An in-line integrated displacement platform

Abstract

The application relates to an embedded integrated displacement platform applied to the technical field of displacement platforms, and aims to realize high-precision displacement and rotation control, the platform comprising an encoder, a motion control module, a cylinder, a linear motor, a fiber Bragg grating, a gas pressure sensor, an acceleration sensor and related control modules, through real-time position signal feedback and closed-loop control of the encoder, the system can accurately control rotation and lifting movement of the turntable, the cylinder adopts a double-acting design, stable lifting movement is realized in combination with the gas pressure sensor, shaking and deviation are avoided, the fiber Bragg grating is combined with a stress detection module, real-time stress monitoring and intelligent locking functions are realized, the structure safety is ensured, the acceleration sensor is used for monitoring turntable vibration and performing dynamic balance checking, and the long-term stability of the system is improved, and the displacement platform has the advantages of high precision, strong stability and intelligent 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 field of displacement platform technology. Background Technology

[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 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, uncoupled, hollow parallel piezoelectric micro-motion platform. This platform achieves two translational movements and one rotation of the moving platform through the coordinated control of multiple sets of drive units and sensor components. The advantages of this design are its compact structure, high natural frequency, absence of parasitic displacement, and ability to integrate capacitive displacement sensors. However, this platform may still face complex control requirements during large-stroke motion, and its large hollow structure may limit the 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. This invention achieves fully decoupled motion in both the X and Y directions through flexible hinges and a decoupling structure, solving the problem of two-degree-of-freedom motion coupling in traditional platforms. However, because this design mainly relies on the structural characteristics of the flexible hinge, it may face inconsistencies in dynamic performance and fatigue wear when carrying large objects or using it for extended periods, affecting the overall stability and lifespan of the platform. While the above designs have solved the accuracy and coupling problems of displacement platforms to some extent, they still have certain limitations, such as complex structure, high control difficulty, significant differences in dynamic performance, and insufficient stability and durability. Therefore, the market urgently needs an innovative displacement platform with a more compact structure, simpler control, stronger stability, and the ability to achieve high-precision displacement and rotation control. Summary of the Invention

[0005] To address the shortcomings of the existing technologies, this invention aims to provide an embedded integrated displacement platform to solve the problems of complex structure, poor stability, and high control difficulty of current displacement platforms in high-precision motion control.

[0006] To address the aforementioned problems, this invention provides an embedded integrated displacement platform, comprising a controller and a lifting base. A lifting cylinder is fixedly connected within the lifting base. 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 walls of the first and second bearings. A through hole is formed within the turntable, penetrating the turntable. A permanent magnet bracket is fixedly connected to the outer end of the turntable near its bottom. Multiple permanent magnets are fixedly connected to the permanent magnet bracket, and these permanent magnets are evenly distributed around the axis of the permanent magnet bracket. A drive assembly is fixedly connected to the inner wall of the lifting cylinder at a position corresponding to the permanent magnet bracket. A symmetrically designed... The system has a fixed base, with a cylinder fixedly connected to the end of the fixed base away from the lifting cylinder. A piston is slidably connected inside the cylinder, with the top of the piston penetrating the cylinder and threadedly connected to a balance bar. Fiber Bragg gratings are fixedly connected to the balance bar in both the horizontal and vertical directions, and both fiber Bragg gratings are electrically connected to the controller. The piston is made of piezoelectric material and is electrically connected to the controller. An acceleration sensor is fixedly connected inside the turntable and is electrically connected to the controller. A linear guide rail is fixedly connected between the lifting base and the fixed base, and a slide bar made of piezoelectric material is installed inside the linear guide rail, which is electrically connected to the controller.

[0007] In the aforementioned embedded integrated displacement platform, the design of using a double-acting cylinder and linear guide rail, combined with high-precision sensors such as fiber Bragg gratings, accelerometers, and encoders, enables real-time monitoring and closed-loop control of the platform's motion. This platform not only achieves precise in-plane rotation and lifting movements, but also ensures high stability and durability in various working environments through intelligent stress management and locking mechanisms.

[0008] As a further improvement of this 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 direction of the cylinder axis, and the outer end of the cylinder is fixedly connected to the top of the fixed seat through a fixing block.

[0009] As a further improvement of this application, the cylinder is a double-acting cylinder, with a base fixedly connected to the bottom of the fixed seat, and the same junction box fixedly connected to the outer ends of the lifting seat and the base.

[0010] As a further improvement of this application, a symmetrically arranged motor fixing plate is fixedly connected to the outer end of the lifting cylinder, and the end of the symmetrically arranged motor fixing plate away from the lifting cylinder is fixedly connected to the linear motor moving part.

[0011] As another improvement of this application, the linear motor fixing part is fixedly connected to the fixed seat near the lifting seat end, and the drive assembly includes an insulating ring, in which a drive coil is fixedly connected.

[0012] As a further improvement to this application, a guide post is fixedly connected to the bottom of the base and the turntable at the corresponding positions. The guide post has a hollow structure, and the outer end of the guide post has a spline structure. An encoder retaining ring is slidably connected to the outer end of the guide post.

[0013] As a further improvement to this application, an encoder is fixedly connected to the top of the encoder retaining ring, and an encoder disk that cooperates with the encoder is fixedly connected to the bottom of the turntable.

[0014] As another improvement of this application, solenoid valves are fixedly connected to both ends of the cylinder, and the solenoid valves are connected to an external air supply system. Pressure sensors are fixedly connected to the inner walls of the cylinder near its top and bottom ends. The pressure sensors, solenoid valves, drive components, linear motors and encoders are all electrically connected to the controller.

[0015] The controller includes a motion control module, an encoder interface module, a driver interface module, a pneumatic 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 an encoder interface circuit, supports multiple types of encoders, processes encoder signals, and transmits position, speed and other information to the motion control module. The driver interface module uses a driver interface circuit, supports multiple types of drivers, and converts the control commands of the motion control module into driver signals to control the operation of the drive components and linear motor. The air pressure control module is electrically connected to the air pressure sensor and solenoid valve, and achieves pressure balance and smooth lifting of the turntable through a closed-loop control algorithm; The network communication module supports the industrial Ethernet protocol, enabling data communication with other devices and supporting collaborative control and remote monitoring and diagnostics of multiple displacement platforms; The stress detection module is used to determine stress changes based on changes in the fiber Bragg grating signal; The locking module is used to control the piston.

[0016] A control method for an embedded integrated displacement platform includes the following steps: S1. Acquire 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 based on the received position signal, stress signal and preset target position, and calculates the speed command and current command based on the position deviation. S3. The speed command and current command are sent to the drive component and linear motor through the driver interface module to control the rotation and lifting motion of the turntable; S4. The encoder position signal is continuously acquired through the encoder interface module, and the real-time position signal is fed back to the motion control module to realize closed-loop control. S5. Continuously collect the pressure signal inside the cylinder through the air pressure sensor and transmit 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 based on the changes in the fiber Bragg grating signal, and transmits the stress signal to the pneumatic control module, motion control module and locking module. S7. The air pressure control module adjusts the pressure in the cylinder by controlling the opening of the solenoid valve based on the received pressure signal and the preset pressure balance value, so as to achieve the force balance of the turntable during the lifting process. S8. The locking module determines whether locking is required based on the position signal and stress signal. When locking is required, it powers the piston to press and lock the piston against 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 sway of the lifting seat relative to the fixed seat in real time. S10. During the rotation of the turntable, the acceleration sensor monitors the change of the turntable acceleration in real time. When the vibration of the turntable exceeds the threshold, the user is reminded to perform dynamic balance verification on the rotating part. S11. Through the network communication module, data communication is carried out with other devices to realize the coordinated control and remote monitoring and diagnosis of multiple displacement platforms.

[0017] 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 command and current command to drive the components and linear motor to perform precise motion operations. This closed-loop control mechanism ensures high-precision positioning of the displacement platform during use.

[0018] 2. Smooth lifting and lowering motion: The cylinder adopts a double-acting design, which can provide bidirectional force feedback during the lifting and lowering 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 motion, avoiding the shaking or deviation problems caused by uneven force that may occur in traditional single-acting cylinders.

[0019] 3. Stress management and structural safety: By integrating a fiber Bragg grating into 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 pneumatic 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, preventing excessive stress from causing mechanical damage, thereby improving the safety and durability of the structure.

[0020] 4. Precise linear motion and trajectory control: The guiding direction of the linear guide is parallel to the axis of the cylinder, and a slide bar made of piezoelectric material is set inside it. Through real-time monitoring and feedback, the system can precisely control the linear motion trajectory of the lifting seat, avoiding the trajectory deviation problem in traditional linear guide systems and improving the overall motion accuracy.

[0021] 5. Intelligent locking function: Based on real-time collected stress and position signals, the locking module can, when necessary, energize the piston to achieve compression and locking between the piston and the inner wall of the cylinder, ensuring stability in specific operations. This function is particularly suitable for operation scenarios that require precise fixation, providing additional protection for high-precision displacement operations.

[0022] 6. Vibration monitoring and correction: The accelerometer can monitor the acceleration changes of the turntable in real time. When the vibration of the turntable exceeds the set threshold, the system will remind the user to perform dynamic balance verification. Through timely vibration monitoring and correction, the system can avoid the decrease in accuracy or mechanical failure caused by vibration, thereby improving the long-term stability and accuracy maintenance capability of the system.

[0023] 7. Integrated structural design and wiring management: This patented design fully considers the integration and ease of maintenance of the equipment. A junction box centrally manages the electrical connections of the lifting platform and base, simplifying internal wiring, reducing potential cable clutter and connection instability issues, and improving system reliability and maintenance convenience. 8. Remote monitoring and collaborative control capabilities: The introduction of a network communication module enables this displacement platform to communicate with other devices, supporting collaborative control of multiple displacement platforms and providing remote monitoring and diagnostic functions. This not only improves the overall efficiency of the system but also makes equipment maintenance and management more intelligent, adapting to the intelligent and networked needs of modern industry. Attached Figure Description

[0024] Figure 1 This is a diagram illustrating the overall structure of this application; Figure 2 This is a front view of this application; Figure 3 For the purposes of this application Figure 2 Sectional view of AA; Figure 4 For the purposes of this application Figure 2 BB section view; Figure 5 For the purposes of this application Figure 3 CC section view; Figure 6 This is an exploded view of the entire application; Figure 7 For the local explosion of this application Figure 1 ; Figure 8 For the local explosion of this application Figure 2 ; Figure 9 For the local explosion of this application Figure 3 ; Figure 10 This is a structural diagram of the appearance of this application.

[0025] The following are the labels in the diagram: 1. Lifting seat; 2. Lifting cylinder; 3. First bearing; 4. Second bearing; 5. Turntable; 6. Through hole; 7. Permanent magnet bracket; 8. Drive assembly; 9. Fixed seat; 10. Cylinder; 11. Piston; 12. Balance bar; 13. Linear guide rail; 14. Fixing block; 15. Base; 16. Junction box; 17. Motor mounting plate; 18. Linear motor; 19. Guide column; 20. Encoder retaining ring; 21. Encoder. Detailed Implementation

[0026] The following describes three embodiments of this application in detail with reference to the accompanying drawings.

[0027] Example 1

[0028] 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 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 to stabilize and support the rotational movement of the turntable 5.

[0029] The turntable 5 is fixedly installed inside the lifting cylinder 2 by the first bearing 3 and the second bearing 4 to ensure that it remains stable during lifting and rotation. The turntable 5 is provided with a through hole 6, which runs through the entire structure of the turntable 5 to reduce weight and increase airflow channel. A permanent magnet bracket 7 is fixedly connected to the outer end of the turntable 5 near the bottom. Multiple 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.

[0030] On the inner wall of the lifting cylinder 2, at the position corresponding to the permanent magnet bracket 7, a drive assembly 8 is fixedly connected. The drive assembly 8 includes a drive coil, which can generate electromagnetic force when energized, driving the permanent magnet bracket 7 to rotate and lift the turntable 5.

[0031] The outer end of the lifting platform 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 cylinder 2 is fixedly connected to a cylinder 10. A piston 11 is slidably connected inside the cylinder 10. The top of the piston 11 passes through the cylinder 10 upward and is connected to the balance rod 12 by a thread.

[0032] The balance bar 12 is fixedly connected with fiber Bragg gratings in both the horizontal and vertical directions. These fiber Bragg gratings are electrically connected to the controller to detect and provide feedback on stress changes of the balance bar 12 in real time. The piston 11 is made of piezoelectric material and is electrically connected to the controller to precisely adjust its position according to the control signal.

[0033] An acceleration sensor is also fixedly connected inside the turntable 5. The acceleration sensor is electrically connected to the controller to monitor the acceleration changes of the turntable 5 in real time during the movement, ensuring the stability of the platform. The lifting seat 1 and the fixed seat 9 are fixedly connected by a linear guide rail 13. The linear guide rail 13 is equipped with a slide bar made of piezoelectric material. The slide bar is electrically connected to the controller to monitor and adjust the movement trajectory of the lifting seat 1 to ensure its straightness.

[0034] Work process During use, the controller first controls the drive assembly 8 to be energized according to the required displacement and rotation angle. The drive coil in the drive assembly 8 generates electromagnetic force, which interacts with the permanent magnet on the permanent magnet bracket 7, driving the turntable 5 to rotate. At the same time, the cylinder 10 pushes the balance bar 12 to move up and down through the piston 11. The turntable 5 achieves stable up and down movement in the lifting cylinder 2 through the first bearing 3 and the second bearing 4.

[0035] During lifting and rotation, the fiber Bragg grating detects the stress changes of the balance bar 12 in real time and feeds them 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 that the entire platform moves smoothly without vibration.

[0036] An acceleration sensor monitors the acceleration changes of the turntable 5. If an abnormal acceleration change is detected, the controller will immediately adjust the working state of the drive assembly 8 and the cylinder 10 to ensure the stability of the platform. At the same time, the slide bar 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 slide bar.

[0037] High-precision displacement control, achieved through precise control of the piezoelectric piston 11 and balance bar 12, combined with stress detection of fiber Bragg grating, enables the displacement platform to achieve high-precision lifting and rotation control, meeting the requirements of precision machining and testing.

[0038] With high stability, the turntable 5, supported by the first bearing 3 and the second bearing 4, and monitored in real time by the acceleration sensor, ensures that the turntable 5 remains stable during rotation and lifting, reducing vibration and error during movement.

[0039] Intelligent control integrates position signals, stress signals, and acceleration signals, enabling real-time adjustment of the working state of drive component 8 and cylinder 10, achieving intelligent closed-loop control, and improving the system's reliability and response speed.

[0040] With a compact structure, the platform design adopts an embedded structure, and all key components such as turntable 5, lifting cylinder 2, and drive assembly 8 are tightly integrated together, saving space and making the whole system more compact, suitable for use in limited spaces.

[0041] Highly durable, the use of high-quality materials such as piezoelectric materials and fiber Bragg gratings ensures that the displacement platform maintains stable performance during long-term use, extending its service life.

[0042] Example 2

[0043] 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, giving it 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 motion. The outer end of the cylinder 10 is fixedly connected to the top of the fixed seat 9 through the fixing block 14, which further enhances the connection strength between the cylinder 10 and the fixed seat 9 and reduces the vibration and displacement error of the cylinder 10 during operation.

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

[0046] Based on this, a symmetrically arranged motor fixing plate 17 is fixedly connected to the outer end of the lifting cylinder 2. 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 motion more precisely. The fixed part of the linear motor 18 is fixedly connected to the end of the fixed seat 9 near the lifting seat 1, ensuring the stability and motion accuracy of the entire motor system.

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

[0048] Both ends of the cylinder 10 are fixedly connected to solenoid valves, which are connected to an external air supply system. Pressure sensors are fixedly connected to the inner wall of the cylinder 10 near the top and bottom ends to detect pressure changes in the cylinder 10 in real time. These 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.

[0049] The controller includes multiple modules. The motion control module uses a motion control chip, which 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 uses an encoder interface circuit, supports multiple types of encoders, processes the signals from the encoder 21, and transmits the processed position signals, speed and other information to the motion control module.

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

[0051] In addition, the controller's network communication module supports the industrial Ethernet protocol, enabling data communication with other devices, supporting collaborative control and remote monitoring and diagnosis of multiple displacement platforms, the stress detection module is used to determine stress changes based on changes in fiber Bragg grating signals, and the locking module is used to control piston 11 to achieve locking operation of cylinder 10.

[0052] Work process First, the controller adjusts the working state of the drive component 8 and the linear motor 18 according to the input control command. Since the linear guide rail 13 is parallel to the axis of the cylinder 10, the lifting seat 1 can move more smoothly along the linear guide rail 13 during the lifting process, reducing the deviation in motion. The cylinder 10, through its double-acting design, can provide stronger force feedback and control during the lifting process, ensuring the accurate positioning of the lifting seat 1.

[0053] Meanwhile, the linear motor 18 achieves precise control of the lifting motion through the drive structure fixed on the motor mounting 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 rotation and lifting.

[0054] During lifting and rotation, the air pressure sensor monitors the pressure changes inside 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 inside the cylinder 10, ensuring that the turntable 5 remains stable during lifting.

[0055] The entire system communicates with other devices via a network communication module, enabling coordinated control of multiple displacement platforms. The remote monitoring module allows for real-time monitoring and diagnosis of the system's operating status. The stress detection module monitors the stress state of the balance bar 12 in real time based on changes in the fiber Bragg grating signal, ensuring uniform stress distribution on the platform during operation and preventing structural damage caused by excessive stress.

[0056] Enhanced control precision is achieved because the linear guide 13 is parallel to the axis of the cylinder 10, resulting in smoother and more precise lifting movements and further improving the platform's control accuracy.

[0057] For enhanced stability, cylinder 10 employs a double-acting design, providing more stable force feedback during lifting and lowering. Combined with closed-loop control of the solenoid valve and air pressure sensor, it ensures the balance and stability of turntable 5 during movement.

[0058] To enhance functionality, Embodiment 2 adds encoder 21 and guide post 19, thereby improving the position signal detection accuracy of turntable 5 and ensuring the platform's high-precision positioning capability under complex working conditions.

[0059] Improved system integration, through unified management of electrical connections via junction box 16, simplifies system wiring, making the system more concise and easier to maintain, and enhancing overall reliability.

[0060] Intelligent monitoring and diagnostics, along with the introduction of a network communication module, enable the platform to work collaboratively with other devices and support remote monitoring and diagnostics, thereby improving the system's intelligence level and management efficiency.

[0061] Efficient stress management, through real-time monitoring by the stress detection module, enables the platform to adjust the stress state of each part in a timely manner during operation, avoiding structural damage and improving the service life of the system.

[0062] Example 3

[0063] like Figures 1 to 10 As shown, based on Embodiments 1 and 2, Embodiment 3 further proposes a control method for an embedded integrated displacement platform. This control method enables the platform to achieve more precise control and real-time monitoring during operation, further improving the system's performance and stability.

[0064] S1. The position signal of encoder 21 is acquired through the encoder interface module and transmitted to the motion control module; S2. The motion control module calculates the position deviation and compensation torque based on the received position signal, stress signal and preset target position, and calculates the speed command and current command based on the position deviation. S3. 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. S4. The encoder interface module continuously collects the position signal of the encoder 21 and feeds the real-time position signal back to the motion control module to achieve closed-loop control. S5. The pressure signal inside the cylinder 10 is continuously collected by the air pressure sensor and transmitted 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 based on the changes in the fiber Bragg grating signal, and transmits the stress signal to the pneumatic control module, motion control module and locking module. S7. The air pressure control module adjusts the pressure in 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 the 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 stress signal. When locking is required, it powers the piston 11 to press and lock the piston 11 against 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 in the linear guide rail 13 monitors the pitch and sway of the lifting seat 1 relative to the fixed seat 9 in real time. S10. During the rotation of the turntable 5, the acceleration sensor monitors the acceleration change of the turntable 5 in real time. When the vibration of the turntable 5 exceeds the threshold, the user is reminded to perform dynamic balance verification on the rotating part. S9. Through the network communication module, data communication with other devices is achieved to realize the coordinated control and remote monitoring and diagnosis of multiple displacement platforms.

[0065] First, the encoder interface module of the controller collects the position signal of the encoder 21 installed at the bottom of the turntable 5. The encoder 21 is precisely coupled to the turntable 5 through the encoder disk, which can obtain the rotation position information of the turntable 5 in real time. The encoder interface module transmits the collected position signal to the motion control module as the basic data for motion control.

[0066] The motion control module calculates the current position deviation and compensation torque based on the position signal received from the encoder 21, the stress signal provided by the fiber Bragg grating, and the preset target position. Subsequently, the motion control module generates corresponding speed and current commands based on the calculated position deviation. These commands are sent to the drive assembly 8 and the linear motor 18 through the driver interface module, thereby controlling the rotation and lifting motion of the turntable 5.

[0067] Throughout the entire motion 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 platform's operating accuracy, enabling the turntable 5 to accurately reach the preset target position and remain stable during the motion.

[0068] Meanwhile, the air pressure sensor continuously collects the pressure signal inside the cylinder 10 and transmits these signals to the air pressure control module. Based on the received pressure signal and the preset pressure balance value, the air pressure control module adjusts the pressure inside the cylinder 10 by adjusting the opening of the solenoid valves connected to both ends of the cylinder 10, ensuring the force balance of the turntable 5 during the lifting process. This process, through the design of the double-acting cylinder 10, achieves smooth movement of the turntable 5 without shaking or deviation during the lifting process.

[0069] The stress detection module monitors the signal changes of the fiber Bragg gratings installed on the balance bar 12 to determine the stress changes of each balance bar 12 in the vertical and horizontal directions, and transmits these stress signals to the pneumatic control module, motion control module and locking module respectively. The locking module determines whether a locking operation is required based on the received stress signals and the position signal of the encoder 21. When locking is required, the locking module energizes the piston 11, causing the piston 11 to press against the inner wall of the cylinder 10 to achieve the locking operation and ensure that the turntable 5 remains fixed in certain specific operations.

[0070] 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 yaw 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 status of the system in a timely manner based on this data to ensure the stability and accuracy of the lifting seat 1 during the movement.

[0071] 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 dynamic balance verification to avoid mechanical failure or decrease in accuracy caused by excessive vibration.

[0072] Finally, through the network communication module, the embedded integrated displacement platform can communicate with other devices to achieve collaborative control of multiple displacement platforms. This not only improves the overall efficiency of the system, but also supports remote monitoring and diagnostic functions, facilitating equipment maintenance and management.

[0073] Work process Data acquisition and preliminary calculation: The position signal of encoder 21 is acquired through the encoder interface module and transmitted to the motion control module.

[0074] The motion control module calculates the position deviation and compensation torque based on the position signal, stress signal and target position, and generates speed command and current command.

[0075] Drive and motion control: Speed ​​and current commands are sent to drive assembly 8 and linear motor 18 through driver interface module to control the rotation and lifting motion of turntable 5.

[0076] The encoder interface module continuously collects the position signal of the encoder 21 and feeds it back to the motion control module to achieve closed-loop control.

[0077] Pressure and stress monitoring: The air pressure sensor collects the pressure signal inside the cylinder 10 in real time and transmits it to the air pressure control module.

[0078] The pneumatic control module adjusts the opening of the solenoid valve to control the pressure inside the cylinder 10, ensuring the smooth lifting and lowering of the turntable 5.

[0079] The stress detection module monitors the stress changes of the balance bar 12 and transmits stress signals to relevant modules.

[0080] Locking and Safety Monitoring: The locking module determines whether to lock based on stress and position signals, and if necessary, controls the piston 11 to lock by energizing it.

[0081] The slider monitors the pitch and sway of the lifting seat 1 in real time to ensure movement accuracy.

[0082] An accelerometer monitors the vibration of turntable 5 and alerts the user to perform a check when the vibration exceeds a threshold.

[0083] Remote monitoring and collaborative control: The network communication module enables collaborative control, remote monitoring and diagnosis of multiple displacement platforms.

[0084] High-precision closed-loop control, through real-time position signal feedback from encoder 21 and closed-loop control mechanism, ensures high-precision positioning of turntable 5 during rotation and lifting, greatly improving the operating accuracy of the platform.

[0085] Smooth motion control and precise adjustment of the pressure inside cylinder 10 by the pneumatic control module, combined with the design of the double-acting cylinder 10, enable the turntable 5 to maintain force balance during lifting and lowering, reducing vibration and deviation during movement.

[0086] Intelligent stress management and stress detection modules 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.

[0087] Vibration monitoring and correction: The accelerometer can monitor the vibration status of the turntable 5 in real time and remind you to perform dynamic balance verification when the vibration exceeds the threshold, effectively avoiding accuracy problems and mechanical failures caused by vibration.

[0088] The system's collaborative and remote management, through the collaborative control and remote monitoring and diagnostic functions realized by the network communication module, greatly improves the system's management efficiency and maintenance convenience, enabling multiple displacement platforms to work collaboratively in complex industrial environments and improving overall work efficiency.

[0089] The precise locking function allows the locking module to quickly lock the turntable 5 when necessary based on real-time monitored stress and position signals, ensuring its stability during specific operations and providing a guarantee for high-precision operation. Considering current practical needs, the above-described embodiments adopted in this application are not limited to these. Various modifications made within the scope of knowledge possessed by those skilled in the art, without departing from the concept of this application, still fall within the protection scope of this invention.

Claims

1. An embedded integrated displacement platform, characterized in that: The system includes a controller and a lifting base (1). A lifting cylinder (2) is fixedly connected inside the lifting base (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 opened 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 its bottom. Multiple permanent magnets are fixedly connected to the permanent magnet bracket (7), and the multiple permanent magnets are evenly distributed around the axis of the permanent magnet bracket (7). A drive assembly (8) is fixedly connected to the inner wall of the lifting cylinder (2) at a position corresponding to the permanent magnet bracket (7). A symmetrically arranged fixed seat (9) is slidably connected to the outer end of the lifting base (1). A cylinder (10) is fixedly connected to one end of the seat (9) away from the lifting cylinder (2). A piston (11) is slidably connected inside the cylinder (10). The top of the piston (11) passes through the cylinder (10) upwards, and a balance rod (12) is threadedly connected to the passing part. 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 the controller. The piston (11) is made of piezoelectric material and is electrically connected to the controller. An acceleration sensor is fixedly connected inside the turntable (5) and is electrically connected to the controller. A linear guide rail (13) is fixedly connected between the lifting seat (1) and the fixed seat (9). 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 linear guide (13) is parallel to the axis of the cylinder (10), and the outer end of the cylinder (10) is fixedly connected to the top of the fixed seat (9) through the 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 the 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: The outer end of the lifting cylinder (2) is fixedly connected to a symmetrically arranged motor fixing plate (17), and the end of the symmetrically arranged motor fixing plate (17) away from the lifting cylinder (2) is fixedly connected to the moving part of the linear motor (18).

5. An embedded integrated displacement platform according to claim 4, characterized in that: The fixed part of the linear motor (18) is fixedly connected to the fixed base (9) at one end near the lifting base (1). The drive assembly (8) includes an insulating ring, and a drive coil is fixedly connected inside the insulating ring.

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

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

8. An embedded integrated displacement platform according to claim 7, characterized in that: Both ends of the cylinder (10) are fixedly connected to solenoid valves, and the solenoid valves are all connected to the external air supply system. The inner walls of the cylinder (10) near its top and bottom are fixedly connected to air pressure sensors. The air pressure sensors, solenoid valves, drive components (8), linear motors (18) and encoders (21) are all electrically connected to the controller.

9. An 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, a pneumatic control module, a network communication module, a stress detection module, and a locking module. The motion control module uses a motion control chip and communicates with the encoder interface module and the driver interface module to achieve closed-loop control. The encoder interface module uses an encoder interface circuit to process the encoder (21) signal and transmit the position and speed information to the motion control module. The driver interface module uses a driver interface circuit to convert the control commands of the motion control module into driver signals to control 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. Through a closed-loop control algorithm, it realizes the pressure balance and smooth lifting of the turntable (5). The network communication module supports the industrial Ethernet protocol, enabling data communication with other devices and supporting collaborative control and remote monitoring and diagnostics of multiple displacement platforms. The stress detection module is used to determine stress changes based on changes in the fiber Bragg grating signal. 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 1-9, characterized in that: Includes the following steps: S1. The position signal of the encoder (21) is acquired through the encoder interface module and transmitted to the motion control module; S2. The motion control module calculates the position deviation and compensation torque based on the received position signal, stress signal and preset target position, and calculates the speed command and current command based on the position deviation. S3. Send speed and current commands to drive components (8) and linear motors (18) through the driver interface module to control the rotation and lifting motion of the turntable (5); S4. The encoder (21) position signal is continuously collected through the encoder interface module, and the real-time position signal is fed back to the motion control module to realize closed-loop control. S5. The pressure signal inside the cylinder (10) is continuously collected by the air pressure sensor and transmitted 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) based on the changes in the fiber Bragg grating signal, and transmits the stress signal to the air pressure control module, motion control module and 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 realize the 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 stress signal. When locking is required, it powers the piston (11) to press and lock the piston (11) against 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 in the linear guide (13) monitors the pitch and sway of the lifting seat (1) relative to the fixed seat (9) in real time. S10. During the rotation of the turntable (5), the acceleration sensor monitors the acceleration change of the turntable (5) in real time. When the vibration of the turntable (5) exceeds the threshold, the user is reminded to perform dynamic balance verification on the rotating part. S11. Through the network communication module, data communication is carried out with other devices to realize the coordinated control and remote monitoring and diagnosis of multiple displacement platforms.

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