor and piezoelectric actuator of second flexible arm are positioned close to the second servo motor side；
The piezoelectric actuator of third flexible arm is arranged in the 4th servo motor side；
The piezoelectric actuator of 4th flexible arm is arranged in fixing end side.
6. a kind of double-flexibility robot Synchronous motion control device according to claim 5, which is characterized in that the piezoelectricity
Piece sensor is made of two panels piezoelectric patches, and the tow sides of flexible arm are symmetrically pasted, and every face is a piece of.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821110253.4U CN208713963U (en) | 2018-07-12 | 2018-07-12 | A kind of double-flexibility robot Synchronous motion control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821110253.4U CN208713963U (en) | 2018-07-12 | 2018-07-12 | A kind of double-flexibility robot Synchronous motion control device |
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| Publication Number | Publication Date |
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| CN208713963U true CN208713963U (en) | 2019-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821110253.4U Expired - Fee Related CN208713963U (en) | 2018-07-12 | 2018-07-12 | A kind of double-flexibility robot Synchronous motion control device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858145A (en) * | 2018-07-12 | 2018-11-23 | 华南理工大学 | A kind of double-flexibility robot Synchronous motion control apparatus and method |
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2018
- 2018-07-12 CN CN201821110253.4U patent/CN208713963U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108858145A (en) * | 2018-07-12 | 2018-11-23 | 华南理工大学 | A kind of double-flexibility robot Synchronous motion control apparatus and method |
| CN108858145B (en) * | 2018-07-12 | 2023-09-26 | 华南理工大学 | Synchronous motion control device and method for double-flexible robot |
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