Embedded integrated displacement platform

Abstract

The invention relates to an embedded integrated displacement platform applied to the technical field of displacement platforms, aims to realize high-precision displacement and rotation control, and comprises an encoder, a motion control module, an air cylinder, a linear motor, a fiber bragg grating, an air pressure sensor, an acceleration sensor and a related control module, through real-time position signal feedback and closed-loop control of the encoder, the system can accurately control rotation and lifting motion of the rotary table, the air cylinder adopts a double-acting design, stable lifting motion is achieved in combination with the air pressure sensor, shaking and deviation are avoided, and through combination of the fiber bragg grating and the stress detection module, the stability of the system is improved. Real-time stress monitoring and intelligent locking functions are achieved, structural safety is ensured, the acceleration sensor is used for monitoring vibration of the rotary table and conducting action balance verification, the long-term stability of the system is improved, and the displacement platform has the advantages of being high in precision, high in stability and intelligent in management.

Description

Technical Field

[0001] The present invention relates to an embedded integrated displacement platform, and in particular to an embedded integrated displacement platform applied in the technical field of displacement platforms. Background Art

[0002] With the continuous development of industrial automation and precision manufacturing technology, displacement platforms, as an important component of precision positioning and motion control, are widely used in various types of high-precision processing and testing equipment. In the existing technology, traditional displacement platforms usually face challenges such as complex structure, insufficient stability, and motion coupling problems when achieving high-precision motion. These problems limit the accuracy, efficiency and service life of the equipment.

[0003] For example, Chinese invention patent CN109879243B discloses a large-stroke non-coupled large-hollow parallel piezoelectric micro-motion platform. The platform realizes two translations and one rotation of the moving table through the coordinated control of multiple sets of drive units and sensor components. The advantages of this design are compact structure, high natural frequency, no parasitic displacement, and the ability to integrate capacitive displacement sensors. However, the platform may still face complex control requirements during large-stroke movement, and its large hollow structure may limit its integration and stability in certain specific application scenarios.

[0004] Another example is Chinese invention patent CN113912005B, which discloses an XY fully decoupled micro-motion platform based on a flexible hinge structure. The invention realizes fully decoupled motion in the X and Y directions through flexible hinges and decoupling structures, solving the problem of two-degree-of-freedom motion coupling in traditional platforms. However, since the design mainly relies on the structural characteristics of the flexible hinge, it may face problems of inconsistency in dynamic performance and fatigue loss when carrying larger objects or using for a long time, affecting the overall stability and life of the platform.

[0005] Although the above design has solved the accuracy and coupling problems of the displacement platform to a certain extent, it still has certain limitations, such as complex structure, difficult control, obvious difference in dynamic performance, insufficient stability and durability, etc. Therefore, the market demand urgently needs an innovative displacement platform with a more compact structure, simpler control, stronger stability and capable of high-precision displacement and rotation control. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, the present invention aims to provide an embedded integrated displacement platform to solve the problems of complex structure, poor stability, and great control difficulty existing in the current displacement platform in high-precision motion control.

[0007] In order to solve the above problems, the present invention provides an embedded integrated displacement platform, including a controller and a lifting seat, a lifting cylinder is fixedly connected in the lifting seat, a first bearing and a second bearing are fixedly connected to the inner wall of the lifting cylinder, a turntable is fixedly connected to the inner wall of the first bearing and the second bearing, a through hole is opened in the turntable, the through hole runs through the turntable, the outer end of the turntable near the bottom end is fixedly connected to a permanent magnet bracket, a plurality of permanent magnets are fixedly connected to the permanent magnet bracket, and the plurality of permanent magnets are evenly distributed around the axis of the permanent magnet bracket, a driving component is fixedly connected to the corresponding position of the inner wall of the lifting cylinder and the permanent magnet bracket, and a symmetrically arranged A fixed seat is arranged, and a cylinder is fixedly connected to the fixed seat at one end away from the lifting cylinder. A piston is slidably connected in the cylinder. The top end of the piston penetrates the cylinder upward, and a balance bar is threadedly connected to the penetrating part. Fiber Bragg gratings are fixedly connected in the balance bar along the horizontal and vertical directions, and the fiber Bragg gratings are electrically connected to the controller. The piston is made of piezoelectric material, and the piston is electrically connected to the controller. An acceleration sensor is fixedly connected in the turntable, and the acceleration sensor is electrically connected to the controller. A linear guide is fixedly connected between the lifting seat and the fixed seat, and a sliding bar made of piezoelectric material is provided in the linear guide, and the sliding bar is electrically connected to the controller.

[0008] In the above-mentioned embedded integrated displacement platform, the design of double-acting cylinders and linear guides, combined with high-precision sensors such as fiber Bragg gratings, acceleration sensors and encoders, realizes real-time monitoring and closed-loop control of platform movement. The platform can not only realize precise in-plane rotation and lifting movement, but also ensure high stability and durability in various working environments through intelligent stress management and locking mechanisms.

[0009] As a further improvement of the present application, a linear guide rail is fixedly connected between the lifting seat and the fixed seat, the guiding direction of the linear guide rail is parallel to the axis direction of the cylinder, and the outer end of the cylinder is fixedly connected to the top of the fixed seat through a fixed block.

[0010] As a further improvement of the present application, the cylinder is a double-acting cylinder, the bottom end of the fixed seat is fixedly connected to the base, and the lifting seat and the outer end of the base are fixedly connected to the same junction box.

[0011] As a further improvement of the present application, a symmetrically arranged motor fixing plate is fixedly connected to the outer end of the lifting cylinder, and the symmetrically arranged motor fixing plate is fixedly connected to the moving part of the linear motor at one end away from the lifting cylinder.

[0012] As another improvement of the present application, the fixed part of the linear motor is fixedly connected to one end of the fixed seat close to the lifting seat, and the driving assembly includes an insulating ring, and a driving coil is fixedly connected inside the insulating ring.

[0013] As another improved supplement of the present application, a guide column is fixedly connected at the corresponding position of the base and the bottom end of the turntable. The guide column is a hollow structure, and the outer end of the guide column is a spline structure. The outer end of the guide column is slidably connected to an encoder fixing ring.

[0014] As another improved supplement of the present application, an encoder is fixedly connected to the top of the encoder fixing ring, and an encoding disk matching the encoder is fixedly connected to the bottom of the turntable.

[0015] As another improvement of the present application, solenoid valves are fixedly connected at both ends of the cylinder, and the solenoid valves are connected to an external air supply system, and air pressure sensors are fixedly connected to the inner walls of the cylinder near the top and bottom ends, and the air pressure sensor, solenoid valve, drive assembly, linear motor and encoder are all electrically connected to the controller.

[0016] The controller includes a motion control module, an encoder interface module, a driver interface module, an air pressure control module, a network communication module, a stress detection module and a locking module; The motion control module uses a motion control chip, integrates multiple motion control channels, supports multiple control modes, and communicates with the encoder interface module and the driver interface module to achieve closed-loop control; The encoder interface module uses encoder interface circuits, supports multiple types of encoders, processes encoder signals, and transmits position, speed and other information to the motion control module; The driver interface module adopts driver interface circuit, supports various types of drivers, converts the control instructions of the motion control module into driver signals, and controls the operation of the drive components and linear motors; The air pressure control module is electrically connected to the air pressure sensor and the solenoid valve, and the pressure balance and smooth lifting and lowering of the turntable are achieved through a closed-loop control algorithm; The network communication module supports the industrial Ethernet protocol, realizes data communication with other devices, and supports the coordinated control and remote monitoring and diagnosis of multiple displacement platforms; The stress detection module is used to determine stress changes according to changes in fiber Bragg grating signals; The locking module is used to control the piston.

[0017] A control method for an embedded integrated displacement platform comprises the following steps: S1. Collect the encoder position signal through the encoder interface module and transmit the position signal to the motion control module; S2, the motion control module calculates the position deviation and compensation torque according to the received position signal, stress signal and preset target position, and calculates the speed command and current command according to the position deviation; S3, sending the speed command and the current command to the drive assembly and the linear motor through the driver interface module to control the rotation and lifting motion of the turntable; S4, continuously collect the encoder position signal through the encoder interface module, and feed back the real-time position signal to the motion control module to achieve closed-loop control; S5, continuously collecting the pressure signal in the cylinder through the air pressure sensor, and transmitting the pressure signal to the air pressure control module; S6, the stress detection module determines the stress changes in the vertical and horizontal directions of each balance bar according to the changes in the fiber Bragg grating signal, and transmits the stress signal to the air pressure control module, the motion control module and the locking module; S7, the air pressure control module adjusts the pressure in the cylinder by controlling the opening of the solenoid valve according to the received pressure signal and the preset pressure balance value, so as to achieve force balance of the turntable during the lifting process; S8, the locking module determines whether locking is required based on the position signal and the stress signal, and when locking is required, energizes the piston so that the piston is squeezed and locked with the inner wall of the cylinder; S9, during the relative movement of the lifting seat and the fixed seat, the slide bar in the linear guide rail monitors the pitch and roll of the lifting seat relative to the fixed seat in real time; S10, the acceleration sensor monitors the acceleration change of the turntable in real time during the rotation process, and when it is detected that the vibration of the turntable exceeds the threshold, the user is reminded to perform dynamic balance check on the rotating part; S11. Data communication is carried out with other devices through the network communication module to realize the coordinated control and remote monitoring and diagnosis of multiple displacement platforms.

[0018] In summary, this application has the following beneficial effects: 1. High-precision displacement and rotation control. By using an encoder to monitor the position signal of the turntable in real time and feeding the signal back to the motion control module, the system can achieve precise displacement and rotation control. The motion control module calculates the position deviation and compensation torque based on the position signal, stress signal and preset target position, thereby generating speed instructions and current instructions, driving components and linear motors to perform precise motion operations. This closed-loop control mechanism ensures high-precision positioning of the displacement platform during use.

[0019] 2. Smooth lifting and lowering movement. The cylinder adopts a double-acting design, which can provide two-way force feedback during the lifting process. Combined with the real-time pressure monitoring of the air pressure sensor, the air pressure control module can adjust the pressure inside the cylinder as needed to ensure that the turntable maintains force balance and smooth movement during the lifting and lowering movement, avoiding the jitter or offset problems caused by uneven force in traditional one-way cylinders.

[0020] 3. Stress management and structural safety. By integrating fiber Bragg gratings in the balance bar, the stress detection module can monitor the stress changes of the balance bar in real time and transmit these stress signals to the air pressure control module, motion control module and locking module. This design allows the system to adjust or lock the turntable in time when the stress is abnormal to prevent mechanical damage caused by excessive stress, thereby improving the safety and durability of the structure.

[0021] 4. Accurate linear motion and trajectory control. The guiding direction of the linear guide is parallel to the axial direction of the cylinder, and a slide made of piezoelectric material is set inside it. Through real-time monitoring and feedback, the system can accurately control the linear motion trajectory of the lifting seat, avoiding the trajectory deviation problem in the traditional linear guide system and improving the overall motion accuracy.

[0022] 5. Intelligent locking function: The locking module can, based on the real-time collected stress and position signals, energize the piston when necessary to achieve extrusion locking between the piston and the inner wall of the cylinder to ensure stability in specific operations. This function is particularly suitable for operating scenarios that require precise fixation, and provides additional protection for high-precision displacement operations.

[0023] 6. Vibration monitoring and correction. The acceleration sensor can monitor the acceleration changes of the turntable in real time. When it is detected that the vibration of the turntable exceeds the set threshold, the system will remind the user to perform a dynamic balance check. Through timely vibration monitoring and correction, the system can avoid accuracy degradation or mechanical failure caused by vibration, thereby improving the long-term stability and accuracy retention capabilities of the system.

[0024] 7. Integrated structural design and wiring management. The design of this patent fully considers the integration and maintainability of the equipment. The electrical connections of the lifting seat and the base are uniformly managed through the junction box, which simplifies the internal wiring, reduces the cable clutter and unstable connection problems that may occur within the system, and improves the reliability and maintenance convenience of the system.

[0025] 8. Remote monitoring and collaborative control capabilities. The introduction of the network communication module enables the displacement platform to realize data communication with other devices, support the collaborative control of multiple displacement platforms, and have remote monitoring and diagnosis functions. This not only improves the overall efficiency of the system, but also makes the maintenance and management of the equipment more intelligent, adapting to the intelligent and networking needs of modern industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is the overall structure diagram of this application; Figure 2 This is the front view of the application; Figure 3 For this application Figure 2 Middle AA section view; Figure 4 For this application Figure 2 Middle BB section view; Figure 5 For this application Figure 3 Middle CC section view; Figure 6 This is an overall exploded view of this application; Figure 7 Partial explosion for this application Figure 1 ; Figure 8 Partial explosion for this application Figure 2 ; Fig. 9 Partial explosion for this application Figure 3 ; Fig.10 This is the appearance structure diagram of this application.

[0027] Description of the numbers in the figure: 1. Lifting seat; 2. Lifting cylinder; 3. First bearing; 4. Second bearing; 5. Turntable; 6. Through hole; 7. Permanent magnet bracket; 8. Driving assembly; 9. Fixed seat; 10. Cylinder; 11. Piston; 12. Balance bar; 13. Linear guide; 14. Fixed block; 15. Base; 16. Junction box; 17. Motor fixing plate; 18. Linear motor; 19. Guide column; 20. Encoder fixing ring; 21. Encoder. DETAILED DESCRIPTION

[0028] Three embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0029] Example 1 like Figures 1 to 10 As shown, this embodiment relates to an embedded integrated displacement platform, which is mainly used for high-precision mechanical displacement control. The displacement platform includes a controller and a lifting seat 1. A lifting cylinder 2 is fixedly connected to the inside of the lifting seat 1. A first bearing 3 and a second bearing 4 are fixedly connected to the inner wall of the lifting cylinder 2 for stabilizing and supporting the rotational motion of a turntable 5.

[0030] The turntable 5 is fixedly installed in the lifting cylinder 2 by means of the first bearing 3 and the second bearing 4 to ensure that it remains stable during lifting and rotation. A through hole 6 is opened on the turntable 5, and the through hole 6 runs through the overall structure of the turntable 5 to reduce weight and increase the air flow channel. The outer end of the turntable 5 near the bottom is fixedly connected to a permanent magnet bracket 7, and a plurality of permanent magnets are installed on the permanent magnet bracket 7. These permanent magnets are evenly distributed around the axis of the permanent magnet bracket 7 to ensure that the turntable 5 generates a uniform magnetic field when rotating.

[0031] A driving assembly 8 is fixedly connected to the inner wall of the lifting cylinder 2 at a position corresponding to the permanent magnet bracket 7. The driving assembly 8 includes a driving coil, which can generate electromagnetic force when powered on to drive the permanent magnet bracket 7 to drive the turntable 5 to rotate and lift.

[0032] The outer end of the lifting seat 1 is slidably connected to a symmetrically arranged fixed seat 9. The design of the fixed seat 9 makes the structure of the lifting platform more stable. The end of the fixed seat 9 away from the lifting tube 2 is fixedly connected to a cylinder 10. A piston 11 is slidably connected inside the cylinder 10. The top end of the piston 11 penetrates the cylinder 10 upward and is connected to the balance rod 12 through threads.

[0033] The balance bar 12 is fixedly connected with fiber Bragg gratings in the horizontal and vertical directions. These fiber Bragg gratings are electrically connected to the controller for real-time detection and feedback of stress changes of the balance bar 12. The piston 11 is made of piezoelectric material and is electrically connected to the controller for accurately adjusting its position according to the control signal.

[0034] An acceleration sensor is also fixedly connected inside the turntable 5, and the acceleration sensor is electrically connected to the controller to monitor the acceleration changes of the turntable 5 during the movement in real time to ensure the stability of the platform. The lifting seat 1 and the fixed seat 9 are fixedly connected by a linear guide 13. A slide bar made of piezoelectric material is provided in the linear guide 13. The slide bar is electrically connected to the controller to monitor and adjust the moving trajectory of the lifting seat 1 to ensure its straightness.

[0035] Working process During use, the controller first controls the driving component 8 to be energized according to the required displacement and rotation angle. The driving coil in the driving component 8 generates electromagnetic force, which interacts with the permanent magnet on the permanent magnet bracket 7 to drive the turntable 5 to rotate. At the same time, the cylinder 10 pushes the balance rod 12 to perform lifting and lowering movements through the piston 11, and the turntable 5 achieves stable lifting and lowering in the lifting cylinder 2 through the first bearing 3 and the second bearing 4.

[0036] During the lifting and rotation process, the fiber Bragg grating detects the stress changes of the balance bar 12 in real time and feeds back to the controller. The controller adjusts the working parameters of the drive assembly 8 and the cylinder 10 according to the feedback signal to ensure smooth and vibration-free movement of the entire platform.

[0037] The acceleration sensor monitors the acceleration changes of the turntable 5. If an abnormal acceleration change is detected, the controller will immediately adjust the working status of the drive component 8 and the cylinder 10 to ensure the stability of the platform. At the same time, the slider monitors the movement trajectory of the lifting seat 1 in real time. If a deviation from the linear guide rail 13 is detected, the controller will correct the movement path by adjusting the position of the slider.

[0038] High-precision displacement control, through the precise control of the piezoelectric material piston 11 and the balance rod 12, combined with the stress detection of the fiber Bragg grating, the displacement platform can achieve high-precision lifting and rotation control to meet the requirements of precision machining and detection.

[0039] The turntable 5 is highly stable and is supported by the first bearing 3 and the second bearing 4 and real-time monitoring by the acceleration sensor, thereby ensuring that the turntable 5 remains stable during the rotation and lifting process, and reducing vibration and error during movement.

[0040] Intelligent control: the controller integrates position signals, stress signals and acceleration signals, and can adjust the working status of the drive component 8 and the cylinder 10 in real time, realize intelligent closed-loop control, and improve the reliability and response speed of the system.

[0041] The structure is compact, and the platform design adopts an embedded structure. All key components such as the turntable 5, the lifting cylinder 2, the drive assembly 8, etc. are tightly integrated together, saving space, making the entire system more compact and suitable for use in limited space.

[0042] Strong durability, using high-quality materials such as piezoelectric materials and fiber Bragg gratings, enables the displacement platform to maintain stable performance during long-term use and extend its service life.

[0043] Example 2 like Figures 1 to 10 As shown, based on Example 1, Example 2 further optimizes and improves the structure and function of the embedded integrated displacement platform, so that it has higher precision and more stable performance.

[0044] In this embodiment, the guiding direction of the linear guide 13 is parallel to the axial direction of the cylinder 10, ensuring the accuracy and stability of the lifting movement. The outer end of the cylinder 10 is fixedly connected to the top of the fixed seat 9 through the fixed block 14, further enhancing the connection strength between the cylinder 10 and the fixed seat 9, and reducing the vibration and displacement error of the cylinder 10 during operation.

[0045] In addition, the cylinder 10 adopts a double-acting cylinder design, that is, the cylinder 10 can exert force in two directions, which enables the displacement platform to have better control and response speed during the lifting process. The bottom end of the fixed seat 9 is fixedly connected to the base 15, and the base 15 provides a more stable support structure. The outer ends of the lifting seat 1 and the base 15 are fixedly connected to the same junction box 16, which is used to uniformly manage and distribute various electrical connections, simplifying the wiring of the platform and improving the overall reliability and maintainability of the system.

[0046] On this basis, the outer end of the lifting cylinder 2 is fixedly connected to a symmetrically arranged motor fixing plate 17, and the end of the motor fixing plate 17 away from the lifting cylinder 2 is fixedly connected to the moving part of the linear motor 18, so that the linear motor 18 can control the lifting movement more accurately, and the fixed part of the linear motor 18 is fixedly connected to the end of the fixing seat 9 close to the lifting seat 1, ensuring the stability and movement accuracy of the entire motor system.

[0047] The driving assembly 8 includes an insulating ring, in which a driving coil is fixedly connected. The driving coil interacts with the permanent magnet on the permanent magnet bracket 7 to accurately drive the turntable 5 to rotate and lift. In order to further improve the accuracy and controllability of the system, a guide column 19 is fixedly connected to the base 15 at the corresponding position of the bottom end of the turntable 5. The guide column 19 is a hollow structure, and its outer end is a spline structure. The outer end of the guide column 19 is slidably connected to an encoder fixing ring 20, and the top of the encoder fixing ring 20 is fixedly connected to an encoder 21, and the bottom end of the turntable 5 is fixedly connected to an encoding disk that matches the encoder 21. Through this design, the encoder 21 can accurately detect the rotation position and angle of the turntable 5 and provide real-time position signal feedback.

[0048] Both ends of the cylinder 10 are fixedly connected with solenoid valves, which are connected to the external air supply system. The inner wall of the cylinder 10 near the top and bottom ends are fixedly connected with air pressure sensors for real-time detection of pressure changes in the cylinder 10. These air pressure sensors, solenoid valves, drive components 8, linear motors 18 and encoders 21 are all electrically connected to the controller to achieve precise closed-loop control through the controller.

[0049] The controller includes multiple modules, among which the motion control module adopts a motion control chip, can support multiple control modes, and communicate with the encoder interface module and the driver interface module to realize closed-loop control of the entire system. The encoder interface module adopts an encoder interface circuit, supports multiple types of encoders, processes the signal of the encoder 21, and transmits the processed position signal, speed and other information to the motion control module.

[0050] The driver interface module adopts a driver interface circuit, supports multiple types of drivers, and can convert the control instructions of the motion control module into drive signals to drive the drive component 8 and the linear motor 18 to operate. The air pressure control module is electrically connected to the air pressure sensor and the solenoid valve. Through the closed-loop control algorithm, the pressure balance and smooth lifting of the turntable 5 can be achieved.

[0051] In addition, the network communication module of the controller supports the industrial Ethernet protocol, can realize data communication with other devices, support the coordinated control and remote monitoring and diagnosis of multiple displacement platforms, the stress detection module is used to judge the stress change according to the change of the fiber Bragg grating signal, and the locking module is used to control the piston 11 to realize the locking operation of the cylinder 10.

[0052] Working process First, the controller adjusts the working status of the drive assembly 8 and the linear motor 18 according to the input control instructions. Since the linear guide 13 is parallel to the axial direction of the cylinder 10, the lifting seat 1 can move more smoothly along the linear guide 13 during the lifting process, reducing the deviation in movement. The cylinder 10 has a double-acting design and can provide stronger force feedback and control during the lifting process, ensuring the precise positioning of the lifting seat 1.

[0053] At the same time, the linear motor 18 realizes precise control of the lifting and lowering movement through the driving structure fixed on the motor fixing plate 17. The encoder 21 detects the rotation position of the turntable 5 in real time and transmits the position signal to the controller. The controller makes real-time adjustments based on these signals to ensure the accuracy of the turntable 5 during the rotation and lifting process.

[0054] During the lifting and rotation process, the air pressure sensor monitors the pressure changes in the cylinder 10 in real time and transmits the pressure signal to the air pressure control module. The air pressure control module adjusts the opening of the solenoid valve according to these signals to achieve pressure balance in the cylinder 10, ensuring that the turntable 5 remains stable during the lifting process.

[0055] The entire system communicates data with other devices through the network communication module, realizes the coordinated control of multiple displacement platforms, and can realize real-time monitoring and diagnosis of the system operation status through the remote monitoring module. The stress detection module monitors the stress state of the balance bar 12 in real time according to the changes in the fiber Bragg grating signal to ensure that the platform is evenly stressed during operation and avoid structural damage caused by excessive stress.

[0056] Enhanced control accuracy: Since the linear guide 13 is parallel to the axis of the cylinder 10, the lifting movement is smoother and more accurate, further improving the control accuracy of the platform.

[0057] Higher stability: the cylinder 10 adopts a double-acting design, which can provide more stable force feedback during the lifting process. Combined with the closed-loop control of the solenoid valve and the air pressure sensor, it ensures the balance and stability of the turntable 5 during the movement.

[0058] With regard to the extended functionality, the second embodiment improves the position signal detection accuracy of the turntable 5 by adding an encoder 21 and a guide column 19, thereby ensuring the high-precision positioning capability of the platform under complex working conditions.

[0059] Improved system integration, through the junction box 16 to uniformly manage electrical connections, simplifies system wiring, makes the system more concise and easy to maintain, and improves overall reliability.

[0060] Intelligent monitoring and diagnosis, and the introduction of network communication modules enable the platform to work in coordination with other devices and support remote monitoring and diagnosis, thus improving the intelligence level and management efficiency of the system.

[0061] Efficient stress management: through real-time monitoring of the stress detection module, the platform can timely adjust the stress state of each part during operation, avoid structural damage, and increase the service life of the system.

[0062] Example 3 like Figures 1 to 10 As shown, based on Example 1 and Example 2, Example 3 further proposes a control method for an embedded integrated displacement platform, which enables more precise control and real-time monitoring of the platform during operation, further improving the performance and stability of the system.

[0063] S1, collecting the position signal of the encoder 21 through the encoder interface module, and transmitting the position signal to the motion control module; S2, the motion control module calculates the position deviation and compensation torque according to the received position signal, stress signal and preset target position, and calculates the speed command and current command according to the position deviation; S3, sending the speed command and the current command to the drive assembly 8 and the linear motor 18 through the driver interface module to control the rotation and lifting motion of the turntable 5; S4, continuously collecting the position signal of the encoder 21 through the encoder interface module, and feeding back the real-time position signal to the motion control module to achieve closed-loop control; S5, continuously collecting the pressure signal in the cylinder 10 through the air pressure sensor, and transmitting the pressure signal to the air pressure control module; S6, the stress detection module determines the stress changes in the vertical and horizontal directions of each balance bar 12 according to the changes in the fiber Bragg grating signal, and transmits the stress signal to the air pressure control module, the motion control module and the locking module; S7, the air pressure control module adjusts the pressure in the cylinder 10 by controlling the opening of the solenoid valve according to the received pressure signal and the preset pressure balance value, so as to achieve force balance of the turntable 5 during the lifting process; S8, the locking module determines whether locking is required based on the position signal and the stress signal, and when locking is required, energizes the piston 11 so that the piston 11 is squeezed and locked with the inner wall of the cylinder 10; S9, during the relative movement of the lifting seat 1 and the fixed seat 9, the slide bar 22 in the linear guide rail 13 monitors the pitch and roll of the lifting seat 1 relative to the fixed seat 9 in real time; S10, the acceleration sensor monitors the acceleration change of the turntable 5 in real time during the rotation process, and when it is detected that the vibration of the turntable 5 exceeds the threshold, the user is reminded to perform a dynamic balance check on the rotating part; S9. Data communication is carried out with other devices through the network communication module to realize the coordinated control and remote monitoring and diagnosis of multiple displacement platforms.

[0064] First, the position signal of the encoder 21 installed at the bottom of the turntable 5 is collected through the encoder interface module of the controller. The encoder 21 and the turntable 5 are precisely coupled through the encoding disk, and the rotational position information of the turntable 5 can be obtained in real time. The encoder interface module transmits the collected position signal to the motion control module as the basic data for motion control.

[0065] The motion control module calculates the current position deviation and compensation torque based on the received position signal of the encoder 21, the stress signal provided by the fiber Bragg grating and the preset target position. Subsequently, the motion control module further generates corresponding speed instructions and current instructions based on the calculated position deviation. These instructions are sent to the drive component 8 and the linear motor 18 through the driver interface module, thereby controlling the rotation and lifting movements of the turntable 5.

[0066] During the entire movement process, the encoder interface module continuously collects the position signal of the encoder 21 and feeds back the real-time position signal to the motion control module. This closed-loop control mechanism ensures the operation accuracy of the platform, allowing the turntable 5 to accurately reach the preset target position and remain stable during the movement.

[0067] At the same time, the air pressure sensor continuously collects pressure signals in the cylinder 10 and transmits these signals to the air pressure control module. The air pressure control module adjusts the pressure in the cylinder 10 by adjusting the opening of the solenoid valve connected to both ends of the cylinder 10 according to the received pressure signals and the preset pressure balance value, thereby ensuring the force balance of the turntable 5 during the lifting process. This process achieves smooth movement of the turntable 5 without jitter or deviation during the lifting process through the design of the double-acting cylinder 10.

[0068] The stress detection module determines the stress changes of each balance bar 12 in the vertical and horizontal directions by monitoring the signal changes of the fiber Bragg grating installed on the balance bar 12, and transmits these stress signals to the air pressure control module, the motion control module and the locking module respectively. The locking module determines whether a locking operation is required based on the received stress signal and the position signal of the encoder 21. When it is detected that locking is required, the locking module energizes the piston 11 to make the piston 11 squeeze and contact with the inner wall of the cylinder 10 to achieve the locking operation, thereby ensuring that the turntable 5 remains fixed in certain specific operations.

[0069] During the relative movement of the lifting seat 1 and the fixed seat 9, the slide bar installed in the linear guide rail 13 monitors the pitch and roll of the lifting seat 1 relative to the fixed seat 9 in real time, and transmits the detected data to the controller. The controller adjusts the operating state of the system in time according to the data to ensure the stability and accuracy of the lifting seat 1 during the movement.

[0070] In addition, during the rotation of the turntable 5, the acceleration sensor monitors the acceleration changes of the turntable 5 in real time. When the acceleration sensor detects that the vibration of the turntable 5 exceeds the set threshold, the controller will remind the user to perform a dynamic balance check to avoid mechanical failure or accuracy loss due to excessive vibration.

[0071] Finally, through the network communication module, the embedded integrated displacement platform can communicate data with other devices to achieve coordinated control of multiple displacement platforms. This approach not only improves the overall efficiency of the system, but also supports remote monitoring and diagnosis functions, facilitating equipment maintenance and management.

[0072] Working process Data collection and preliminary calculation: The position signal of the encoder 21 is collected through the encoder interface module and transmitted to the motion control module.

[0073] The motion control module calculates the position deviation and compensation torque according to the position signal, stress signal and target position, and generates speed command and current command.

[0074] Drive and motion control: The speed command and current command are sent to the drive component 8 and the linear motor 18 through the driver interface module to control the rotation and lifting motion of the turntable 5.

[0075] The position signal of the encoder 21 is continuously collected through the encoder interface module and fed back to the motion control module to achieve closed-loop control.

[0076] Pressure and stress monitoring: The air pressure sensor collects the pressure signal in the cylinder 10 in real time and transmits it to the air pressure control module.

[0077] The air pressure control module adjusts the opening of the solenoid valve, controls the pressure in the cylinder 10, and ensures the smooth lifting and lowering of the turntable 5.

[0078] The stress detection module monitors the stress change of the balance bar 12 and transmits the stress signal to the relevant modules.

[0079] Locking and safety monitoring: The locking module determines whether to lock according to the stress signal and the position signal, and energizes the control piston 11 to achieve locking when necessary.

[0080] The slider monitors the pitch and roll of the lifting seat 1 in real time to ensure the movement accuracy.

[0081] The acceleration sensor monitors the vibration of the turntable 5 and reminds the user to perform a calibration when the vibration exceeds a threshold.

[0082] Remote monitoring and collaborative control: Collaborative control, remote monitoring and diagnosis of multiple displacement platforms are achieved through network communication modules.

[0083] High-precision closed-loop control ensures high-precision positioning of the turntable 5 during rotation and lifting through the real-time position signal feedback of the encoder 21 and the closed-loop control mechanism, greatly improving the operating accuracy of the platform.

[0084] Smooth motion control, precise regulation of the pressure in the cylinder 10 by the air pressure control module, combined with the design of the double-acting cylinder 10, enables the turntable 5 to maintain force balance during the lifting process, reducing jitter and deviation during movement.

[0085] Intelligent stress management: The stress detection module can monitor the stress state of the balance bar 12 in real time. Combined with the intelligent control of the locking module, it ensures the stability and safety of the system during operation and prevents damage to mechanical components.

[0086] Vibration monitoring and correction: The acceleration sensor can monitor the vibration state of the turntable 5 in real time and remind you to perform dynamic balance verification when the threshold is exceeded, effectively avoiding accuracy problems and mechanical failures caused by vibration.

[0087] The system's collaboration and remote management, as well as the collaborative control and remote monitoring and diagnosis functions realized through the network communication module, have greatly improved the system's management efficiency and maintenance convenience, enabling multiple displacement platforms to work collaboratively in a complex industrial environment and improve overall work efficiency.

[0088] The precise locking function allows the locking module to quickly lock the turntable 5 when necessary based on the real-time monitored stress and position signals, ensuring its stability in specific operations and providing protection for high-precision operations.

[0089] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. An embedded integrated displacement platform, characterized in that: The invention comprises a controller and a lifting seat (1), wherein a lifting cylinder (2) is fixedly connected inside the lifting seat (1), a first bearing (3) and a second bearing (4) are fixedly connected to the inner wall of the lifting cylinder (2), a turntable (5) is fixedly connected to the inner wall of the first bearing (3) and the second bearing (4), a through hole (6) is provided inside the turntable (5), the through hole (6) passes through the turntable (5), a permanent magnet bracket (7) is fixedly connected to the outer end of the turntable (5) near the bottom end, a plurality of permanent magnets are fixedly connected to the permanent magnet bracket (7), and the plurality of permanent magnets are evenly distributed around the axis of the permanent magnet bracket (7), a driving assembly (8) is fixedly connected to the inner wall of the lifting cylinder (2) and the permanent magnet bracket (7) at corresponding positions, and a symmetrically arranged fixing seat (9) is slidably connected to the outer end of the lifting seat (1), the fixing seat (9) is symmetrically connected to the outer end of the lifting seat (1), and the fixing seat (9) is symmetrically connected to the inner wall of the lifting cylinder (2). The seat (9) is fixedly connected to an end away from the lifting cylinder (2) with a cylinder (10), and a piston (11) is slidably connected inside the cylinder (10). The top end of the piston (11) passes through the cylinder (10) upward, and a balance rod (12) is threadedly connected to the penetrating portion. Fiber Bragg gratings are fixedly connected to the balance rod (12) in both the horizontal and vertical directions, and the fiber Bragg gratings are electrically connected to a controller. The piston (11) is made of piezoelectric material, and the piston (11) is electrically connected to the controller. An acceleration sensor is fixedly connected to the turntable (5), and the acceleration sensor is electrically connected to the controller. A linear guide rail (13) is fixedly connected between the lifting seat (1) and the fixed seat (9), and a slide bar made of piezoelectric material is provided inside the linear guide rail (13), and the slide bar is electrically connected to the controller.

2. The embedded integrated displacement platform according to claim 1, characterized in that: The guiding direction of the linear guide rail (13) is parallel to the axial direction of the cylinder (10), and the outer end of the cylinder (10) is fixedly connected to the top end of the fixing seat (9) via a fixing block (14).

3. The embedded integrated displacement platform according to claim 1, characterized in that: The cylinder (10) is a double-acting cylinder; the bottom end of the fixed seat (9) is fixedly connected to a base (15); the outer ends of the lifting seat (1) and the base (15) are fixedly connected to the same junction box (16).

4. The embedded integrated displacement platform according to claim 1, characterized in that: A symmetrically arranged motor fixing plate (17) is fixedly connected to the outer end of the lifting cylinder (2); the symmetrically arranged motor fixing plate (17) is fixedly connected to the moving part of the linear motor (18) at one end away from the lifting cylinder (2).

5. The embedded integrated displacement platform according to claim 4, characterized in that: The fixed part of the linear motor (18) is fixedly connected to one end of the fixed seat (9) close to the lifting seat (1), and the driving component (8) comprises an insulating ring, and a driving coil is fixedly connected inside the insulating ring.

6. The embedded integrated displacement platform according to claim 3, characterized in that: A guide column (19) is fixedly connected to the base (15) at a corresponding position on the bottom end of the turntable (5); the guide column (19) is a hollow structure; the outer end of the guide column (19) is a spline structure; and the outer end of the guide column (19) is slidably connected to an encoder fixing ring (20).

7. The embedded integrated displacement platform according to claim 6, characterized in that: The top end of the encoder fixing ring (20) is fixedly connected to an encoder (21), and the bottom end of the turntable (5) is fixedly connected to an encoding disk that matches the encoder (21).

8. The embedded integrated displacement platform according to claim 7, characterized in that: Both ends of the cylinder (10) are fixedly connected to electromagnetic valves, and the electromagnetic valves are connected to an external air supply system. The inner walls of the cylinder (10) close to the top and bottom ends thereof are fixedly connected to air pressure sensors. The air pressure sensor, the electromagnetic valve, the drive assembly (8), the linear motor (18) and the encoder (21) are all electrically connected to a controller.

9. The embedded integrated displacement platform according to claim 1, characterized in that: The controller includes a motion control module, an encoder interface module, a driver interface module, an air pressure control module, a network communication module, a stress detection module and a locking module; The motion control module uses a motion control chip, integrates multiple motion control channels, supports multiple control modes, communicates with the encoder interface module and the driver interface module, and realizes closed-loop control; The encoder interface module uses an encoder interface circuit, supports multiple types of encoders, processes encoder (21) signals, and transmits position, speed and other information to the motion control module; The driver interface module adopts a driver interface circuit, supports multiple types of drivers, converts the control instructions of the motion control module into driver signals, and controls the operation of the drive component (8) and the linear motor (18); The air pressure control module is electrically connected to the air pressure sensor and the solenoid valve, and achieves pressure balance and smooth lifting and lowering of the turntable (5) through a closed-loop control algorithm; The network communication module supports the industrial Ethernet protocol, realizes data communication with other devices, and supports the coordinated control and remote monitoring and diagnosis of multiple displacement platforms; The stress detection module is used to determine stress changes according to changes in fiber Bragg grating signals; The locking module is used to control the piston (11).

10. A control method for an embedded integrated displacement platform according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, collecting the position signal of the encoder (21) through the encoder interface module, and transmitting the position signal to the motion control module; S2, the motion control module calculates the position deviation and compensation torque according to the received position signal, stress signal and preset target position, and calculates the speed command and current command according to the position deviation; S3, sending the speed command and the current command to the drive component (8) and the linear motor (18) through the driver interface module to control the rotation and lifting movement of the turntable (5); S4, continuously collecting the position signal of the encoder (21) through the encoder interface module, and feeding back the real-time position signal to the motion control module to achieve closed-loop control; S5, continuously collecting the pressure signal in the cylinder (10) through the air pressure sensor, and transmitting the pressure signal to the air pressure control module; S6, the stress detection module determines the stress changes in the vertical and horizontal directions of each balance bar (12) according to the changes in the fiber Bragg grating signal, and transmits the stress signal to the air pressure control module, the motion control module and the locking module; S7, the air pressure control module adjusts the pressure in the cylinder (10) by controlling the opening of the solenoid valve according to the received pressure signal and the preset pressure balance value, so as to achieve force balance of the turntable (5) during the lifting process; S8, the locking module determines whether locking is required based on the position signal and the stress signal, and when locking is required, energizes the piston (11) so that the piston (11) and the inner wall of the cylinder (10) are squeezed and locked; S9, during the relative movement of the lifting seat (1) and the fixed seat (9), the slide bar in the linear guide rail (13) monitors the pitch and roll of the lifting seat (1) relative to the fixed seat (9) in real time; S10, the acceleration sensor monitors the acceleration change of the turntable (5) in real time during the rotation process, and when it is detected that the vibration of the turntable (5) exceeds a threshold value, reminds the user to perform a dynamic balance check on the rotating part; S11. Data communication is carried out with other devices through the network communication module to realize the coordinated control and remote monitoring and diagnosis of multiple displacement platforms.

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