CN106678094A - Motion platform based on dual-duty-cycle plunger piston pneumatic-hydraulic cylinder driving and control method for motion platform - Google Patents
Motion platform based on dual-duty-cycle plunger piston pneumatic-hydraulic cylinder driving and control method for motion platform Download PDFInfo
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- CN106678094A CN106678094A CN201611070850.4A CN201611070850A CN106678094A CN 106678094 A CN106678094 A CN 106678094A CN 201611070850 A CN201611070850 A CN 201611070850A CN 106678094 A CN106678094 A CN 106678094A
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- motion platform
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- motion
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/06—Servomotor systems without provision for follow-up action; Circuits therefor involving features specific to the use of a compressible medium, e.g. air, steam
- F15B11/072—Combined pneumatic-hydraulic systems
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses a motion platform based on dual-duty-cycle plunger piston pneumatic-hydraulic cylinder driving and a control method for the motion platform. The motion platform comprises a movable platform part, an air cylinder part, a detecting part and a control part, wherein the movable platform comprises a guide rail, a slide block and a movable platform; the air cylinder part comprises two air cylinders; the detecting part comprises a linear displacement sensor; the control part comprises two pneumatic-hydraulic cylinders which share one set of pneumatic-hydraulic linkage control; a D/A conversion card is adopted on a pneumatic loop to control a pneumatic proportional control valve as controlled quantity of gas flow; and a liquid control loop adopts an oil switch valve and a throttle valve to complete control. On a pneumatic loop, a hydraulic oil medium with high rigidity and great viscosity is introduced into the pneumatic loop; through pneumatic-hydraulic linkage control, the motion platform has the characteristics of stable transmission, great damping and easy regulation control; and motion stability and control precision of the platform can be improved better by combining the pneumatic loop with the hydraulic oil medium.
Description
Technical field
The present invention relates to motion platform control field, and in particular to a kind of motion driven based on duopoly void column plug airdraulic actuator
Platform and control method.
Background technology
With the development of science and technology, precision positioning and shift technique are in national defense industry, microelectronic engineering, Aero-Space and biology
The fields such as engineering all play irreplaceable effect.It directly affects the technology development of whole machinery industry, determine machinery
The capability and performance of machining accuracy and product, and then have influence on the reliability and stability of equipment.A large amount of optical instruments are to high accuracy
Displacement platform have beyond requirement very high, this kind of displacement mechanism of working environment it is also proposed requirement higher, such as lubricate
Condition, installing space and vibration etc.；In photoelectric tracking equipment, also displacement platform is proposed very high：It is required that regulation sensitivity
Height, fast response time.
The type of drive of current straight-line displacement platform mainly has hydraulic-driven, air pressure to drive, electrically driven and new driving
Device etc..Pneumatic actuation have something energy-conservation, pollution-free, high-speed and high-efficiency and it is easily controllable the characteristics of, hydraulic-driven has larger
Power-weight ratio, it is simple and compact for structure, rigidity it is good, be capable of achieving optional position start-stop, can be realized in very big adjusting range
The advantages of stepless time adjustment.
The content of the invention
In order to overcome the shortcoming of prior art with it is not enough, the present invention is provided and a kind of driven based on duopoly void column plug airdraulic actuator
Motion platform and control method.
The present invention is adopted the following technical scheme that：
A kind of motion platform driven based on duopoly void column plug airdraulic actuator, including mobile platform part, cylinder portion, detection
Part and control section；
The mobile platform part, including silent flatform, two guide rails of parallel installation, set on the guide rail on the silent flatform
Sliding block is put, motion platform is installed on sliding block, motion platform is moved forward and backward as guide rail carries out straight line, and motion platform passes through connector
It is connected with the side plate at two ends, constitutes a mobile platform；
The cylinder portion, including two airdraulic actuators of parallel installation, the piston-rod end difference of described two airdraulic actuators
Connection airdraulic actuator universal joint, two airdraulic actuator universal joints connect the side plate at motion platform two ends, two gas-liquid cylinder piston rods respectively
The direction stretched out is parallel, and stretch out it is in opposite direction；
The detection part, including for measuring the linear displacement transducer of motion platform displacement, the straight-line displacement is passed
Sensor is arranged on silent flatform, the boom end connection linear displacement transducer universal joint of the linear displacement transducer, described
Linear displacement transducer universal joint is connected with one of side plate, the overhang and gas-liquid of the boom of the linear displacement transducer
The piston rod overhang of cylinder is identical, and the displacement information of the motion platform of linear displacement transducer detection is input into by A/D transition cards
Corresponding control information is obtained in industrial computer；
The control section, including Pneumatic control circuit and liquid control loop, the Pneumatic control circuit turn including D/A
Card, I/O output cards, pneumatic proportional valve, air pump, pressure-reducing valve, pneumatic triple piece and two position-5 way valves are changed to constitute；
The liquid control loop is connected with the oil cylinder of two airdraulic actuators, including for realizing two oil circuits of oil circuit switching
Switch valve and choke valve；
The air pump output high-pressure gas are by after pneumatic triple piece, source of the gas, the calculating being obtained respectively through pressure-reducing valve
Machine is sent to D/A transition cards and I/O output cards after obtaining corresponding control information, and card control pneumatic proportional valve, I/ are changed by D/A
O output card control oil control switch valve and two position-5 way valves, further control gas source and flow amount；Gas source and flow amount after control passes through
Two position-5 way valves control two directions of motion of gas-liquid cylinder piston rod.
The liquid control loop includes repairing cup.
The source of the gas includes driving source of the gas Ps1, drives source of the gas Ps2 and back pressure source of the gas Ps0, the driving source of the gas Ps1 and drive
The source Ps2 that takes offence connects two ports of two position-5 way valves, and described back pressure source of the gas Ps0 leads to by connecting two five after check valve
The a port of reversal valve.
Two guide rails are installed in parallel on silent flatform by support base, and the support base is trapezium structure, on every guide rail
Two sliding blocks are set.
The variable quantity of two piston rods of airdraulic actuator is identical, is fixed with preceding runners before the cylinder body of the airdraulic actuator, behind
Fixed with rear runners.
The airdraulic actuator is duty plunger airdraulic actuator, and its cylinder portion uses piston rod, and fluid cylinder part uses plunger rod.
A kind of control method of the motion platform driven based on duopoly void column plug airdraulic actuator, is comprised the following steps：
Track and attitude that the first step is run according to motion platform in working space, obtain two gas-liquid cylinder piston rods and meet the tendency of
Capable track and motion state；
The gas-liquid cylinder piston rod displacement signal that second step detects linear displacement transducer, it is defeated by passage A/D transition cards
Enter to industrial computer, and carry out asking for deviation with the airdraulic actuator movement locus that obtains of planning obtaining feedback control after treatment
Signal；
The feedback control signal that 3rd step will be obtained is by I/O output cards and the corresponding switch control of D/A transition cards output
Amount output controls the output action of gas-liquid cylinder piston rod to corresponding switch valve and pneumatic proportional control valve, so as to realize motion
The desired motion requirement of platform；
If the 4th step carries out location control to motion platform, according to the motion specified location that motion platform needs, pass through
Gas-liquid control loop controls to cause that airdraulic actuator piston rod movement causes that platform reaches specified location, so as to reach determining for workbench
Position control requirement, makes the control accuracy of platform higher by the control of airdraulic actuator.
Beneficial effects of the present invention：
(1) gas has preferable compressibility, and system has good flexibility, the simple structure of system, two airdraulic actuators
Oil pocket it is identical, fluid is complementary, has subtracted the use of the air-liquid converter in general airdraulic actuator control circuit, greatly simplifies and is
System, it is cost-effective；
(2) two airdraulic actuator two-way pneumatics are quickly moved, and two-way switching oil throttling, oil circuit breaker valve is opened, and quick motion, oil is closed
Valve, then throttled, and speed slows down, and choke valve can also be effectively adjusted using oil circuit breaker valve series throttle；
(3) Pneumatic control circuit is only used, you can two motions of pneumatic duty plunger airdraulic actuator of control
(4) two airdraulic actuators drive simultaneously, increased the driving force of platform so that response speed is rapider
(5) airdraulic actuator using introducing high rigidity, in the oily medium of big viscosity to pneumatic circuit so that structure motion is more
Plus it is steady, speed is evenly, it is easier to control, and positioning precision is higher；
(6) the gas-liquid linked loop of cylinder, SERVO CONTROL is carried out using pneumatic proportional valve, and gas-liquid linked loop structure is simple,
With low cost, reliability is high, and control accuracy is high；
(7) using gas-liquid linked control loop, the system of being allowed to has simple structure, efficiency high, free of contamination advantage.
Brief description of the drawings
Fig. 1 a are that duopoly void column plug airdraulic actuator of the invention drives linear motion platform device overall assembling figure；
Fig. 1 b are the structural representations for hiding display scanning platform portion；
Fig. 1 c are the top views of the motion platform for hiding display motion platform；
Fig. 2 is that duopoly void column plug airdraulic actuator of the invention drives the hiding display scanning platform portion of linear motion platform to show
It is intended to；
Fig. 3 is the structural representation of motion platform, side plate and platform connector；
Fig. 4 is the assembling schematic diagram of airdraulic actuator, preceding runners, rear runners and airdraulic actuator universal joint；
Fig. 5 is the structural representation of airdraulic actuator；
Fig. 6 is the structural representation of control section；
Fig. 7 is the installation diagram of guide supporting seat, guide rail and sliding block.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment
As shown in Fig. 1 a- Fig. 1 c, Fig. 2, Fig. 3 and Fig. 4, a kind of motion platform driven based on duopoly void column plug airdraulic actuator,
Including mobile platform part, cylinder portion, detection part and control section；
As shown in fig. 7, the mobile platform part, including silent flatform, silent flatform two guide rail branch being parallel to each other of setting
Support seat 8, guide supporting 8 supports of seat play the weight of whole mobile platform, guide supporting seat upper mounting rail 9, two guide rail parallels peace
Dress, must ensure certain depth of parallelism, to reduce friction during installation；There are two sliding blocks 10 on each guide rail 9, between two sliding blocks 10
It is spaced apart, it is ensured that when motion platform 11 is moved, sliding block will not remove guide rail stroke, and sliding block moves linearly on guide rail,
Motion platform is installed in sliding block top, and motion platform and sliding block are fixedly mounted by screw, can move forward and backward platform straight line, and two
Individual side plate 12 is located at the two ends of motion platform 11, and fixes one mobile platform of composition by platform connector 13.Side plate has altogether
Have two, the specific two ends installed in motion platform are connected by four platformses connector 13, it is considered to mobile platform and side plate it
Between stress relation, from the platform connectors of four screws fastening.
The cylinder portion, including two airdraulic actuators of parallel installation 1,14, airdraulic actuator of the present invention select duty plunger type
Airdraulic actuator, the piston-rod end of the airdraulic actuator connects airdraulic actuator universal joint 4 respectively, and two side plates of mobile platform pass through respectively
Airdraulic actuator universal joint 4 connects two piston rods of airdraulic actuator, and the direction that two gas-liquid cylinder piston rods stretch out is parallel, and the side stretched out
To conversely, so promoting the motion of side plate by airdraulic actuator motion control；Side plate is connected with motion platform with connector, relatively solid
Fixed, it is forward direction that motion platform also follows motion set one of airdraulic actuator to stretch out the direction of piston rod when side plate is moved, when the gas
During fluid cylinder positive movement, another cylinder piston rod is reclaimed, while driving platform positive movement, vice versa.
The detection part, including for measuring the linear displacement transducer 5 of motion platform displacement, the straight-line displacement is passed
Sensor 5 is fixed on silent flatform by fixed mount 6, the boom end connection straight-line displacement sensing of the linear displacement transducer 5
Device universal joint 7, the linear displacement transducer universal joint 7 is fixed with one of side plate 12, the linear displacement transducer
The overhang of boom is identical with the piston rod overhang of airdraulic actuator, the movement for measuring side plate, that is, measure the position of motion platform
Move, linear displacement transducer universal joint 7 and above-mentioned airdraulic actuator universal joint 4 can eliminate alignment error, reduce frictional force；Straight line
The displacement information of the motion platform of displacement transducer detection is input in industrial computer by A/D transition cards and is accordingly controlled
Information, by I/O control card output switch amounts to corresponding oil control switch valve and reversal valve and by D/A transition cards output to gas
Dynamic proportioning valve 20, controls the motion of airdraulic actuator, so as to control the motion of moving platform.
As shown in fig. 6, the control section, two airdraulic actuators share a set of gas-liquid control loop includes Pneumatic control circuit
And liquid control loop, the Pneumatic control circuit includes D/A transition cards, I/O output cards, pneumatic proportional valve 20, air pump 15, subtracts
Pressure valve 17, the position-5 way valve 19 of pneumatic triple piece 16 and two are constituted.
The output high-pressure gas of the air pump 15 by after pneumatic triple piece 16, source of the gas being obtained respectively through pressure-reducing valve 17, institute
State after computer obtains corresponding control information and be sent to D/A conversion card control pneumatic proportional valves, further control gas source and flow amount；Control
Gas source and flow amount after system controls two directions of motion of gas-liquid cylinder piston rod by two position-5 way valves；
The liquid control loop is connected with the oil cylinder of two airdraulic actuators, including for realizing two oil circuits of oil circuit switching
Switch valve 22,23 and choke valve 21.
Guide supporting seat 8 two altogether, two support bases prop up the weight of whole mobile platform, support base trapezium structure
It is up big and down small, by increasing capacitance it is possible to increase the stability of support base, the line slideway 9 of 960mm is installed on support base, install two on every guide rail
Individual sliding block 10, altogether four sliding blocks 10 fixed with motion platform 11, design support base certain altitude cause upper mounting plate and airdraulic actuator
Certain safe space is left on height.
The type selecting of airdraulic actuator universal joint and linear displacement transducer universal joint has the size of respective diameters, and straight-line displacement is passed
, then using universal joint supporting in KPC linear displacement transducers, the universal joint of airdraulic actuator can be precious using Zhejiang god for sensor universal joint
The cylinder of pneumatic equipment Co., Ltd swings universal floating joint, according to the airdraulic actuator piston cylinder size 20mm in this example, should
Cylinder from M20*1.5 swings universal floating joint.
Two 200mm airdraulic actuators in the present embodiment, two effects of airdraulic actuator can be exchanged, and the gas circuit of two airdraulic actuators is
In parallel but direction is different, and a piston elongation for airdraulic actuator, the piston of another airdraulic actuator shortens, two gas-liquid cylinder piston rods
Drive simultaneously and be responsible for being delivered to driving force in motion platform displacement acting, two parallel reverse installations of airdraulic actuator 1, before cylinder body
Fixed with preceding runners 2, fixed with rear runners 3 afterwards, the size of two runners is designed according to airdraulic actuator 1, and the installation of two runners makes
Airdraulic actuator can severity place, between two cylinders at a distance of airdraulic actuator 1 (two) type selecting be diameter 63mm, the airdraulic actuator
It is duty plunger shape airdraulic actuator, cylinder portion uses piston rod, and fluid cylinder part uses plunger rod, extension bar 200mm long
Two airdraulic actuators are with same set of gas-liquid linked path；, to drive source of the gas, source of the gas Ps0 is back pressure gas for source of the gas Ps1, Ps2
Source, they provide energy production motion to airdraulic actuator, and source of the gas is have the clean gas for stablizing air pressure herein, three sources of the gas
Be air pump output gases at high pressure by after pneumatic triple piece, respectively through the source of the gas that corresponding air pressure is obtained after three pressure-reducing valves,
Air pressure is according to actual control setup parameter.
, to drive source of the gas, source of the gas Ps0 is back pressure source of the gas, and three sources of the gas are the high pressure gas of the generation of air pump 15 for source of the gas Ps1, Ps2
Body is by by after three pressure-reducing valves 17, source of the gas Ps1, Ps2 lead to drive pneumatic two five of source of the gas connection after pneumatic triple piece 16
Two ports of reversal valve 19, wherein back pressure source of the gas Ps0 is by connecting the one of two position-5 way valves 19 after a check valve 18
Two ports.
Two position-5 way valves 19 are used for controlling the direction of motion of gas-liquid cylinder piston rod, the i.e. direction of motion of motion platform；
Oil passage control valve includes 21, two fuel path switch valves 22,23 of choke valve, and fuel path switch valve 23 realizes cutting for oil circuit
Change, oil pocket is drained into another gas-liquid by the fluid that duty plunger is excluded by choke valve during its effect is so that airdraulic actuator
In cylinder, increase damping and the throttle grverning of system；Fuel path switch valve 22 is used for controlling the break-make of throttling oil circuit, it is also possible to regulation section
The stream cross-sectional flow area of valve 21, regulation damping size, when fuel path switch valve 22 is closed, throttling oil circuit cut-out, whole airdraulic actuator
Piston realizes positioning.Repairing cup 24 is used for giving oil circuit repairing, and when oil pocket oil circuit is leaked, supplement fluid is ensureing airdraulic actuator just in time
Often work, one check valve of series connection of repairing cup 24 causes that extraneous fluid only import but no export, check valve control repairing to lead in being used in oil circuit
The break-make on road, when airdraulic actuator does not work for a long time, can disconnect path, it is to avoid waste；Oil circuit path phase between two oil pockets
Mutually what the realization of circulation was leaned on is the reverse design of airdraulic actuator, and when an airdraulic actuator elongation piston rod, fluid is forced out, and another
Individual airdraulic actuator shortening sucks back fluid, and because the variable quantity of two-piston bar is equal, therefore total oil mass of two oil pockets keeps the one of stabilization
Individual numerical value, fluid path is the key that gas-liquid drives；In view of oil circuit and seal etc. oil liquid leakage thus increase a repairing
Cup 24.
The control of fuel path switch valve 22,23 can cause that the oil in oil cylinder stops or slow mobile, play the resistance of fluid
Buddhist nun's effect, fuel path switch valve 23 is used for realizing the switching of oil circuit, and selection adds the throttling action for being added without oil, and fuel path switch valve 22 is used
Carry out the break-make of oil circuit control, while the opening of oil circuit can also be adjusted, regulation damping size；During piston F.F., fuel path switch valve
22nd, 23 it is powered, is added without the throttling action of oil, when piston work is entered, fuel path switch valve 23 is powered off, and fuel path switch valve 22 is powered, plus
Enter the throttling action of oil.
As shown in figure 5,1-1,1-6 and 1-10 are respectively the left end cap of airdraulic actuator, middle through cover, the saturating end cap of right-hand member；1-2 and
1-8 is two air cavity cylinder barrels and an oil pocket cylinder barrel of the cylinder of airdraulic actuator；1-3 is piston；1-5 is duty plunger rod；1-9
The steam vent (after the air of discharge oil pocket, being sealed by screw and sealing ring) of oil pocket；1-4,1-7 and 1-11 be respectively it is left, in,
The sealing ring of right three end caps or transparent cover.
A kind of control method of the motion platform driven based on duopoly void column plug airdraulic actuator, including
Track and attitude that the first step is run according to motion platform in working space, obtain two gas-liquid cylinder piston rods and meet the tendency of
Capable track and motion state；
The gas-liquid cylinder piston rod displacement signal that second step detects linear displacement transducer, it is defeated by passage A/D transition cards
Enter to industrial computer, and carry out asking for deviation with the airdraulic actuator movement locus that obtains of planning obtaining feedback control after treatment
Signal；
The feedback control signal that 3rd step will be obtained is by I/O output cards and the corresponding switch control of D/A converter output
Amount output controls the output action of gas-liquid cylinder piston rod to corresponding switch valve and pneumatic proportional control valve, so as to realize dynamic flat
The desired motion requirement of platform；
If the 4th step carries out location control to motion platform, according to the motion specified location that motion platform needs, pass through
Gas-liquid control loop controls to cause that airdraulic actuator piston rod movement causes that platform reaches specified location, so as to reach determining for workbench
Position control requirement, makes the control accuracy of platform higher by the control of airdraulic actuator.
The pneumatic triple piece 16 selected in this example is by air cleaner (model：AF30-03), pressure-reducing valve (model：
) and oil mist separator (model AR25-03：AFM30-03 2 dividing plate (models) are passed through：Y300T) fit together, and with pressure
Power table (model：G36-10-01) one, produced by the gas-liquid linked companies of Japanese SMC；Air pump 15 is by Shanghai Jaguar Compressor Manufacturing
The Jing Yin air compressor of the model FB-0.017/7 of Co., Ltd's production；Check valve 18 can select the pneumatic companies of SMC of Japan
The AK2000 type Pneumatic check valves of production；
The reversal valve of the model VK3120 of the optional Japanese pneumatic company's productions of SMC of two position-5 way valve 19；Pneumatic ratio
Example valve 20 is optional to be produced by the pneumatic companies of Japanese SMC, model：ITV2050-212L；Fuel path switch valve 22,23 and choke valve 21 collect
Into solution-air unit is constituted together, solution-air unit is air-liquid converter and valve cell is compact ground integrated, Japanese SMC gas
Three valves in the model CC63-200S115G solution-air converting units of dynamic company's production；Repairing cup 24 can select Marx
The MXM-Y200 of advanced in years/MXM, can realize automatic repairing；Three sources of the gas Ps1, Ps2 and Ps0 are realized by air pressure reducing device, can select
The AR2000-02 type pneumatic pressure-release valves of the Japanese pneumatic company's productions of SMC, and with a pressure gauge (model：G36-10-01).
Above-described embodiment is the present invention preferably implementation method, but embodiments of the present invention are not by the embodiment
Limitation, it is other it is any without departing from Spirit Essence of the invention and the change, modification, replacement made under principle, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (7)
1. it is a kind of based on duopoly void column plug airdraulic actuator drive motion platform, it is characterised in that including mobile platform part, cylinder
Partly, detection part and control section；
The mobile platform part, including silent flatform, two guide rails of parallel installation on the silent flatform set on the guide rail and slide
Block, installs motion platform on sliding block, motion platform is moved forward and backward as guide rail carries out straight line, and motion platform passes through connector and two
The side plate connection at end, constitutes a mobile platform；
The cylinder portion, including two airdraulic actuators of parallel installation, the piston-rod end of described two airdraulic actuators are connected respectively
Airdraulic actuator universal joint, two airdraulic actuator universal joints connect the side plate at motion platform two ends respectively, and two gas-liquid cylinder piston rods stretch out
Direction it is parallel, and stretch out it is in opposite direction；
The detection part, including for measuring the linear displacement transducer of motion platform displacement, the linear displacement transducer
On silent flatform, the boom end connection linear displacement transducer universal joint of the linear displacement transducer, the straight line
Displacement transducer universal joint is connected with one of side plate, overhang and the airdraulic actuator of the boom of the linear displacement transducer
Piston rod overhang is identical, and the displacement information of the motion platform of linear displacement transducer detection is input to work by A/D transition cards
Corresponding control information is obtained in control computer；
The control section, including Pneumatic control circuit and liquid control loop, the Pneumatic control circuit are changed including D/A
Card, I/O output cards, pneumatic proportional valve, air pump, pressure-reducing valve, pneumatic triple piece and two position-5 way valves are constituted；
The liquid control loop is connected with the oil cylinder of two airdraulic actuators, including for realizing two fuel path switchs of oil circuit switching
Valve and choke valve；
By after pneumatic triple piece, source of the gas being obtained respectively through pressure-reducing valve, the computer is obtained the air pump output high-pressure gas
D/A transition cards and I/O output cards are sent to after to corresponding control information, card control pneumatic proportional valve is changed by D/A, I/O is defeated
Go out card control oil control switch valve and two position-5 way valves, further control gas source and flow amount；Gas source and flow amount after control passes through two
Position-5 way valve controls two directions of motion of gas-liquid cylinder piston rod.
2. motion platform according to claim 1, it is characterised in that the liquid control loop includes repairing cup.
3. motion platform according to claim 1, it is characterised in that the source of the gas includes driving source of the gas Ps1, drives source of the gas
Ps2 and back pressure source of the gas Ps0, the driving source of the gas Ps1 and driving source of the gas Ps2 connect two ports of two position-5 way valves, institute
Say back pressure source of the gas Ps0 by connecting a port of two position-5 way valves after check valve.
4. motion platform according to claim 1, it is characterised in that two guide rails are installed in parallel in quiet flat by support base
On platform, the support base is trapezium structure, and two sliding blocks are set on every guide rail.
5. motion platform according to claim 1, it is characterised in that the variable quantity of two piston rods of airdraulic actuator is identical,
Fixed with preceding runners before the cylinder body of the airdraulic actuator, behind fixed with rear runners.
6. motion platform according to claim 5, it is characterised in that the airdraulic actuator is duty plunger airdraulic actuator, its gas
Cylinder part uses piston rod, and fluid cylinder part uses plunger rod.
7. the control method of the motion platform according to claim any one of 1-6, it is characterised in that comprise the following steps：
Track and attitude that the first step is run according to motion platform in working space, obtain two gas-liquid cylinder piston rods and meet the tendency of row
Track and motion state；
The gas-liquid cylinder piston rod displacement signal that second step detects linear displacement transducer, is input to by passage A/D transition cards
Industrial computer, and carry out asking for deviation obtaining feedback control after treatment with the airdraulic actuator movement locus that obtains of planning believing
Number；
The feedback control signal that 3rd step will be obtained is defeated by I/O output cards and the corresponding switch controlled quentity controlled variable of D/A transition cards output
Go out the output action that gas-liquid cylinder piston rod is controlled to corresponding switch valve and pneumatic proportional control valve, so as to realize motion platform
Desired motion requirement；
If the 4th step carries out location control to motion platform, according to the motion specified location that motion platform needs, by gas-liquid
Control loop controls to cause that airdraulic actuator piston rod movement causes that platform reaches specified location, so as to reach the positioning control of workbench
System requirement, makes the control accuracy of platform higher by the control of airdraulic actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN106678094B (en) | 2018-04-13 |
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