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Two-degree-of-freedom rotation adjusting device and active vibration suppression control method thereof

A technology of rotational adjustment and degrees of freedom, used in measuring devices, force/torque/work measuring instruments, instruments, etc., can solve the problem of difficulty in providing continuous work output, delaying assembly time, and inability to meet the requirements of intelligent and fast parts. It can save adjustment time, eliminate chattering problems, and the control method is simple and practical.

Active Publication Date: 2021-05-07
SUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, for the vibration problem encountered in the flexible assembly process of parts, generally rely on the experience of the operator to actively interfere with the adjustment, or wait for the parts to stabilize independently, which will delay the assembly time and cannot meet the needs of the parts during the assembly process. Requirements for intelligence and speed; in addition, operators also need to concentrate on the operation process for a long time, and it is difficult to provide continuous work output

Method used

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  • Two-degree-of-freedom rotation adjusting device and active vibration suppression control method thereof
  • Two-degree-of-freedom rotation adjusting device and active vibration suppression control method thereof
  • Two-degree-of-freedom rotation adjusting device and active vibration suppression control method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0052] Such as Figure 1-Figure 10 As shown, a two-degree-of-freedom rotation adjustment device includes an industrial computer 10, a data acquisition card 12, a motion control card 14, a motor assembly, a two-degree-of-freedom rotating platform, and a clamping mechanism installed on the two-degree-of-freedom rotating platform. The acquisition card 12 and the motion control card 14 are all connected to the industrial computer 10, the motion control card 14 is connected to the motor assembly, and the motor assembly drives the rotation of the two-degree-of-freedom rotating platform. The clamping mechanism includes an outer frame 16, an inner ring 18, an outer ring 20. Holder, first inner ring force sensor 22, second inner ring force sensor 24, first outer ring force sensor 26, second outer ring force sensor 28, inner ring 18 and outer ring 20 can be Rotationally connected, the outer ring 20 is rotatably connected to the outer frame 16, the holder is installed on the inner ring 1...

Embodiment 2

[0127] Such as Figure 8 ,, Figure 9 , Figure 11-Figure 13 As shown, the difference between the two-degree-of-freedom rotary adjustment device in Embodiment 2 of the present invention and the two-degree-of-freedom rotary adjustment device in Embodiment 1 is:

[0128] The clamping mechanism includes two piezoelectric ceramic assemblies, each piezoelectric ceramic assembly includes a piezoelectric ceramic sheet 80, three metal wires 82 connected with the piezoelectric ceramic sheet 80, and the two piezoelectric ceramic sheets 80 are connected to the industrial computer 10 connected.

[0129] Preferably, there are three terminals (not shown in the figure) on the piezoelectric ceramic sheet 80, and the three metal wires 82 are respectively welded on the corresponding three terminals.

[0130] Preferably, the diameter of the metal wire 82 is 20 μm, which can achieve welding with the terminal, avoid melting, and at the same time avoid affecting the rotation of the inner ring 18...

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Abstract

The invention discloses a two-degree-of-freedom rotation adjusting device. The device comprises an industrial personal computer, a data acquisition card, a motion control card, a motor assembly, a two-degree-of-freedom rotation platform and a clamping mechanism. The clamping mechanism comprises an outer frame, an inner ring, an outer ring, a clamping device, a first inner ring force measuring sensor, a second inner ring force measuring sensor, a first outer ring force measuring sensor and a second outer ring force measuring sensor, the inner ring is rotatably connected with the outer ring, the outer ring is rotatably connected with the outer frame, the clamping device is installed on the inner ring, the first inner ring force measuring sensor and the second inner ring force measuring sensor are oppositely installed on the outer ring, the first outer ring force measuring sensor and the second outer ring force measuring sensor are oppositely installed on the outer frame, and the first inner ring force measuring sensor, the second inner ring force measuring sensor, the first outer ring force measuring sensor and the second outer ring force measuring sensor are all connected with the data acquisition card. The invention further discloses an active vibration suppression control method. By means of the two-degree-of-freedom rotation adjusting device and the active vibration suppression control method, the vibration problem in the part assembling process can be rapidly eliminated.

Description

technical field [0001] The invention relates to the field of micro-assembly technology, in particular to a two-degree-of-freedom rotation adjustment device and an active vibration suppression control method thereof. Background technique [0002] Micro-assembly technology plays an important role in the national defense industry and the development of the national economy, and plays an important role in promoting the miniaturization and intelligence of weapons and equipment, and improving the performance of civilian high-tech products. Therefore, the development of high-precision, high-efficiency, flexible and intelligent assembly robot technology to replace traditional manual and semi-automatic assembly technology has become the main development direction, and has been valued by major industrial countries. One of the key technical means of industrial demand. [0003] At present, for the vibration problem encountered in the flexible assembly process of parts, generally rely o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16F15/28G01L5/00
CPCF16F15/28G01L5/0061
Inventor 陈涛田玉祥田显东孙立宁黄志颖倪克健
Owner SUZHOU UNIV