Device and control method for pneumatically driving two swing piezoelectric flexible beams
A technology of pneumatic drive and control method, applied in the field of flexible robots, can solve the problems of low rigidity of flexible structure, influence control accuracy, and large flexibility, and achieve the effects of precise pointing control, high control accuracy and simple structure
Inactive Publication Date: 2013-07-03
SOUTH CHINA UNIV OF TECH
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Problems solved by technology
Compared with the rigid structure, it has the advantages of light weight, low energy consumption and high efficiency, but the characteristics of the flexible structure, such as low rigidity and high flexibility, will cause vibration problems and affect the control accuracy
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[0038] As shown in Fig. 1, one end of the flexible beam I11 and the flexible beam II15 is connected to the swing flange mechanical connection device II7 of the swing cylinder I1, and the other end is free. The base of the swing cylinder I1 is fixedly connected with the swing flange mechanical connection device I3 of the swing cylinder II4, so that the swing flange mechanical connection device I3 can be driven to rotate by the swing flange of the swing cylinder II4. The oscillating flange of the oscillating cylinder Ⅰ1 is connected to the rotating shaft of the photoelectric encoder Ⅰ2 through a coupling, and the base of the photoelectric encoder Ⅰ2 and the oscillating cylinder Ⅰ1 are fixedly connected to the mechanical connection device Ⅰ3 of the oscillating flange, so that the oscillating motion can be detected. Cylinder Ⅰ1 rotates the corner of the flange. The swing flange of the swing cylinder Ⅱ4 is connected with the shaft of the photoelectric encoder Ⅱ5 through a coupling,...
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The invention discloses a device and a control method for pneumatically driving two swing piezoelectric flexible beams. The device comprises a flexible beam body part, a pneumatic drive part and a control part, wherein one end of each flexible beam is a free end, and the other end of each flexible beam is a fixed end; each fixed end is arranged on a swing flange plate of a swing cylinder I through a mechanical connecting device; a base of the swing cylinder I is arranged on a swing flange of a swing cylinder II; a base of the swing cylinder II is connected with a fixed base; the rotation angles of the two swing cylinders are detected by photoelectric coders; a plurality of piezoelectric ceramic sheets are adhered close to the fixed end of each flexible beam to form a piezoelectric sensor and a piezoelectric sheet driver; an acceleration sensor is arranged at each free end; the piezoelectric sensor or the acceleration sensor can detect the vibration of each flexible beam; the pneumaticdrive part consists of two pneumatic channels for driving the two swing cylinders to swing; and the control part is used for processing the detected rotation and vibration signals of the flexible beams.
Description
technical field [0001] The invention relates to the field of flexible robots, in particular to a pneumatically driven double-oscillating piezoelectric flexible beam device and a control method. Background technique [0002] Compared with other transmission and control methods, pneumatic technology has the following advantages: simple structure, light weight, relatively low price, simple installation and maintenance, low pressure level, safe use, energy saving, no pollution, high speed and high efficiency, and easy automation. Pneumatic control has the ability of fireproof, explosion-proof and moisture-proof. Compared with hydraulic drive, it is clean and pollution-free, and does not require pumping stations and cooling devices. The pneumatic control loop has meter-in and meter-out methods, and the exhaust of the system is controlled by servo valves, proportional valves, and pulse modulation control methods of high-speed on-off valves. Compared with servo motor drive, when ...
Claims
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IPC IPC(8): G05B13/02
Inventor 邱志成谢卓伟石明礼
Owner SOUTH CHINA UNIV OF TECH