CN206105842U - Flexible parallel mechanism controlling means of three degrees of freedom of pendulum actuating cylinder driven - Google Patents

Abstract

The utility model discloses a three-degree-of-freedom flexible parallel mechanism control device driven by a swing cylinder. The device includes a three-degree-of-freedom flexible parallel mechanism body and a control assembly; the three-freedom flexible parallel mechanism body includes a moving platform and three parallel drive Control branch; the shape of the moving platform is an equilateral triangle, equipped with a three-axis acceleration sensor and an angular velocity sensor; each parallel drive control branch includes a swing cylinder, a rigid active rod and a flexible driven rod, and a swing cylinder, a rigid active rod, and a flexible driven rod It is connected with the moving platform in turn; the swing cylinder is driven by the pneumatic control circuit, and its output shaft is connected to a photoelectric encoder through a coupling, and a piezoelectric sensor and a piezoelectric driver are installed on the flexible driven rod; the control components are respectively connected with the pneumatic control circuit, Photoelectric encoder, three-axis acceleration sensor, angular velocity sensor, piezoelectric sensor and piezoelectric driver are connected. The utility model can quickly, accurately and stably reach the designated working position and realize feedback adjustment.

Description

Three-degree-of-freedom flexible parallel mechanism control device driven by oscillating cylinder

technical field

The utility model relates to a three-freedom flexible parallel mechanism control device, in particular to a three-freedom flexible parallel mechanism control device driven by a swing cylinder, which belongs to the field of plane three-freedom parallel robot device and control research.

Background technique

A parallel robot is a robot that includes a parallel mechanism. The parallel mechanism is that the end effector with several degrees of freedom is connected to the fixed base through two or more independent motion branch chains. A parallel robot consists of two platforms, namely a dynamic platform and a static platform (also known as a fixed platform). The static platform is fixed on the base or connected to the end effector of another robot, and the dynamic platform moves relative to the static platform. The two platforms are connected by two or more branch chains. It has two or more degrees of freedom, and the drives are generally distributed on one end connected to the static platform (driven in parallel). The base of the static platform is responsible for supporting the installation, and the triangular plate of the moving platform is connected with the static platform through the combination of the flexible arm and the rigid arm. In this system, the function of the moving platform is the embodiment of the system operation. The moving platform is driven by the connecting rod to realize the required motion track or work space, and the moving platform is used to detect its own movement, and the industrial control computer in the background is processed to complete the self-control. Movement correction.

Parallel mechanisms mostly use AC servo motors as the driving power source. AC servo motors have the advantages of good speed control characteristics, high-speed control, constant torque and low inertia, but their control is complicated and there are many connections. The advantage of pneumatic control lies in its simple structure and low price. At the same time, the excellent swing cylinder design can also achieve good angle adjustment. At the same time, the swing cylinder also has high swing speed adjustability, which can adapt to a wide range of speed selection from low speed to high speed. Therefore, selecting the appropriate swing cylinder can also meet the corresponding experimental requirements.

In actual production, the flexible arm is used more and more widely as the driving arm, and its elastic deformation has more and more serious influence on the motion of the whole system. It is more and more important to reduce or even eliminate the deformation during its motion. In the design, the elastic deformation can be effectively counteracted by inputting torque at the three ends at the same time. In this paper, by selecting a suitable swing cylinder and constructing a good working space, a deformation vibration elimination control scheme of a flexible arm pneumatically driven parallel mechanism is discussed.

Therefore, it is of great significance to study a flexible parallel mechanism control device with good working space and motion trajectory.

Utility model content

The purpose of this utility model is to solve the above-mentioned defects in the prior art and provide a three-degree-of-freedom flexible parallel mechanism control device driven by a swing cylinder. The device reasonably arranges the position of the swing cylinder and the rigid active rod and flexible driven rod. The connection relationship makes the flexible driven rod have a good movement trajectory and a large working space, and ensures the stability and certain accuracy of operation during work, so as to achieve fast, accurate and stable arrival at the designated working position and realize feedback adjust.

The purpose of this utility model can be achieved by taking the following technical solutions:

A three-degree-of-freedom flexible parallel mechanism control device driven by an oscillating cylinder, including a three-degree-of-freedom flexible parallel mechanism body and control components;

The three-degree-of-freedom flexible parallel mechanism body includes a moving platform and three parallel drive control branches; the moving platform is a triangular plate with an equilateral triangle shape, and a three-axis acceleration sensor and an angular velocity sensor are arranged on the moving platform; each parallel drive The control branch includes a swing cylinder, a rigid active rod and a flexible driven rod. One end of the rigid active rod is connected to the turntable of the swing cylinder, and the other end of the rigid active rod is rotationally connected to one end of the flexible driven rod. The flexible driven rod The other end of the rod is rotationally connected to a corner of the moving platform; the swing cylinder is driven by a pneumatic control circuit, the output shaft of the swing cylinder is connected to a photoelectric encoder through a coupling, and the flexible driven rod is provided with a pressure Electrical sensors and piezoelectric actuators;

The control components are respectively connected with a pneumatic control circuit, a photoelectric encoder, a three-axis acceleration sensor, an angular velocity sensor, a piezoelectric sensor and a piezoelectric driver.

As a preferred solution, the pneumatic control circuit includes an air pump, a pneumatic triple piece and a pneumatic proportional directional control valve, the air pump is connected to the pneumatic proportional directional control valve through the pneumatic triple piece, and the pneumatic proportional directional control valve is connected to the swing cylinder respectively The two air chambers are connected; the pneumatic triple piece is assembled by an air filter, a pneumatic pressure reducing valve and an oil mist separator, and has a pressure gauge.

As a preferred solution, the control assembly includes an industrial control computer, a pulse counting circuit, an A/D conversion element, a D/A conversion element, a voltage amplifier and a charge amplifier, and the industrial control computer is connected with the pulse counting circuit, the A/D conversion The element is connected with the D/A conversion element, the A/D conversion element is connected with the piezoelectric sensor through the charge amplifier, and is connected with the triaxial acceleration sensor and the angular velocity sensor, and the D/A conversion element is connected with the piezoelectric driver through the voltage amplifier Connected and connected with the pneumatic proportional directional control valve;

The acceleration signal detected by the three-axis acceleration sensor and the angular velocity signal detected by the angular velocity sensor are converted to digital by the A/D conversion element to obtain a digital signal, and the digital signal is input to the industrial computer; the angular displacement signal detected by the photoelectric encoder is processed by the pulse counting circuit. After pulse counting and processing, a digital signal is obtained, and the digital signal is input to the industrial control computer; the industrial control computer obtains the control signal of the motion control according to the signals detected by the three-axis acceleration sensor, the angular velocity sensor and the photoelectric encoder, and the control signal is converted into an analog signal through the D/A conversion element. The signal is then input to the pneumatic proportional directional control valve to control the swing of the swing cylinder;

The vibration signal detected by the piezoelectric sensor is processed by the charge amplifier and A/D conversion element and then input to the industrial control computer. The industrial control computer outputs the corresponding voltage value according to the signal detected by the piezoelectric sensor, and then enters it after passing through the D/A conversion element and the voltage amplifier. to the piezoelectric actuator, thereby controlling the vibration of the flexible follower rod.

As a preferred solution, the pulse counting circuit, A/D conversion element and D/A conversion element are integrated on a motion controller.

As a preferred solution, the pneumatic proportional directional control valve is also connected with two mufflers.

As a preferred solution, one end of the rigid active rod is connected to the turntable of the swing cylinder through a flange, and the other end of the rigid active rod is rotationally connected to one end of the flexible driven rod through the first rotating shaft. The other end is rotationally connected with a corner of the moving platform through the second rotating shaft.

As a preferred solution, there are two piezoelectric sensors and piezoelectric drivers, two piezoelectric sensors and two piezoelectric drivers are pasted on the transverse center line of the flexible driven rod, and one piezoelectric sensor and two piezoelectric drivers A piezoelectric actuator is located near one end of the flexible driven rod, and another piezoelectric sensor and another piezoelectric driver are located near the other end of the flexible driven rod. The geometry of the two piezoelectric sensors with respect to the flexible driven rod Centrosymmetric, the two piezoelectric drivers are also symmetrical about the geometric center of the flexible follower rod.

As a preferred solution, the body of the three-degree-of-freedom flexible parallel mechanism also includes a static platform, the static platform is composed of several aluminum profiles of different lengths and a base plate, and the swing cylinders of the three parallel drive control branches are fixed in a symmetrical distribution On a static platform.

As a preferred solution, the bottom of the static platform has four supporting feet, and a supporting plate is arranged on a plane surrounded by the four supporting feet.

Compared with the prior art, the utility model has the following beneficial effects:

1. The utility model adopts a moving platform with an equilateral triangle shape and three parallel drive control branches. Each parallel drive control branch controls the moving platform through the combination of a rigid active rod and a flexible driven rod under the action of a swing cylinder. Motion, compared with pure dual-rigid manipulators, has light weight, low energy consumption, and simple structure. At the same time, compared with dual-flexible manipulators, it has the advantages of high system rigidity, stable torque transmission, and little influence of flexible deformation on motion trajectory; in addition The moving platform is equipped with a three-axis acceleration sensor and an angular velocity sensor, which can detect the two vertical direction acceleration signals on the horizontal plane and the angular velocity signals rotating around the axis perpendicular to the plane when the moving platform is moving. The output shaft of the swing cylinder is connected to a The photoelectric encoder can detect the angular displacement of the swing cylinder. According to these detection signals, the swing of the swing cylinder can be controlled through the pneumatic control circuit, and the flexible driven rod is equipped with a piezoelectric sensor and a piezoelectric driver. The piezoelectric sensor can The flexible deformation and vibration generated on the flexible driven rod can be accurately judged and detected, and the flexible deformation and vibration of the flexible driven rod can be suppressed through the piezoelectric driver.

2. The utility model adopts a single drive element, that is, only three oscillating cylinders with the same pneumatic control circuit input torque, the pneumatic control circuit is relatively simple, and the three are controlled at the same time, which can avoid multi-circuit interference, improve control accuracy, and reduce control difficulty , the angle of the swing cylinder is relatively large, corresponding to a large working space, and can better plan the running track and working space; at the same time, the pressure and strain drive of the flexible driven rod itself does not conflict with the movement of the moving platform, and can be suppressed by the piezoelectric driver The deformation and vibration of the flexible driven rod are beneficial to improve the overall precision.

3. The utility model adopts a pneumatic control circuit to drive the swing cylinder, so that the whole device has the advantages of simple structure, high efficiency and no pollution, and can be realized pneumatically without high pressure and high torque. At the same time, the pneumatic control circuit adopts pneumatic proportional direction The control valve is used for control, and the entire pneumatic control circuit has a simple structure and high control precision.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the three-degree-of-freedom flexible parallel mechanism control device in Embodiment 1 of the utility model, in which the static platform is hidden.

Fig. 2 is a mechanical structure diagram of the three-degree-of-freedom flexible parallel mechanism control device in Embodiment 1 of the utility model.

Among them, 1-moving platform, 2-static platform, 3-three-axis acceleration sensor, 4-angular velocity sensor, 5-supporting foot, 6-supporting plate, 7-oscillating cylinder, 8-rigid active rod, 9-flexible driven Rod, 10-first shaft, 11-second shaft, 12-coupling, 13-photoelectric encoder, 14-piezoelectric sensor, 15-piezoelectric driver, 16-pneumatic pump, 17-pneumatic triple, 18- Pneumatic proportional directional control valve, 19-muffler, 20-industrial computer, 21-pulse counting circuit, 22-A/D conversion element, 23-D/A conversion element, 24-charge amplifier, 25-voltage amplifier.

detailed description

The utility model will be further described in detail below in conjunction with the embodiments and accompanying drawings, but the implementation of the utility model is not limited thereto.

Example 1:

As shown in Figures 1 and 2, this embodiment provides a three-degree-of-freedom flexible parallel mechanism control device, which includes a three-degree-of-freedom flexible parallel mechanism body and a control assembly.

The body of the three-degree-of-freedom flexible parallel mechanism includes a dynamic platform 1, a static platform 2 and three parallel drive control branches. The structure of the static platform 2 is hidden in Figure 1 for the purpose of describing the control components of the device more clearly. In Figure 2 The static platform 2 is expressed in detail. The dotted line connection in Fig. 1 represents the connection between the electrical signal and the control components, and the solid line connection represents the connection of the pneumatic control circuit;

The moving platform 1 is a triangular plate, and the result of the output device operation is an equilateral triangle. The moving platform 1 is provided with a three-axis acceleration sensor 3 and an angular velocity sensor 4. The three-axis acceleration sensor 3 is used to detect when the moving platform 1 is moving. Two vertical direction acceleration signals (X-axis direction acceleration signal and Y-axis direction acceleration signal) of the horizontal plane, the angular velocity sensor 4 is used to detect the angular velocity signal that rotates around the axis perpendicular to the plane axis when the moving platform 1 moves;

The static platform 2 is used to place the moving platform 1 and three parallel drive control branches. It is composed of several aluminum profiles and substrates of different lengths. Its bottom has four supporting feet 5, and the plane surrounded by the four supporting feet 5 is set There is a support plate 6, four support feet 5 and the support plate 6 are used to support the static platform 2;

The structures of the three parallel drive control branches are the same, so only one parallel drive control branch is used for illustration. Each parallel drive control branch includes a swing cylinder 6, a rigid active rod 8 and a flexible driven rod 9. Three parallel drive control branches The swing cylinder 6 that controls the branch is fixed on the static platform 2 in the form of symmetrical distribution, and the fixing method adopts a threaded connection; one end of the rigid active rod 8 is connected to the turntable of the swing cylinder 6 (located at the top of the swing cylinder 6) through a flange , the output angular displacement of the rigid active rod 8 is the angular displacement of the output shaft of the swing cylinder 6 (located at the bottom of the swing cylinder 6), and the other end of the rigid active rod 8 is rotationally connected with one end of the flexible driven rod 9 through the first rotating shaft 10, The other end of the flexible driven rod 9 is rotationally connected with a corner of the moving platform 1 through the second rotating shaft 11, and transmits the torque of the swing cylinder 6 to the moving platform 1 and finally forms the motion track of the moving platform 1, so that The moving platform 1 moves according to the desired trajectory, or is positioned to a specific target position and posture according to the desired position and posture; the swing cylinder 6 is driven by a pneumatic control circuit, and the output shaft of the swing cylinder 6 is connected to a photoelectric encoder through a coupling 12 Device 13, photoelectric encoder 13 is used to detect the motion angular displacement of swing cylinder, as the detection signal of parallel drive control branch, described flexible follower rod 9 is provided with piezoelectric sensor 14 and piezoelectric driver 15, piezoelectric sensor 14 and piezoelectric driver 15 all adopt piezoelectric ceramic sheet, each has two, and two piezoelectric sensors 14 and two piezoelectric drivers 15 are all pasted on the transverse center line of flexible follower rod 9, and a piezoelectric sensor 14 And a piezoelectric driver 15 is located near one end of the flexible driven rod 9, another piezoelectric sensor 14 and another piezoelectric driver 15 are located near the other end of the flexible driven rod 9, two piezoelectric sensors 14 Symmetrical about the geometric center of the flexible driven rod, the two piezoelectric drivers 15 are also symmetrical about the geometric center of the flexible driven rod, the piezoelectric sensor 14 is used to detect the vibration signal of the flexible driven rod 9, and the piezoelectric driver 15 is used to control The vibration of the flexible driven rod 9 is generally to suppress the flexible deformation and vibration of the flexible driven rod 9;

The pneumatic control circuit includes an air pump 16, a pneumatic triple piece 17 and a pneumatic proportional directional control valve 18. The air pump 16 is responsible for providing energy to the entire device as an energy source, and the high-pressure gas generated by the air pump 16 is stabilized by the pneumatic triple piece 16. After connecting the pneumatic proportional directional control valve 18, the pneumatic proportional directional control valve 18 is respectively connected with two air chambers (left air chamber and right air chamber) of the swing cylinder 14; wherein, one port of the pneumatic proportional directional control valve 18 It is connected with the pneumatic triple piece 17, two ports are respectively connected with the two air chambers of the swing cylinder 14, and two ports are respectively connected with a muffler 19; the pneumatic triple piece 17 is composed of an air filter, a pneumatic pressure reducing valve and an oil mist The separators are assembled together and have a pressure gauge; the control core of the pneumatic control circuit is the pneumatic proportional directional control valve 18, which receives signals from the control part and generates different driving gases to control the swing direction of the swing cylinder 14 (angle ) and speed;

In this embodiment, the moving platform 1 is designed as an equilateral triangle with a side length of 250 mm and a thickness of 25 mm. The moving platform 1 is made of aluminum alloy. In order to insulate the surface of the flexible driven rod 9, it is necessary to Carry out oxidation treatment; the size parameter of the static platform 2 is 1800×1650×600mm, among which, the size parameter of the substrate is 1800×1650×15mm, and the aluminum profile is an aluminum profile with a cross-sectional size of 80×80mm, which constitutes the static platform 2 The length, width and height are 1640mm, 1490mm and 500mm; the swing cylinder 6 is a large swing angle swing platform type swing cylinder produced by Japan SMC Company with the model MSQB50R; the air pump 16 is produced by Shanghai Jaguar Compressor Manufacturing Co., Ltd. Silent air compressor of FB-0.017/7; in the pneumatic triple unit 17, the model of the air filter is AF30-03, the model of the pneumatic pressure reducing valve is AR25-03, the model of the oil mist separator is AFM30-03, the pressure The model of the meter is G36-10-01; the pneumatic proportional directional control valve 18 is the proportional valve VER2000-02 produced by Japan SMC Pneumatic Company; the three-axis acceleration sensor 3 is the 2012 series of the Swiss Kistler company; the angular velocity sensor 4 is the Swiss Kistler company CS-ARS-04 single-axis gyroscope; the coupling 12 is the PCMR29-12-6-A coupling produced by Ruland Company of the United States, and the photoelectric encoder 13 is the absolute value type AC36 encoder produced by Hengstler Company.

Described control component comprises industrial control computer 20, pulse counting circuit 21, A/D conversion element 22, D/A conversion element 23, charge amplifier 24 and voltage amplifier 25, described industrial control computer 20 is connected with pulse counting circuit 21, A/D respectively D conversion element 22 is connected with D/A conversion element 23, and described A/D conversion element 22 is connected with piezoelectric sensor 14 through charge amplifier 24, and is connected with triaxial acceleration sensor 3, angular velocity sensor 4, and described D/A The conversion element 23 is connected with the piezoelectric driver 15 through the voltage amplifier 25, and is connected with the pneumatic proportional directional control valve 18, and the pulse counting circuit 21 is a quadruple frequency, phase-changing pulse counting circuit;

The acceleration signal detected by the triaxial acceleration sensor 3 and the angular velocity signal detected by the angular velocity sensor 4 are subjected to analog-to-digital conversion through the A/D conversion element 22 to obtain a digital signal, and the digital signal is input to the industrial computer 20; the angular displacement signal detected by the photoelectric encoder 13 After the pulse counting circuit 21 carries out the pulse counting process, a digital signal is obtained, and the digital signal is input to the industrial control computer 20; the industrial control computer 20 analyzes and processes the signals detected by the three-axis acceleration sensor 3, the angular velocity sensor 4 and the photoelectric encoder 13, and compares them with The desired position parameters are compared to obtain the control signal for motion control. The control signal is converted into an analog signal by the D/A conversion element 23 and then input to the pneumatic proportional directional control valve 18 to control the swing of the oscillating cylinder 6. Therefore, the pneumatic proportional directional control The control of the valve 18 is determined by the acceleration and angular velocity of the movable platform 1 and the swing velocity of the swing cylinder 6, wherein the acceleration and angular velocity of the movable platform 1 can be respectively obtained by the corresponding angular velocity or angular velocity components of the three swing cylinders 6 after the kinematic inverse solution signal, and the swing speed signal of the swing cylinder 6 is used to provide comparative reference data, showing the swing speed of the swing cylinder 6 under the current state of motion of the moving platform 1, so as to be used for the industrial computer 20 to determine whether to apply forward or reverse control;

During the operation of the device, the piezoelectric sensor 14 will produce corresponding deformation and output electric charge with the deformation of the flexible driven rod 9. 14 The detected vibration signal is processed by the charge amplifier 24 and the A/D conversion element 22 and then input to the industrial control computer 20. The industrial control computer 20 performs analysis and processing to obtain the degree of deformation of the flexible driven rod 9, and calculates the corresponding output voltage to suppress the flexible arm. deformation, so the output voltage signal is also input to the piezoelectric driver 15 after passing through the D/A conversion element 23 and the voltage amplifier 25, so that the piezoelectric driver 15 produces a corresponding reverse deformation, so that the flexible driven rod 9 reduces its own flexibility Transform and control its own vibration.

In the present embodiment, computer 19 selects the computer of CPU model I7 for use; The motion controller with A/D conversion, D/A conversion and code disc counting functions requires three-way analog input modules, three-way analog output modules, and three-way code disc counting modules, so the motion controller is selected from solid high The GTS-400-PV-PCI series motion controller produced by the company has four axis resource channels (each axis signal has one analog output, incremental encoder input, motor control output and alarm reset function) ), optocoupler-isolated general digital signal input and output have sixteen channels, two quadruple frequency incremental auxiliary encoder inputs, eight A/D analog sampling inputs, and the voltage range of analog input and output is -10V ~+10V; the charge amplifier 24 is YE5850 charge amplifier of Jiangsu Lianeng Electronics Co., Ltd;

This embodiment also provides a three-degree-of-freedom flexible parallel mechanism control method, which is implemented based on the above-mentioned device, and includes the following steps:

Step 1. The three-axis acceleration sensor 3 detects acceleration signals in two vertical directions on the horizontal plane when the moving platform 1 moves, and the angular velocity sensor 4 detects the angular velocity signal rotating around the axis perpendicular to the plane axis when the moving platform 1 moves;

Step 2, the acceleration signal and the angular velocity signal are subjected to analog-to-digital conversion by the A/D conversion element 22 to obtain a digital signal, and the digital signal is input to the industrial computer 20;

Step 3: The piezoelectric sensor 14 detects the vibration signal of the flexible driven rod, and after being processed by the charge amplifier 24 and the A/D conversion element 22, it is input to the industrial control computer 20, and the industrial control computer 20 outputs the corresponding signal according to the signal detected by the piezoelectric sensor 14. The voltage value is input to the piezoelectric driver 15 after passing through the D/A conversion element 23 and the voltage amplifier 25, so as to suppress the flexible deformation and vibration of the flexible driven rod 9;

Step 4, the photoelectric encoder 13 detects the angular displacement of the swing cylinder 6, the angular displacement signal is processed by the pulse counting circuit 21 to obtain a digital signal, and the digital signal is input to the industrial computer 20;

Step 5, the industrial control computer 20 operates the control algorithm (this algorithm is the prior art) according to the digital signal obtained in the step 2 and step 4, and calculates the control signal of the motion control, and the control signal is converted into an analog through the D/A conversion element 23 After the signal is input to the pneumatic proportional directional control valve 18, the rotation direction and displacement of the swing cylinder 7 are controlled, the reversing and intake and exhaust flow of the pneumatic proportional directional control valve 18 are adjusted, and the swing direction and speed of the swing cylinder 7 are controlled, thereby controlling the movement Platform 1 moves to a desired position and attitude.

In summary, the utility model adopts a moving platform with an equilateral triangle shape and three parallel drive control branches, each parallel drive control branch is combined with a rigid active rod and a flexible driven rod under the action of a swing cylinder Controlling the movement of the braking platform, compared with the pure double rigid manipulator, it has light weight, low energy consumption and simple structure. At the same time, compared with the double flexible manipulator, it has the advantages of high system rigidity, stable torque transmission and little influence of flexible deformation on the motion trajectory, etc. Advantages; In addition, there are three-axis acceleration sensors and angular velocity sensors on the moving platform, which can detect the acceleration signals in the two vertical directions on the horizontal plane and the angular velocity signals rotating around the axis perpendicular to the plane when the moving platform is moving. The output shaft of the swing cylinder passes through the coupling The sensor is connected with a photoelectric encoder, which can detect the angular displacement of the swing cylinder. According to these detection signals, the swing of the swing cylinder can be controlled through the pneumatic control circuit, and the flexible driven rod is equipped with a piezoelectric sensor and a piezoelectric driver. The electric sensor can accurately judge and detect the flexible deformation and vibration generated on the flexible driven rod, and the flexible deformation and vibration of the flexible driven rod can be suppressed through the piezoelectric driver.

The above is only a preferred embodiment of the utility model patent, but the scope of protection of the utility model patent is not limited thereto, any skilled person familiar with the technical field within the disclosed scope of the utility model patent, according to The technical scheme of the utility model patent and the equivalent replacement or change of the utility model concept all belong to the protection scope of the utility model patent.

Claims (9)

1. the three-degree of freedom flexible parallel institution control device that oscillating cylinder drives, it is characterised in that：Including three-degree of freedom flexible Parallel institution body and control assembly；

The three-degree of freedom flexible parallel institution body includes that moving platform and three parallel drives control branch；The moving platform is Triangular plate, profile is equilateral triangle, and moving platform is provided with 3-axis acceleration sensor and angular-rate sensor；Each parallel connection is driven Dynamic control branch includes oscillating cylinder, rigid driving lever and flexible follower lever, one end of the rigid driving lever and oscillating cylinder Rotating disk connection, the other end of rigid driving lever is connected with one end rotation of flexible follower lever, the flexible follower lever it is another Hold to rotate with an edge of moving platform and be connected；The oscillating cylinder is driven by Pneumatic control circuit, the output of oscillating cylinder Axle connects a photoelectric encoder by shaft coupling, and the flexible follower lever is provided with piezoelectric transducer and piezoelectric actuator；

The control assembly respectively with Pneumatic control circuit, photoelectric encoder, 3-axis acceleration sensor, angular-rate sensor, Piezoelectric transducer and piezoelectric actuator connection.

2. the three-degree of freedom flexible parallel institution control device that oscillating cylinder according to claim 1 drives, its feature exist In：The Pneumatic control circuit includes air pump, pneumatic triple piece and pneumatic proportion directional control valve, and the air pump passes through pneumatic three Connection part is connected with pneumatic proportional directional control valve, and the pneumatic proportional directional control valve is connected with two air cavitys of oscillating cylinder respectively Connect；The pneumatic triple piece is fitted together by air filter, pneumatic pressure-release valve and oil mist separator, and carries a pressure Table.

3. the three-degree of freedom flexible parallel institution control device that oscillating cylinder according to claim 2 drives, its feature exist In：The control assembly includes industrial computer, pulse-scaling circuit, A/D conversion elements, D/A conversion elements, charge amplifier And voltage amplifier, the industrial computer is connected with pulse-scaling circuit, A/D conversion elements and D/A conversion elements respectively, institute State A/D conversion elements to be connected with piezoelectric transducer by charge amplifier, and with 3-axis acceleration sensor, angular-rate sensor Connection, the D/A conversion elements are connected with piezoelectric actuator by voltage amplifier, and are connected with pneumatic proportional directional control valve Connect；

The acceleration signal of 3-axis acceleration sensor detection and the angular velocity signal of angular-rate sensor detection are changed through A/D Element obtains digital signal after carrying out analog digital conversion, digital signal is input to industrial computer；The angle position of photoelectric encoder detection Shifting signal obtains digital signal after pulse-scaling circuit carries out step-by-step counting process, and digital signal is input to industry control calculating Machine；Industrial computer is moved according to the signal that 3-axis acceleration sensor, angular-rate sensor and photoelectric encoder are detected The control signal of control, control signal are input to pneumatic proportional direction controlling after D/A conversion elements are converted to analogue signal Valve, so as to control the swing of oscillating cylinder；

The vibration signal of piezoelectric transducer detection is input to industry control calculating after charge amplifier and A/D conversion elements are processed Machine, the signal that industrial computer is detected according to piezoelectric transducer export corresponding magnitude of voltage, through D/A conversion elements and voltage Piezoelectric actuator is input to after amplifier, so as to control flexible driven vibration of bar.

4. the three-degree of freedom flexible parallel institution control device that oscillating cylinder according to claim 3 drives, its feature exist In：The pulse-scaling circuit, A/D conversion elements and D/A conversion elements are integrated on a motion controller.

5. the three-degree of freedom flexible parallel institution control device that the oscillating cylinder according to any one of claim 2-4 drives, It is characterized in that：The pneumatic proportional directional control valve is also connected with two acoustic filters.

6. the three-degree of freedom flexible parallel institution control device that the oscillating cylinder according to any one of claim 1-4 drives, It is characterized in that：One end of the rigid driving lever is connected with the rotating disk of oscillating cylinder by flange, rigid driving lever it is another End is rotated with one end of flexible follower lever by first rotating shaft and be connected, the other end of the flexible follower lever pass through the second rotating shaft and One edge of moving platform rotates connection.

7. the three-degree of freedom flexible parallel institution control device that the oscillating cylinder according to any one of claim 1-4 drives, It is characterized in that：The piezoelectric transducer and piezoelectric actuator have two, two piezoelectric transducers and two piezoelectric actuators It is pasted onto on the cross central line of flexible follower lever, and a piezoelectric transducer and a piezoelectric actuator is located near flexible On the position of follower lever one end, another piezoelectric transducer and another piezoelectric actuator are located near the flexibility follower lever other end Position on, two piezoelectric transducers are symmetrical with regard to the geometric center of flexible follower lever, and two piezoelectric actuators are also with regard to flexibility The geometric center of follower lever is symmetrical.

8. the three-degree of freedom flexible parallel institution control device that the oscillating cylinder according to any one of claim 1-4 drives, It is characterized in that：The three-degree of freedom flexible parallel institution body also includes silent flatform, and the silent flatform is by some different lengths Aluminium section bar and substrate composition, the oscillating cylinder of three parallel drives control branches is fixed on silent flatform with symmetrical form On.

9. the three-degree of freedom flexible parallel institution control device that oscillating cylinder according to claim 8 drives, its feature exist In：The bottom of the silent flatform has four support feets, and the plane that four support feets are surrounded is provided with a gripper shoe.