Flexible vibration platform, controller, control system and control method

Abstract

The present application relates to the technical field of flexible feeding equipment, and discloses a control method of a flexible vibration platform, which comprises the following steps: controlling driving waveforms of each voice coil motor, applying driving waveforms with phase difference correction, superimposing compensation harmonics, or acquiring phase, amplitude and harmonic information of vibration force of the voice coil motor position on the flexible vibration platform through detection of induced voltage or sensors of the voice coil motor; controlling driving waveforms of each voice coil motor, applying driving waveforms with phase difference correction, performing phase difference processing on the driving waveforms of each voice coil motor, and globally subdividing the driving waveforms to each voice coil motor. The present application can improve the moving speed of materials, reduce the jumping of materials, and reduce the moving noise of materials.

Description

Technical Field

[0001] This invention relates to the field of flexible feeding equipment technology, and particularly to a flexible vibration platform, controller, control system, and control method. Background Technology

[0002] The working principle of the flexible feeder is to use the mechanical resonance and vibration wave transmission interference principle to achieve the process of material moving in a certain direction and forming an arrangement.

[0003] For example, patent document CN214494733U provides a flexible feeding system, including a flexible feeder that randomly flips materials by vibration, a first vision device, a robot arm, and a material tray. The first vision device is located directly above the flexible feeder, and the robot arm is located between the flexible feeder and the material tray. The flexible feeder includes a base plate, a voice coil motor, a connecting rod, a vibrating plate, and a material bin. The voice coil motor is fixed on the base plate and connected to the vibrating plate through the connecting rod. The material bin is fixedly installed on the vibrating plate.

[0004] In the aforementioned flexible vibratory feeding system, for example, during the process of the material moving to the right, the voice coil motor on the right side is not driven, while the voice coil motor on the left side is driven to generate vibration force. After the mechanical elasticity of the voice coil motor cooperates with the mechanical structure of the flexible vibration platform, the flexible vibration platform has a resonant frequency. When the driving frequency of the voice coil motor is close to that frequency, a significant resonant working state will be generated, and the vertical vibration force will be converted into a part of the horizontal lateral vibration force. Moreover, the two forces have a certain phase difference, thereby realizing the controllable directional movement of the material.

[0005] The horizontal movement speed and stability of materials in the material tray of the flexible vibration platform are related to the conversion rate of the horizontal lateral vibration force generated by the resonance state. However, the above-mentioned operation method has a limited conversion rate of lateral force, resulting in problems such as slow material movement speed, large material bounce, high noise, and easy friction and collision of materials. Summary of the Invention

[0006] The technical problem solved by this invention is to address the deficiencies in the prior art by providing a control system for a flexible platform. This system actively and effectively improves the conversion rate of horizontal lateral vibration force in the resonant state of the vibration platform and controls the phase difference between these two forces. The control method includes: globally subdividing and adjusting the phase difference and superimposed harmonics of the drive waveforms of each voice coil motor; acquiring phase, amplitude, and harmonic information near the voice coil motors on the flexible vibration platform through the induced voltage of the voice coil motors or sensors; automatically correcting the phase of the drive waves of each voice coil motor; and distributing the drive waves to each voice coil motor, thereby solving the problems mentioned in the background art.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a control method for a flexible vibration platform, comprising: controlling the driving waveforms of each voice coil motor, applying a phase difference correction driving waveform, superimposing harmonic compensation, or obtaining the phase, amplitude, and harmonic information of the vibration force at the position of the voice coil motor on the flexible vibration platform by detecting the induced voltage of the voice coil motor or by a sensor; controlling the driving waveforms of each voice coil motor, applying a phase difference correction driving waveform, performing phase difference processing on the driving waveforms of each voice coil motor, and globally subdividing the driving waveforms to each voice coil motor.

[0008] Furthermore, harmonic compensation processing will be performed on the drive waveforms of each voice coil motor, and the harmonic-compensated drive waveforms will be distributed to each voice coil motor.

[0009] Furthermore, the phase, amplitude, and harmonic information of the vibration force at the position of the voice coil motor on the flexible vibration platform are repeatedly acquired, and the drive waveform of each voice coil motor is subjected to harmonic compensation processing again. The harmonic compensation-processed drive waveform is then distributed to each voice coil motor.

[0010] A control system for a flexible vibration platform includes: an induced voltage detection module and / or a sensor module, wherein the induced voltage detection module detects the induced voltage of a voice coil motor and transmits the detection signal to a processing module; the sensor modules are distributed near each voice coil motor and are used to detect the X-axis, Y-axis, and Z-axis position information and vibration force information of the voice coil motors; a processing module receives and processes the detection signals and issues control signals, the processing module including a resonance angle control unit, the resonance angle control unit being used to process the phase difference of the voice coil motors; and a drive module, the drive module receiving the control signals issued by the processing module and distributing the control signals to each voice coil motor.

[0011] Furthermore, the processing module includes a harmonic suppression unit, which is used to detect the vibration harmonic components from the sensor and synthesize and superimpose the harmonics, after amplitude adjustment and phase correction, onto the driving module.

[0012] Furthermore, the sensor module is a triaxial accelerometer.

[0013] Furthermore, it includes a hopper drive module, which is communicatively connected to the processing module, and the hopper drive module outputs control signals to the hopper vibrator.

[0014] Furthermore, it includes a control module and a light source driving module. The control module is used to connect to peripheral devices, and the control module is communicatively connected to the light source driving module. The control module sends control signals to the light source driving module.

[0015] Furthermore, a controller for a flexible platform includes the control system for the flexible platform described in the above technical solution.

[0016] Furthermore, a flexible platform includes the control system of the flexible platform described in the above technical solution.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: global subdivision drive control is performed on each voice coil motor, and harmonic compensation is superimposed by controlling the phase difference of the drive waveform between each voice coil motor, thereby optimizing the resonance performance of the flexible vibration platform, converting more of the vertical vibration force generated by the voice coil motor into horizontal vibration force, and achieving phase difference control of the two vibration forces, thereby increasing the material movement speed, reducing material jumping, and reducing noise and frictional collision of the material. Attached Figure Description

[0018] Figure 1 This is a structural framework diagram of the control system of the flexible platform under implementation.

[0019] Reference numerals in the attached diagram: 1. Induced voltage detection module; 2. Sensor module; 3. Processing module; 4. Resonance angle control unit; 5. Drive module; 6. Harmonic suppression unit; 7. Hopper drive module; 8. Control module; 9. Light source drive module. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings.

[0021] The embodiments described with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "several" or "more than" means two or more, unless otherwise explicitly specified. In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. In this application, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or it can include contact between the first and second features through another feature between them. Moreover, "above," "over," and "on top" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] In response, this invention proposes a control method for a flexible platform, comprising: controlling the driving waveforms of each voice coil motor, applying a phase difference correction driving waveform, superimposing harmonic compensation, or obtaining the phase, amplitude, and harmonic information of the vibration force of the voice coil motor position on the flexible vibration platform by detecting the induced voltage of the voice coil motor or by a sensor; controlling the driving waveforms of each voice coil motor, applying a phase difference correction driving waveform, performing phase difference processing on the driving waveforms of each voice coil motor, and globally subdividing the driving waveforms to each voice coil motor.

[0023] Given the existing control methods for feeding materials on flexible platforms, we will use the movement of materials moving to the right as an example. The traditional control method involves two voice coil motors on the left side driven by current to actively generate vibration, while the two voice coil motors on the right side are not driven by current, causing the material in the material tray to move to the right. The principle is as follows: the left-side voice coil motors, driven by current, generate a vertical reciprocating force on the left side of the platform. However, this vertical force alone is insufficient to produce a controllable displacement of the material. At this point, because the right-side voice coil motors are not driven by current and are in a passive state, they have mechanical damping. This mechanical damping converts the vertical force on the left side of the platform into a portion of the horizontal lateral force with a certain phase difference, thus achieving the rightward movement of the material. Flexible vibration platforms aim for rapid and stable material movement. Therefore, the understanding of the platform's motion performance in principle is: it should be able to convert the vertical force generated by the voice coil motors into more horizontal force, and these two vibration forces should have an optimal phase difference. However, even when the flexible vibration platform operates in resonance, the conversion rate of the vertical motion force generated by the voice coil motor into the horizontal motion force is still limited, and the phase difference between the vertical and horizontal vibration forces is difficult to control. This means that even a slightly larger platform vibration force can easily cause the material to bounce, which in turn reduces the time the material receives the horizontal lateral force from the material tray, further decreasing the material's movement speed. Due to the overall mechanical characteristics of the platform, such as the rigidity, weight, size, aspect ratio of the material tray, the mechanical damping of the voice coil motor, and the installation spacing of the voice coil motor, the characteristics of vibration wave transmission, reflection superposition, and reflection attenuation are affected, resulting in differences in the resonance characteristics and harmonic components of the vibration platform.

[0024] In the technical solution proposed in this invention, the example of the material moving to the right is still used for explanation: not only is the left voice coil motor driven and controlled, but the right motor is also driven and controlled. By performing global fine control on the phase and amplitude of the driving waveform of each voice coil motor, the resonance characteristics of the vibration platform are actively changed, which effectively improves the conversion rate of lateral vibration force in the material movement direction and forms the optimal phase difference between vertical vibration force and horizontal vibration force.

[0025] The main driving parameters, such as phase and amplitude, of each voice coil motor drive waveform can be finely adjusted independently by manual control, i.e., resonance angle and resonance quantity control.

[0026] When the vibration-induced voltage feedback operation mode of the voice coil motor is adopted, the drive waveform of each voice coil motor in the next vibration cycle can be automatically calculated by sensing the amplitude, phase and harmonic information of the vibration force in the vertical direction of each voice coil motor position, thus realizing semi-automatic closed-loop operation control.

[0027] When the sensor vibration feedback operation mode is adopted, the amplitude, phase and harmonic information of the vibration force at each corner of the material tray can be obtained comprehensively (X, Y and Z axes), enabling fully automatic high-performance closed-loop operation control.

[0028] Furthermore, harmonic compensation processing will be performed on the drive waveforms of each voice coil motor, and the harmonic compensation-processed drive waveforms will be distributed to each voice coil motor, which can effectively suppress unfavorable vibration harmonics on the material tray.

[0029] During the operation of a flexible vibration platform, unfavorable harmonics are generated due to the transmission, reflection, superposition, and attenuation of vibration forces. Compensating for these unfavorable harmonics through drive waveform correction can suppress their impact. When using sensors for detection, the phase, amplitude, and harmonic information of the positions near each voice coil motor in the material tray are repeatedly acquired. Harmonic compensation is then applied to the drive waves of each voice coil motor, and the compensated drive waves are distributed to each motor. Through continuous refinement, optimal harmonic compensation is achieved, distributing the best drive waveform to each voice coil motor, increasing the material's movement speed, reducing material bounce, decreasing noise, and minimizing friction and collisions between objects.

[0030] like Figure 1 As shown, a control system for a flexible vibration platform is provided, comprising: an induced voltage detection module 1 and / or a sensor module 2, wherein the induced voltage detection module 1 is used to detect the vibration force induced voltage of the voice coil motor and transmit the detection signal to a processing module 3; the sensor module 2 is distributed among each voice coil motor and is used to detect the X-axis, Y-axis and Z-axis position information of the voice coil motor; a processing module 3, which is used to receive and process the detection signal and issue a control signal, the processing module 3 including a resonance angle control unit 4, which is used to process the phase difference of the voice coil motor; and a drive module 5, which is used to receive the control signal issued by the processing module 3 and distribute the control signal to each voice coil motor.

[0031] To facilitate understanding of this technical solution, a basic introduction to existing flexible vibration platforms is provided first. Applications of flexible vibration platforms include material vibratory feeders, material trays (driven by the flexible vibration platform), vision devices, robotic arms, and lighting equipment. The material vibratory feeder delivers material to the material tray via vibration. The vision device photographs the material on the tray and locates its position. The robotic arm picks up the material, and the lighting equipment provides illumination to facilitate clear image acquisition by the vision device. Voice coil motors are typically installed at the four corners of the material tray. Vibration is primarily achieved by driving these motors to move the material left, right, up, down, gather, and disperse it.

[0032] The following analysis examines the shortcomings of existing technologies. Taking the rightward movement of materials as an example, the operating mode of existing flexible vibration platforms is explained. The voice coil motor on the left side of the material tray generates vibration, while the voice coil motor on the right side is not driven. When the waveform frequency of the driving voice coil motor is close to the resonant frequency of the flexible vibration platform, the platform operates in a resonant state. During horizontal movement of the material, the voice coil motors of the flexible vibration platform generate vertical vibration force. If the material needs to move horizontally in a controllable direction, vertical vibration alone is insufficient; it also needs to be subjected to horizontal lateral force. However, as seen above, the force converted into horizontal lateral force by mechanical damping is limited, leaving a significant residual force in the vertical direction. This results in slow material movement, excessive material bouncing, high noise levels, and excessive friction and collision between materials.

[0033] The main objective of this technical solution is to actively improve the platform's resonance performance through electronic control, increasing the conversion rate of lateral forces. While converting more lateral forces, the vertical vibration force is proportionally reduced, and the phase difference between these two forces is controllable. This method effectively increases the material's movement speed, reduces material bouncing, decreases noise, and reduces friction and collisions between objects.

[0034] Example 1: The function of the induced voltage detection module 1 is to detect the induced voltage generated by the induction voice coil motor during vibration, thereby determining the phase difference between the voice coil motors (for example, in the leftward shift process, it is the phase difference between the left and right voice coil motors of the material tray). Simultaneously, the vertical vibration force can be obtained through this induced voltage, indirectly yielding the conversion rate of the horizontal vibration force. The phase difference is cyclically adjusted until the optimal phase difference corresponds to the optimal conversion rate of the lateral force. The detection signal is processed by the resonance angle control unit 4 in the processing module 3, thereby synthesizing a drive waveform which is then distributed to each voice coil motor position via the drive module 5 for driving. This achieves a resonant state for material movement, increasing the material's movement speed, reducing material bounce, decreasing noise, and reducing friction between objects.

[0035] Example 2: Sensor module 2 is installed near the voice coil position of the material platform to detect the X, Y, and Z axis position information of the voice coil motors. By detecting the X, Y, and Z axis position information, the phase difference between the voice coil motors can be determined (e.g., during leftward movement, the phase difference between the voice coil motors on the left and right sides of the material tray; for example, during diagonal movement, the phase difference between the voice coil motors in one corner and those in the other). The difference between sensor module 2 and induced voltage detection module 1 is that sensor module 2 can detect and transmit detection signals in real time, while induced voltage detection module 1 can only be used for debugging and semi-automatic adjustment, and cannot be adjusted quickly and accurately. By detecting the vibration amplitude information of the X, Y, and Z axes, the detection signals are processed by the resonance angle control unit 4 in processing module 3 to synthesize a drive waveform, which is then distributed to each voice coil motor position through drive module 5 for driving. This actively changes the resonance performance of the flexible vibration platform, increases the conversion rate of lateral force, and controls the phase difference of vibration force. This improves the material movement speed, reduces material bouncing, reduces noise, and reduces friction and collision between objects.

[0036] However, in actual use, due to the cyclical interaction of vibration transmission, reflection superposition, and reflection attenuation of the platform, vibration harmonics that are not conducive to the movement of materials are generated on the material tray. This causes the materials to bounce, move at uneven speeds, or even move to the right when the material should have moved to the left at a certain position on the material tray.

[0037] In response to the above situation, the proposed technical solution is a harmonic suppression function. The resonant angle control unit 4 has a certain harmonic suppression capability while changing the resonant performance of the platform. Since all voice coil motors are driven at the same time, the voice coil motors are subjected to more electromagnetic forces, which is equivalent to increasing the mechanical damping. Moreover, this damping can be controlled by the driving waveform, so it can suppress the generation of unfavorable harmonics to a certain extent.

[0038] In Example 3, as a further technical solution, the processing module 3 includes a harmonic suppression unit 6, which is used to detect harmonic components, amplitude, and phase, and generate a driving waveform composed of phase-shift controllable compensated harmonics and fundamental wave to the driving module 5.

[0039] When the induced voltage detection module 1 is used, the induced voltage detection module 1 can detect the amplitude and harmonics of the vertical vibration force. By transmitting the detection signal to the harmonic suppression unit 6 of the processing module 3, the harmonic suppression unit 6 performs harmonic synthesis and outputs the drive waveform to each voice coil motor via the drive module 5.

[0040] In Example 4, when sensor module 2 is used, it can obtain position information along the X, Y, and Z axes and transmit the detected signals to the harmonic suppression unit 6 of processing module 3. The harmonic suppression unit 6 superimposes the reverse harmonics and outputs the drive waveform to each voice coil motor via drive module 5. Furthermore, sensor module 2 repeats the above operation to achieve real-time automatic adjustment, obtaining the optimal lateral force conversion rate and a more suitable phase difference, improving the material's moving speed, reducing material bouncing, decreasing noise, and reducing friction and collision between materials.

[0041] In practice, the sensor module 2 is a triaxial accelerometer.

[0042] Example 5, similarly, can also work in non-inductive voltage detection and sensorless mode, i.e., manual parameter configuration operation mode, where the main driving parameters such as phase and amplitude of each voice coil motor drive waveform can be finely adjusted independently, i.e., resonance angle and resonance quantity control.

[0043] Furthermore, the control system of this flexible platform includes a hopper drive module 7, which is communicatively connected to the processing module 3. The hopper drive module 7 outputs control signals to the hopper vibrator. Since the hopper vibrator also uses a vibrating device for vibratory feeding, the hopper drive module 7 is added to control the speed of the vibratory feeding.

[0044] The control system of the flexible platform includes a control module 8 and a light source driving module 9. The control module 8 is used to connect to peripheral devices and is communicatively connected to the light source driving module 9. The control module 8 sends control signals to the light source driving module 9.

[0045] A controller for a flexible platform, employing the flexible platform control system described above.

[0046] A flexible platform, employing the control system of the flexible platform described above.

[0047] The above does not limit the technical scope of the present invention in any way. Any modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the technical scope of the present invention.

Claims

1. A control method for a flexible vibration platform, characterized in that, include: Control the drive waveforms of each voice coil motor, apply phase difference correction drive waveforms, superimpose harmonic compensation, or obtain phase, amplitude, and harmonic information of the vibration force of the voice coil motor position on the flexible vibration platform by detecting the induced voltage of the voice coil motor or by sensors; control the drive waveforms of each voice coil motor, apply phase difference correction drive waveforms, perform phase difference processing on the drive waveforms of each voice coil motor, and globally subdivide the drive waveforms to each voice coil motor.

2. The control method for the flexible vibration platform according to claim 1, characterized in that: The drive waveforms of each voice coil motor will be subjected to harmonic compensation processing, and the harmonic-compensated drive waveforms will be distributed to each voice coil motor.

3. The control method for the flexible vibration platform according to claim 2, characterized in that: The phase, amplitude, and harmonic information of the vibration force at the position of the voice coil motor on the flexible vibration platform are repeatedly acquired. The drive waveform of each voice coil motor is then subjected to harmonic compensation processing, and the harmonic-compensated drive waveform is distributed to each voice coil motor.

4. A control system for a flexible vibration platform, characterized in that, include: An induced voltage detection module and / or a sensor module, wherein the induced voltage detection module is used to detect the induced voltage of the voice coil motor and transmit the detection signal to the processing module; The sensor modules are distributed near each voice coil motor, and the sensor modules are used to detect the vibration force information of the X-axis, Y-axis and Z-axis positions of the voice coil motors; The processing module is used to receive and process detection signals and send control signals. The processing module includes a resonant angle control unit, which is used to process the phase difference of the voice coil motor. A drive module is provided, which receives control signals from the processing module and distributes the control signals to each voice coil motor.

5. The control system of the flexible vibration platform according to claim 4, characterized in that: The processing module includes a harmonic suppression unit, which is used to detect the vibration harmonic components from the sensor and synthesize and superimpose the harmonics, after amplitude adjustment and phase correction, onto the driving module.

6. The control system for the flexible vibration platform according to claim 4 or 5, characterized in that: The sensor module is a triaxial accelerometer.

7. The control system of the flexible vibration platform according to claim 4, characterized in that: It includes a hopper drive module, which is communicatively connected to the processing module, and the hopper drive module outputs control signals to the hopper vibrator.

8. The control system of the flexible vibration platform according to claim 4, characterized in that: It includes a control module and a light source driving module. The control module is used to connect to peripheral devices. The control module is communicatively connected to the light source driving module and sends control signals to the light source driving module.

9. A controller for a flexible vibration platform, characterized in that: The control system of the flexible platform according to any one of claims 4-8.

10. A flexible vibration platform, characterized in that: The control system of the flexible platform according to any one of claims 4-8.

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