A horizontal two-degree-of-freedom compact shaker device and method of operation thereof

Abstract

The present invention proposes a horizontal two-degree-of-freedom compact vibration table device and an operating method thereof, belonging to the technical field of vibration test equipment. It solves the problem that conventional vibration devices occupy a large space and there is an internal force between two actuators on the same degree of freedom that can easily damage the device. Among them, the first control oil circuit is used to supply and return oil to its one X-direction actuator and one Y-direction actuator, and the second control oil circuit is used to supply and return oil to another X-direction actuator and another Y-direction actuator; in the first control oil circuit, the oil inlet line and the oil return line are both connected to its one X-direction actuator through the first three-position four-way control valve. When the first solenoid valve is powered off, the connecting line is disconnected; when the first solenoid valve is connected, the connecting line is connected; when the second solenoid valve is powered off, the two outlets of the first three-position four-way control valve are connected; when the second solenoid valve is powered on, the two outlets of the first three-position four-way control valve are disconnected. The device occupies a small space and there is no internal force in the device when it stops working.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vibration test equipment, in particular relates to a horizontal two-degree-of-freedom compact vibration table device and an operation method thereof. BACKGROUND

[0002] The high-frequency motion device is a test equipment for simulating the vibration and impact of products under actual working conditions, which is composed of a table, a motion assembly and a control system. By simulating the vibration and impact in actual use, the performance and reliability of the product are tested. When the product mass is large, the acceleration is large, and the frequency bandwidth is large, a hydraulic drive servo system is often used to complete it. The hinge platform is interconnected with the counterforce foundation, and the power is provided through the external oil circuit system to complete the test requirements. For conventional vibration devices, the use of hinges and counterforce foundations increases the floor space of the test equipment, making it difficult to achieve the frequency bandwidth of the reproduced signal, and the arrangement of the external oil circuit pipeline further makes the test space cramped, and generally two actuators are used to vibrate in the same direction, and the servo motion has dynamic error, which may cause internal force between the two actuators in the same degree of freedom, and is prone to failure, and in severe cases, the device is damaged. SUMMARY

[0003] Therefore, in order to solve the problems of large floor space of conventional vibration devices, difficulty in achieving the frequency bandwidth of the reproduced signal, and dynamic error of servo motion, which may cause internal force between the two actuators in the same degree of freedom, prone to failure, and in severe cases, the device is damaged, the present application provides a horizontal two-degree-of-freedom compact vibration table device and an operation method thereof.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0005] A horizontal two-degree-of-freedom compact vibration table device, comprising:

[0006] a base;

[0007] a vibration platform, which is arranged above the base;

[0008] an actuator system, which comprises two X-direction actuators, two Y-direction actuators, a first control oil circuit and a second control oil circuit, the two X-direction actuators are respectively fixed on the opposite sides of the base along the Y direction, and can push the vibration platform to vibrate along the X direction, the two Y-direction actuators are respectively fixed on the opposite sides of the base along the X direction, and can push the vibration platform to vibrate along the Y direction, the first control oil circuit is used for supplying and returning oil to one X-direction actuator and one Y-direction actuator, and the second control oil circuit is used for supplying and returning oil to the other X-direction actuator and the other Y-direction actuator;

[0009] The first control oil circuit comprises a high-pressure accumulator, a low-pressure accumulator, a first electromagnetic valve, a second electromagnetic valve, a first three-position four-way control valve, an oil inlet pipeline, an oil return pipeline and a connecting pipeline, the high-pressure accumulator is communicated with the oil inlet pipeline, the low-pressure accumulator is communicated with the oil return pipeline, the oil inlet pipeline and the oil return pipeline are connected with a X-direction actuator through the first three-position four-way control valve, two ends of the connecting pipeline are communicated with the oil inlet pipeline and the oil return pipeline respectively, the first electromagnetic valve is arranged in the connecting pipeline, the connecting pipeline is disconnected when the first electromagnetic valve is powered off, the connecting pipeline is connected when the first electromagnetic valve is powered on, two ends of the second electromagnetic valve are communicated with two outlets of the first three-position four-way control valve which are close to the X-direction actuator, the two outlets of the first three-position four-way control valve are connected when the second electromagnetic valve is powered off, and the two outlets of the first three-position four-way control valve are disconnected when the second electromagnetic valve is powered on.

[0010] As a preferred scheme of the horizontal two-degree-of-freedom compact vibration table device, the first control oil circuit further comprises an oil inlet branch, an oil return branch, a second three-position four-way control valve and a third electromagnetic valve, the oil inlet branch is communicated with the oil inlet pipeline, the oil return branch is communicated with the oil return pipeline, the oil inlet branch and the oil return branch are connected with a Y-direction actuator through the second three-position four-way control valve, two ends of the third electromagnetic valve are connected with two outlets of the second three-position four-way control valve which are close to the Y-direction actuator, the two outlets of the second three-position four-way control valve are connected when the third electromagnetic valve is powered off, and the two outlets of the second three-position four-way control valve are disconnected when the third electromagnetic valve is powered on.

[0011] As a preferred scheme of the horizontal two-degree-of-freedom compact vibration table device, the first control oil circuit further comprises a throttle valve, and the throttle valve is arranged in the connecting pipeline.

[0012] As a preferred scheme of the horizontal two-degree-of-freedom compact vibration table device, the base comprises an oil distribution plate and a plurality of laminated rubber bearings, the plurality of laminated rubber bearings are arranged at intervals and located between the oil distribution plate and the vibration platform, part of the oil inlet pipelines are oil inlet channels arranged in the oil distribution plate, and part of the oil return pipelines are oil return channels arranged in the oil distribution plate.

[0013] As a preferred scheme of the horizontal two-degree-of-freedom compact vibration table device, the laminated rubber bearing comprises an upper shell, a lower shell, a plurality of steel plates and a rubber layer, the upper shell and the lower shell are fixedly arranged above and below the rubber layer respectively, the plurality of steel plates are sequentially and intervally embedded in the rubber layer, the upper shell is fixedly connected with the vibration platform, and the lower shell is fixedly connected with the oil distribution plate.

[0014] As a preferred scheme of the horizontal two-degree-of-freedom compact vibration table device, the horizontal two-degree-of-freedom compact vibration table device further comprises a cooler, and an outlet of the oil return pipeline is connected with the cooler.

[0015] As a preferred solution of the horizontal two-degree-of-freedom compact vibration table device, the horizontal two-degree-of-freedom compact vibration table device further comprises an oil source pressure sensor, a first pressure sensor and a second pressure sensor, the first pressure sensor and the second pressure sensor are respectively used for detecting the left static pressure disc and the right static pressure disc of one of the X-direction actuators, and the oil source pressure sensor is arranged on the oil inlet pipeline.

[0016] As a preferred solution of the horizontal two-degree-of-freedom compact vibration table device, the horizontal two-degree-of-freedom compact vibration table device further comprises a displacement sensor, which is used for detecting the displacement of one of the X-direction actuators.

[0017] The application also provides an operation method of a horizontal two-degree-of-freedom compact vibration table device, characterized by using the horizontal two-degree-of-freedom compact vibration table device, comprising:

[0018] S1: supplying oil to the oil inlet pipeline;

[0019] S2: judging whether the pressures of the static pressure discs at the two ends of the X-direction actuator reach the set value;

[0020] If yes, S3 is performed; if no, S7 is performed;

[0021] S3: the first electromagnetic valve and the second electromagnetic valve are powered on;

[0022] S4: controlling the first three-position four-way control valve to repeatedly change between the left position and the right position, and the X-direction actuator performs vibration on the vibration platform to perform a test motion;

[0023] S5: after the test motion is completed, the first electromagnetic valve is powered off, and the first three-position four-way control valve is controlled to be located at the middle position;

[0024] S6: stopping supplying oil to the oil inlet pipeline, and judging whether the pressures of the static pressure discs at the two ends of the X-direction actuator and the oil source pressure are close to zero;

[0025] If yes, S7 is performed; if no, data is recorded and then S7 is performed;

[0026] S7: controlling the second electromagnetic valve to be powered off.

[0027] As a preferred solution of the operation method of the horizontal two-degree-of-freedom compact vibration table device, the horizontal direction motion degrees of freedom are X and Y directions, the degrees of freedom are controlled, the distance between the two X-direction actuators is a, the distance between the two Y-direction actuators is b, and the corresponding degrees of freedom decomposition matrix C and the degrees of freedom synthesis matrix D are respectively:

[0028]

[0029] Compared with the prior art, the horizontal two-degree-of-freedom compact vibration table device and the operation method thereof have the following beneficial effects:

[0030] 1. The horizontal two-degree-of-freedom compact vibration table device and the operation method thereof, wherein a high-pressure accumulator is used for an oil supply circuit, and a low-pressure accumulator is used for an oil return circuit; a first control oil circuit can control a vibration platform to vibrate through an X-direction actuator and a Y-direction actuator; a second control oil circuit can control the vibration platform to vibrate through another X-direction actuator and another Y-direction actuator; and an upper surface of the vibration platform serves as a reference surface for mounting a load.

[0031] 2. The horizontal two-degree-of-freedom compact vibration table device and the operation method thereof, wherein a base includes an oil distribution plate and a plurality of laminated rubber bearings; the plurality of laminated rubber bearings are arranged at intervals and located between the oil distribution plate and the vibration platform; part of an oil inlet pipeline is an oil inlet channel arranged on the oil distribution plate; and part of an oil return pipeline is an oil return channel arranged on the oil distribution plate.

[0032] 3. The horizontal two-degree-of-freedom compact vibration table device and the operation method thereof, wherein a laminated rubber bearing is used as a motion support of a vibration platform and as a physical vibration isolation of the vibration platform; and a vertical support of the horizontal two-degree-of-freedom compact vibration table device is supported by the laminated rubber bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0034] Figure 1 1 is a schematic structural diagram of a horizontal two-degree-of-freedom compact vibration table device provided by a specific embodiment of the present invention;

[0035] Figure 2 2 is a schematic structural diagram of a vibration platform of a horizontal two-degree-of-freedom compact vibration platform device provided by a specific embodiment of the present invention;

[0036] Figure 3 is a natural frequency diagram of a vibration platform of a horizontal two-degree-of-freedom compact vibration table device provided by a specific embodiment of the present invention;

[0037] Figure 4 2 is a schematic structural diagram of a laminated rubber bearing of a horizontal two-degree-of-freedom compact vibration table device provided by a specific embodiment of the present invention;

[0038] Figure 5 is a cross-sectional view of a laminated rubber bearing of a horizontal two-degree-of-freedom compact vibration table device provided by a specific embodiment of the present invention;

[0039] Figure 6 2 is a schematic structural diagram of a base of a horizontal two-degree-of-freedom compact vibration table device provided by a specific embodiment of the present invention;

[0040] Figure 7 2. It is a structural schematic diagram of an oil distribution plate of a horizontal two-degree-of-freedom compact vibration table device provided by a specific embodiment of the present invention;

[0041] Figure 8 is a cross-sectional view of an oil distribution plate of a horizontal two-degree-of-freedom compact vibration table device provided by a specific embodiment of the present invention;

[0042] Figure 9 2 is a schematic structural diagram of an X-axis actuator of a horizontal two-degree-of-freedom compact vibration table device provided by a specific embodiment of the present invention;

[0043] Figure 10 Schematic diagram of a first control oil circuit and a second control oil circuit of a horizontal two-degree-of-freedom compact vibration table device provided by a specific embodiment of the present invention;

[0044] Figure 11 It is a flow chart of an operating method of a horizontal two-degree-of-freedom compact vibration table device provided by a specific embodiment of the present invention.

[0045] In the picture:

[0046] 1, oil distribution plate; 2, laminated rubber bearing; 3, X-direction actuator; 4, Y-direction actuator; 5, high-pressure accumulator; 6, low-pressure accumulator; 7, vibration platform; 8, first three-position four-way control valve; 9, oil inlet pipeline; 10, oil return pipeline; 11, connecting pipeline; 12, first electromagnetic valve; 13, second electromagnetic valve; 14, throttle valve; 15, oil source pressure sensor; 16, displacement sensor; 17, first pressure sensor; 18, second pressure sensor;

[0047] 21, upper shell; 22, rubber layer; 23, steel plate; 24, lower shell; 101, oil inlet channel; 102, oil return channel. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present application, not all the embodiments.

[0049] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0050] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "upper" and "upper" of the first feature to the second feature include that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "below" and "below" of the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0051] In the description of the present embodiment, the terms "upper", "lower", "right", and other orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0052] Referring to Figures 1-11 The present application provides a horizontal two-degree-of-freedom compact vibration table device and its operating method. The horizontal two-degree-of-freedom compact vibration table device comprises a base, a vibration platform 7 and an actuator system. The vibration platform 7 is arranged above the base. The actuator system comprises two X-direction actuators 3, two Y-direction actuators 4, a first control oil circuit and a second control oil circuit. The two X-direction actuators 3 are respectively fixed on the opposite sides of the base along the Y direction, and can push the vibration platform 7 to vibrate along the X direction. The two Y-direction actuators 4 are respectively fixed on the opposite sides of the base along the X direction, and can push the vibration platform 7 to vibrate along the Y direction. The first control oil circuit is used to supply and return oil to one X-direction actuator 3 and one Y-direction actuator. The second control oil circuit is used to supply and return oil to the other X-direction actuator 3 and the other Y-direction actuator 4. The first control oil circuit comprises a high-pressure accumulator 5, a low-pressure accumulator 6, a first electromagnetic valve 12, a second electromagnetic valve 13, a first three-position four-way control valve 8, an oil inlet pipeline 9, an oil return pipeline 10 and a connecting pipeline 11. The high-pressure accumulator 5 is in communication with the oil inlet pipeline 9. The low-pressure accumulator 6 is in communication with the oil return pipeline 10. The oil inlet pipeline 9 and the oil return pipeline 10 are connected with the one X-direction actuator 3 through the first three-position four-way control valve 8. The two ends of the connecting pipeline 11 are respectively in communication with the oil inlet pipeline 9 and the oil return pipeline 10. The first electromagnetic valve 12 is arranged in the connecting pipeline 11. When the first electromagnetic valve 12 is de-energized, the connecting pipeline 11 is disconnected. When the first electromagnetic valve 12 is energized, the connecting pipeline 11 is connected. The two ends of the second electromagnetic valve 13 are respectively in communication with the two outlets of the first three-position four-way control valve 8 near the X-direction actuator 3. When the second electromagnetic valve 13 is de-energized, the two outlets of the first three-position four-way control valve 8 are connected. When the second electromagnetic valve 13 is energized, the two outlets of the first three-position four-way control valve 8 are disconnected.

[0053] In the horizontal two-degree-of-freedom compact vibration table device, the high-pressure accumulator 5 is used for the oil supply circuit, and the low-pressure accumulator 6 is used for the oil return circuit. The first control oil circuit can control the vibration of the vibration platform 7 by the X-direction actuator 3 and the Y-direction actuator. The second control oil circuit can control the vibration of the vibration platform 7 by the other X-direction actuator 3 and the other Y-direction actuator 4; the upper surface of the vibration platform 7 serves as the reference surface for installing the load. In the first control oil circuit, the high-pressure oil at the oil inlet enters the first three-position four-way control valve 8 with the assistance of the high-pressure accumulator 5, and the first three-position four-way control valve 8 controls the reciprocating motion of the X-direction actuator 3. During operation, the first electromagnetic valve 12 is powered on, and during stoppage, the first electromagnetic valve 12 is powered off. In order to reduce the internal force between the actuators when the device is static and to prevent damage to the device in the event of a fault, a second electromagnetic valve 13 is also provided. When the second electromagnetic valve 13 is powered off, the two outlets in the middle position of the first three-position four-way control valve 8 are connected, and the two outlets connected to the X-direction actuator 3 in the middle position are connected. When the first three-position four-way control valve 8 is in the middle position and the second electromagnetic valve 13 is powered off, the two oil chambers in the X-direction actuator 3 are connected. At this time, even if there is a dynamic error in the servo motion, causing internal force between the two actuators in the same degree of freedom, the internal force between the two actuators in the same degree of freedom will be automatically changed by the liquid power, and the entire system will have no internal force.

[0054] It can be understood that each actuator includes two static pressure plates and a cylinder body. A piston is slidably arranged in the cylinder body, which divides the space in the cylinder body into two oil chambers. The piston has a piston rod at each end, and the two static pressure plates are respectively mounted on the front end of the piston rod. The end faces of the static pressure plates are in contact with the contact surfaces on the vibration platform 7, serving as force transmission and guiding. For example, when the vibration platform 7 moves along the X-direction, the static pressure plate of the X-direction actuator 3 serves as a force transmission, pushing the vibration platform 7 to vibrate along the X-direction; and the static pressure plate of the Y-direction actuator 4 simultaneously serves as a motion guiding for the X-direction movement, keeping the vibration platform 7 moving along the X-direction without deviation. A spring is mounted on the rear end of the piston rod, which pushes the piston rod to make the static pressure plate tightly adhere to the side surface of the vibration platform 7 when there is no oil source pressure, preventing hydraulic oil leakage. The static pressure plate and the piston rod adopt a static pressure ball head structure, and the static pressure plate can swing around the plunger. It can be seen that the mutual installation position of the vibration platform 7 and the actuator ensures that, for each contact surface on the vibration platform 7, it is both a support surface in the direction of the contact static pressure plate and a sliding surface in the perpendicular direction.

[0055] It can be understood that, in order to accurately transmit the force and motion law of the electro-hydraulic servo system to the load, the vibration platform 7 should be as light as possible while ensuring sufficient rigidity and high inherent frequency. The upper surface of the vibration platform 7 serves as the reference surface for installing the load, and the outer edge of the upper surface of the vibration platform 7 is provided with threaded holes.

[0056] Optionally, the first control oil circuit further comprises an oil inlet branch, an oil return branch, a second three-position four-way control valve and a third solenoid valve, the oil inlet branch is communicated with the oil inlet pipeline 9, the oil return branch is communicated with the oil return pipeline 10, the oil inlet branch and the oil return branch are both connected with the Y-direction actuator 4 through the second three-position four-way control valve, two outlets of the second three-position four-way control valve close to the Y-direction actuator 4 are respectively connected with two ends of the third solenoid valve, when the third solenoid valve is powered off, the two outlets of the second three-position four-way control valve in the middle position are communicated; when the third solenoid valve is powered on, the two outlets of the second three-position four-way control valve in the middle position are disconnected. It can be understood that the two outlets connected with the third solenoid valve are the two outlets connected with the Y-direction actuator 4. When the second three-position four-way control valve is in the middle position and the third solenoid valve is powered off, no internal force can be generated in the two actuators on the same degree of freedom.

[0057] It can be understood that the second control oil circuit is similar to the first control oil circuit, the second control oil circuit also has a high-pressure accumulator 5, a low-pressure accumulator 6, three solenoid valves, two three-position four-way control valves, an oil inlet pipeline 9, an oil return pipeline 10, a connecting pipeline 11, an oil inlet branch and an oil return branch, and the connection relationship is the same as that of the first control oil circuit, which will not be described here.

[0058] Optionally, the first control oil circuit further comprises a throttle valve 14, and the throttle valve 14 is arranged in the connecting pipeline 11.

[0059] Optionally, the base comprises an oil distribution plate 1 and a plurality of laminated rubber bearings 2, the plurality of laminated rubber bearings 2 are arranged at intervals and located between the oil distribution plate 1 and the vibration platform 7, part of the oil inlet pipeline 9 is an oil inlet channel 101 arranged in the oil distribution plate 1, and part of the oil return pipeline 10 is an oil return channel 102 arranged in the oil distribution plate 1. Arranging part of the oil inlet pipeline 9 and the oil return pipeline 10 in the oil distribution plate 1 can save space and further reduce the occupied space of the horizontal two-degree-of-freedom compact vibration table device.

[0060] The laminated rubber bearing 2 is not only the movement support of the vibration platform 7, but also the physical vibration isolation of the vibration platform 7. The X-direction actuator 3, the Y-direction actuator 4, the high-pressure accumulator 5 and the low-pressure accumulator 6 are all mounted on the oil distribution plate 1, and the oil distribution plate 1 is processed from a steel plate 23. The oil distribution plate 1 is also provided with an oil inlet and an oil return, the oil inlet is connected with the starting point of the oil inlet pipeline 9, and the oil return is connected with the ending point of the oil return pipeline 10. The oil distribution plate 1 is provided with a plurality of laminated rubber bearing 2 mounting positions at intervals, the number of laminated rubber bearings 2 is a plurality, and the plurality of laminated rubber bearings 2 are arranged one by one with the plurality of laminated rubber bearing 2 mounting positions, and the laminated rubber bearing 2 is arranged on the oil distribution plate 1 through fixing bolts and positioning pins. The broken part of the oil inlet channel 101 and the oil return channel 102 in the figure is the position where the actuator is installed. In this embodiment, the number of laminated rubber bearings 2 is ten.

[0061] Optionally, the laminated rubber bearing 2 comprises an upper shell 21, a lower shell 24, a plurality of steel plates 23 and a rubber layer 22, the upper shell 21 and the lower shell 24 are fixedly arranged above and below the rubber layer 22 respectively, the plurality of steel plates 23 are sequentially and spacedly embedded in the rubber layer 22, the upper shell 21 is fixedly connected with the vibration platform 7, and the lower shell 24 is fixedly connected with the oil distribution plate 1.

[0062] The vertical support of the horizontal two-degree-of-freedom compact vibration table device adopts the laminated rubber bearing 2. The laminated rubber bearing 2 is realized by stacking the steel plates 23 and the rubber, and has the characteristics of large axial stiffness and small lateral stiffness. When the load direction is along the axial direction of the laminated rubber bearing 2, the laminated rubber bearing 2 can transmit the load to the mounting surface, and when the load is applied along the direction perpendicular to the axis of the laminated rubber bearing 2, the laminated rubber bearing 2 can move laterally with small displacement.

[0063] Optionally, the horizontal two-degree-of-freedom compact vibration table device further comprises a cooler, and the outlet of the oil return pipeline 10 is connected with the cooler. The cooler is used for cooling the oil in the oil return pipeline 10.

[0064] Optionally, the horizontal two-degree-of-freedom compact vibration table device further comprises a first pressure sensor 17 and a second pressure sensor 18, and the first pressure sensor 17 and the second pressure sensor 18 are respectively used for detecting the left static pressure disc and the right static pressure disc of the X-direction actuator 3.

[0065] Optionally, the horizontal two-degree-of-freedom compact vibration table device further comprises an oil source pressure sensor 15, and the oil source pressure sensor 15 is arranged on the oil inlet pipeline 9.

[0066] Optionally, the horizontal two-degree-of-freedom compact vibration table device further comprises a displacement sensor 16, and the displacement sensor 16 is used for detecting the displacement of the X-direction actuator 3.

[0067] The application also provides an operation method of the horizontal two-degree-of-freedom compact vibration table device, which adopts the horizontal two-degree-of-freedom compact vibration table device, and comprises the following steps.

[0068] S1: supplying oil to the oil inlet pipeline 9;

[0069] S2: judging whether the pressure of the static pressure disc at both ends of the X-direction actuator 3 reaches a set value or not;

[0070] If yes, S3 is performed; if not, S7 is performed;

[0071] S3: the first electromagnetic valve 12 and the second electromagnetic valve 13 are powered on;

[0072] S4: Control the first three-position four-way control valve 8 to change between the left position and the right position repeatedly, the X-direction actuator 3 vibrates the vibration platform 7, and the test movement is performed;

[0073] S5: After the test movement is completed, the first electromagnetic valve 12 is powered off, and the first three-position four-way control valve 8 is controlled to be in the middle position;

[0074] S6: The oil supply to the oil inlet pipeline 9 is stopped, and it is determined whether the pressures of the static pressure plates at both ends of the X-direction actuator 3 and the oil source pressure are close to zero;

[0075] If yes, S7 is performed; if no, data is recorded first and then S7 is performed;

[0076] S7: Control the second electromagnetic valve 13 to be powered off.

[0077] In the initial state, the oil inlet is supplied with oil, when the pressures at both ends of the static pressure plate reach the set value, the first electromagnetic valve 12 and the second electromagnetic valve 13 are powered on, otherwise the static pressure plate system is checked. At this time, the device starts to move as required. After the test movement is completed, the first electromagnetic valve 12 is powered off, the oil inlet stops supplying oil, and when the pressure values of the oil source pressure sensor 15, the first pressure sensor 17 and the second pressure sensor 18 are close to zero, it is indicated that the pressure of the oil supply system has been unloaded, and the pressure of the static pressure plate has also been unloaded. At this time, the second electromagnetic valve 13 can be powered off to make the system have no internal force.

[0078] Alternatively, the horizontal direction movement freedom degree is two directions of X and Y, degree of freedom control is adopted, the interval of the two X-direction actuators 3 is a, the interval of the two Y-direction actuators 4 is b, and the corresponding degree of freedom decomposition matrix C and degree of freedom synthesis matrix D are respectively:

[0079]

[0080] The horizontal direction movement freedom degree is two directions of X and Y, and the actuator is four, so the horizontal two-freedom compact vibration table device is a redundant system. If the device cannot be well controlled, a large internal force will be generated in the device. Therefore, degree of freedom control is adopted here. The intervals of the X and Y direction actuators are a and b respectively, and the corresponding degree of freedom decomposition matrix C and degree of freedom synthesis matrix D. Through the matrix C and D, the redundant mechanism will be effectively controlled, and the internal force of the system will be reduced.

[0081] Obviously, the above-mentioned embodiments of the application are only used to illustrate the present application. The embodiments do not describe all the details and do not limit the application to the specific embodiments. According to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the application, so that those skilled in the art can well understand and utilize the application. It is not necessary and impossible to exhaust all the embodiments here.

Claims

1. A horizontal two-degree-of-freedom compact vibration table device, characterized in that: include: base; A vibration platform (7), the vibration platform (7) is arranged above the base; An actuator system, the actuator system comprising two X-direction actuators (3), two Y-direction actuators (4), a first control oil circuit and a second control oil circuit, the two X-direction actuators (3) being respectively fixed on opposite sides of a base along the Y direction and both being able to drive a vibration platform (7) to vibrate along the X direction, the two Y-direction actuators (4) being respectively fixed on opposite sides of a base along the X direction and both being able to drive a vibration platform (7) to vibrate along the Y direction, the first control oil circuit being used for supplying and returning oil to one X-direction actuator (3) and one Y-direction actuator, and the second control oil circuit being used for supplying and returning oil to the other X-direction actuator (3) and the other Y-direction actuator (4); The first control oil circuit comprises a high-pressure accumulator (5), a low-pressure accumulator (6), a first solenoid valve (12), a second solenoid valve (13), a first three-position four-way control valve (8), an oil inlet pipeline (9), an oil return pipeline (10) and a connecting pipeline (11). The high-pressure accumulator (5) is connected to the oil inlet pipeline (9), the low-pressure accumulator (6) is connected to the oil return pipeline (10), and both the oil inlet pipeline (9) and the oil return pipeline (10) are connected to an X-direction actuator (3) thereof through the first three-position four-way control valve (8). The two ends of the connecting pipeline (11) are respectively connected to the oil inlet pipeline (9) and the oil return pipeline (10). The oil return pipeline (10) and the first solenoid valve (12) are arranged on the connecting pipeline (11). When the first solenoid valve (12) is powered off, the connecting pipeline (11) is disconnected; when the first solenoid valve (12) is powered on, the connecting pipeline (11) is powered on; the two ends of the second solenoid valve (13) are respectively connected to the two outlets of the middle position of the first three-position four-way control valve (8) close to the X-direction actuator (3); when the second solenoid valve (13) is powered off, the two outlets of the first three-position four-way control valve (8) are connected; when the second solenoid valve (13) is powered on, the two outlets of the first three-position four-way control valve (8) are disconnected.

2. The horizontal two-degree-of-freedom compact vibration table device according to claim 1, characterized in that: The first control oil circuit also includes an oil inlet branch, an oil return branch, a second three-position four-way control valve and a third solenoid valve. The oil inlet branch is connected to the oil inlet pipeline (9), and the oil return branch is connected to the oil return pipeline (10). The oil inlet branch and the oil return branch are both connected to the Y-direction actuator (4) through the second three-position four-way control valve. The two ends of the third solenoid valve are respectively connected to two outlets at the middle position of the second three-position four-way control valve close to the Y-direction actuator (4). When the third solenoid valve is powered off, the two outlets at the middle position of the second three-position four-way control valve are connected; when the third solenoid valve is powered on, the two outlets at the middle position of the second three-position four-way control valve are disconnected.

3. The horizontal two-degree-of-freedom compact vibration table device according to claim 1, characterized in that: The first control oil circuit further comprises a throttle valve (14), and the throttle valve (14) is arranged on the connecting pipeline (11).

4. The horizontal two-degree-of-freedom compact vibration table device according to claim 1, characterized in that: The base comprises an oil distribution plate (1) and a plurality of laminated rubber bearings (2), wherein the plurality of laminated rubber bearings (2) are arranged at intervals and located between the oil distribution plate (1) and the vibration platform (7), a portion of the oil inlet pipeline (9) is an oil inlet channel (101) arranged in the oil distribution plate (1), and a portion of the oil return pipeline (10) is an oil return channel (102) arranged in the oil distribution plate (1).

5. The horizontal two-degree-of-freedom compact vibration table device according to claim 4, characterized in that: The laminated rubber bearing (2) comprises an upper shell (21), a lower shell (24), a plurality of steel plates (23) and a rubber layer (22); the upper shell (21) and the lower shell (24) are fixedly arranged above and below the rubber layer (22), respectively; the plurality of steel plates (23) are sequentially embedded in the rubber layer (22) at intervals; the upper shell (21) is fixedly connected to the vibration platform (7); and the lower shell (24) is fixedly connected to the oil distribution plate (1).

6. The horizontal two-degree-of-freedom compact vibration table device according to claim 1, characterized in that: It also includes a cooler, and the outlet of the oil return pipeline (10) is connected to the cooler.

7. The horizontal two-degree-of-freedom compact vibration table device according to claim 1, characterized in that: It also includes an oil source pressure sensor (15), a first pressure sensor (17) and a second pressure sensor (18), wherein the first pressure sensor (17) and the second pressure sensor (18) are respectively used to detect the left static pressure plate and the right static pressure plate of the X-axis actuator (3), and the oil source pressure sensor (15) is arranged on the oil inlet pipeline (9).

8. The horizontal two-degree-of-freedom compact vibration table device according to claim 1, characterized in that: It also includes a displacement sensor (16), which is used to detect the displacement of one of the X-direction actuators.

9. A method for operating a horizontal two-degree-of-freedom compact vibration table device, characterized in that: The horizontal two-degree-of-freedom compact vibration table device according to any one of claims 1 to 8 comprises: S1: supply oil to the oil inlet pipeline (9); S2: Determine whether the pressure of the static pressure plates at both ends of the X-axis actuator (3) reaches the set value; If yes, proceed to S3; if no, proceed to S7; S3: Both the first solenoid valve (12) and the second solenoid valve (13) are energized; S4: Control the first three-position four-way control valve (8) to repeatedly switch between the left position and the right position, and the X-axis actuator (3) vibrates the vibration platform (7) to perform the test movement; S5: After the test movement is completed, the first solenoid valve (12) is powered off, and the first three-position four-way control valve (8) is controlled to be in the middle position; S6: Stop supplying oil to the oil inlet pipeline (9) and determine whether the pressure of the static pressure plates at both ends of the X-axis actuator (3) and the oil source pressure are close to zero; If yes, proceed to S7; if no, record the data first and then proceed to S7; S7: Control the second solenoid valve (13) to be powered off.

10. The method for operating the horizontal two-degree-of-freedom compact vibration table device according to claim 9, characterized in that: The horizontal degrees of freedom are in the X and Y directions. Using degree of freedom control, let the distance between the two X-direction actuators (3) be a, and the distance between the two Y-direction actuators (4) be b. Then the corresponding degree of freedom decomposition matrix C and degree of freedom synthesis matrix D are: 。

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