Intelligent lifting servo control support based on pressure sensitive sensor

Abstract

This invention discloses an intelligent lifting servo control support based on a pressure-sensitive sensor, belonging to the field of structural engineering support technology. Addressing the technical problem that existing supports cannot simultaneously achieve rapid lifting, precise locking, and active vibration reduction in structures such as utility tunnels, this invention includes a lower base, a main lifting mechanism, an intermediate floating plate, an intermediate pressure plate, a wedge-shaped self-locking mechanism, a fixed wedge, a piezoelectric ceramic stacked actuator, an upper load-bearing plate, a pressure-sensitive sensor, and a controller. The controller, based on the pressure distribution signal detected by the pressure-sensitive sensor, controls the main lifting mechanism to perform large-stroke lifting, controls the wedge-shaped self-locking mechanism for mechanical self-locking, and controls the piezoelectric ceramic stacked actuator for micron-level leveling and active vibration reduction. This invention can quickly and stably adjust the support height under vibration conditions, achieving self-locking retention and broadband vibration suppression, and is suitable for applications requiring intelligent load-bearing and vibration reduction, such as integrated utility tunnels and bridges.

Description

Technical Field

[0001] This invention belongs to the field of structural engineering support technology, specifically, it relates to an intelligent lifting servo control support based on a pressure-sensitive sensor. Background Technology

[0002] In civil engineering structures such as utility tunnels and bridges, factors such as foundation settlement, temperature changes, vehicle traffic, and earthquakes can cause vertical displacement and horizontal slippage, accompanied by broadband vibrations. Traditional supports often use rigid bracing or rubber pads, which cannot actively adjust height. Long-term accumulated displacement can lead to pipeline damage or additional stress on the structure. Existing technologies use servo motors to drive ball screws to raise and lower supports, but these solutions have the following problems: First, if the motor is de-energized after the support is raised to the correct position, the screw may reverse under vertical load, causing height drift. Second, they lack the ability to actively suppress high-frequency, low-amplitude vibrations (such as the tens of hertz vibrations generated by passing vehicles), and passive damping alone is insufficient to meet the vibration isolation requirements of precision equipment within the utility tunnel. Third, they lack real-time perception of pressure distribution and slippage trends, and the control system cannot predict load changes, resulting in adjustment lag. Therefore, there is an urgent need for an intelligent support that can rapidly raise and lower the support with a large stroke, reliably lock at any position, and actively suppress broadband vibrations.

[0003] No effective solutions have yet been proposed to address the problems in the relevant technologies.

[0004] Therefore, in order to solve the above problems, the present invention provides an intelligent lifting servo control support based on a pressure-sensitive sensor. Summary of the Invention

[0005] In order to overcome the above-mentioned technical problems, the purpose of this invention is to provide an intelligent lifting servo control support based on a pressure-sensitive sensor.

[0006] The objective of this invention can be achieved through the following technical solutions: A pressure-sensitive sensor-based intelligent lifting servo control support includes a lower base, a main lifting mechanism at the top of the lower base, a middle floating plate fixedly connected to the drive output end of the main lifting mechanism, a middle bearing plate above the middle floating plate, a wedge-shaped self-locking mechanism between the middle floating plate and the middle bearing plate, a fixed wedge block cooperating with the wedge-shaped self-locking mechanism fixedly installed on the lower surface of the middle bearing plate, multiple piezoelectric ceramic stacked actuators at the top of the middle bearing plate, an upper bearing plate above the piezoelectric ceramic stacked actuators, and a pressure-sensitive sensor on the lower surface of the upper bearing plate, the position of the pressure-sensitive sensor corresponding to the position of the piezoelectric ceramic stacked actuator; It also includes a controller, the signal output terminal of the pressure sensor is connected to the signal input terminal of the controller, and the control signal output terminal of the controller is connected to the main lifting mechanism, the wedge self-locking mechanism and the piezoelectric ceramic stacked actuator respectively.

[0007] As a preferred embodiment of the present invention, the main lifting mechanism includes: The outer casing is fixed to the lower base; A worm gear and a worm are installed inside the housing, and the worm meshes with the worm gear; The lead screw connected to the worm gear drive; A lead screw nut that mates with the lead screw; Guide block fixed to the lead screw nut; The guide groove is provided on the inner wall of the outer shell, and the guide block is slidably engaged with the guide groove. A motor that drives the worm gear, and a motor mount that fixes the motor, the motor mount being fixedly mounted on the lower base.

[0008] As a preferred embodiment of the present invention, the helix angle between the lead screw and the lead screw nut is less than the equivalent friction angle, and the top end of the lead screw nut is fixedly connected to the bottom end of the intermediate floating plate.

[0009] As a preferred embodiment of the present invention, the wedge-shaped self-locking mechanism includes: A groove is formed on the upper surface of the intermediate floating plate; An electromagnetic push rod and a movable wedge are installed in the groove; A return spring connected between the electromagnetic push rod and the movable wedge block; The upper surface of the movable wedge is an inclined surface, and the lower surface of the fixed wedge is an inclined surface. The inclined surfaces of the movable wedge and the fixed wedge can slide together, and the position of the fixed wedge corresponds to the groove.

[0010] In a preferred embodiment of the present invention, the wedge angles of the inclined surfaces of the movable wedge and the fixed wedge are both α, the friction angle between the movable wedge and the fixed wedge is φ, and α < φ.

[0011] As a preferred embodiment of the present invention, the housing of the electromagnetic push rod is fixed to one end of the groove, the extended end of the electromagnetic push rod is connected to one end of the movable wedge, and the reset spring is sleeved on the extended end of the electromagnetic push rod.

[0012] As a preferred embodiment of the present invention, there are four piezoelectric ceramic stacked actuators, which are respectively disposed in the four corner areas of the upper surface of the intermediate bearing plate. The lower end of each piezoelectric ceramic stacked actuator contacts the intermediate bearing plate through a spherical gasket, and the upper end contacts the upper bearing plate through a flat gasket.

[0013] As a preferred embodiment of the present invention, the lower surface of the upper support plate is provided with a shallow groove for accommodating a pressure sensor in the central region. The depth of the shallow groove is equal to the thickness of the pressure sensor, and the edge of the pressure sensor is fixed to the inner gap of the shallow groove by an adhesive layer.

[0014] As a preferred embodiment of the present invention, guide posts are installed at the four corners of the lower base, and guide holes matching the guide posts are opened at the four corners of the intermediate floating plate, intermediate pressure plate and upper bearing plate.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. In this invention, mechanical self-locking is achieved through a wedge-shaped self-locking mechanism (the inclined surface of the movable wedge block cooperates with the inclined surface of the fixed wedge block, and the wedge angle is smaller than the friction angle). Even if the motor is powered off after the lifting position is reached, the vertical load cannot cause the wedge block to loosen, and the height remains stable. This solves the problem of screw reversal and drift, and also reduces energy consumption.

[0016] 2. In this invention, a piezoelectric ceramic stacked actuator is used for micron-level fine adjustment and active vibration reduction. The response time is extremely short, which can suppress vertical vibration in the range of 5Hz to 500Hz. This complements the large stroke coarse adjustment of the main lifting mechanism, achieving a wide-bandwidth and large-stroke composite adjustment.

[0017] 3. In this invention, the pressure-sensitive sensor array monitors the pressure distribution and pressure center position in real time. Based on this, the controller determines the off-center load and misalignment direction, automatically levels itself during the lifting process, and triggers an emergency lifting mode in the event of a sudden large misalignment, actively following the misalignment displacement to avoid structural damage.

[0018] 4. In this invention, the main lifting mechanism adopts a series structure of worm gear and lead screw pair. The worm gear itself has a reverse self-locking characteristic, which forms a double insurance with the wedge self-locking mechanism, further improving safety and reliability. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is an exploded view of the present invention; Figure 3 This is a schematic diagram of the main lifting mechanism of the present invention; Figure 4 This is a schematic diagram of the wedge-shaped self-locking mechanism of the present invention; Figure 5 This is a schematic diagram showing the positions of the piezoelectric ceramic stacked actuator, the upper support plate, and the pressure sensor of the present invention.

[0021] Figure label: 1. Lower base; 2. Main lifting mechanism; 21. Housing; 22. Worm gear; 23. Lead screw; 24. Lead screw nut; 25. Guide block; 26. Guide groove; 27. Worm; 28. Motor; 29. ​​Motor base; 3. Intermediate floating plate; 4. Intermediate bearing plate; 5. Wedge self-locking mechanism; 51. Groove; 52. Electromagnetic push rod; 53. Movable wedge; 54. Return spring; 6. Fixed wedge; 7. Piezoelectric ceramic stacked actuator; 8. Upper bearing plate; 9. Pressure sensor. Detailed Implementation

[0022] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention: Example: Please refer to Figure 1-5 According to an embodiment of the present invention, an intelligent lifting servo control support based on a pressure-sensitive sensor includes a lower base 1, a main lifting mechanism 2, an intermediate floating plate 3, an intermediate bearing plate 4, a wedge-shaped self-locking mechanism 5, a fixed wedge block 6, a piezoelectric ceramic stacked actuator 7, an upper bearing plate 8, a pressure-sensitive sensor 9, and a controller.

[0023] Specifically, it is made of Q355B steel plate, with anchor bolt holes at the four corners of the bottom surface. Vertical guide columns are installed at the four corners of the lower base 1. The guide columns are cylindrical steel bars with hard chrome plating on the surface.

[0024] Specifically, the main lifting mechanism 2 is located at the top of the lower base 1. The main lifting mechanism 2 includes a housing 21, a worm gear 22, a worm 27, a lead screw 23, a lead screw nut 24, a guide block 25, a guide groove 26, a motor 28, and a motor base 29. The housing 21 is fixed to the upper surface of the lower base 1 by bolts. The worm gear 22 and the worm 27 are installed inside the housing 21 and mesh with each other. The input end of the worm 27 is connected to the output shaft of the motor 28 through a coupling, and the motor 28 is fixed to the lower base 1 through the motor base 29. The center of the worm gear 22 is fixedly connected to the lead screw 23, which extends vertically upward. The lead screw nut 24 is fitted onto the lead screw 23. A guide block 25 is fixed to the side wall of the lead screw nut 24, and the inner wall of the housing 21 is provided with a vertical guide groove 26. The guide block 25 is embedded in the guide groove 26 and can slide up and down along it, thereby restricting the rotation of the lead screw nut 24. The top end of the lead screw nut 24 is fixedly connected to the bottom end of the intermediate floating plate 3. The helix angle between the lead screw 23 and the lead screw nut 24 is less than the equivalent friction angle, which gives the lead screw pair a reverse self-locking characteristic.

[0025] Specifically, the intermediate floating plate 3 is a rectangular aluminum alloy plate with guide holes at its four corners that slide with the guide posts of the lower base 1, allowing the intermediate floating plate 3 to move only vertically along the guide posts. An intermediate pressure plate 4 is positioned above the intermediate floating plate 3. The intermediate pressure plate 4 is also a rectangular steel plate with guide holes at its four corners that slide with the guide posts.

[0026] Specifically, the wedge-shaped self-locking mechanism 5 is positioned between the intermediate floating plate 3 and the intermediate pressure plate 4. A rectangular groove 51 is formed on the upper surface of the intermediate floating plate 3. An electromagnetic push rod 52 and a movable wedge 53 are installed within the groove 51. The electromagnetic push rod 52 is bidirectional, capable of extending forward or retracting in the reverse direction. The housing of the electromagnetic push rod 52 is fixed to one end of the groove 51. The extended end of the electromagnetic push rod 52 is connected to one end of the movable wedge 53. A return spring 54 is fitted onto the extended end of the electromagnetic push rod 52, with one end abutting against the housing of the electromagnetic push rod 52 and the other end abutting against the end face of the movable wedge 53. The movable wedge 53 can only slide horizontally along the groove 51. The upper surface of the movable wedge 53 is machined into a bevel with a wedge angle α = 7°, and the surface is hard chrome plated and polished.

[0027] Specifically, the fixed wedge 6 is fixedly installed on the lower surface of the intermediate bearing plate 4, and its position corresponds vertically to the position of the groove 51. The lower surface of the fixed wedge 6 is machined into an inclined surface with a wedge angle of 7°, and the inclination direction of the inclined surface is complementary to the upper inclined surface of the movable wedge 53. The inclined surface of the movable wedge 53 and the inclined surface of the fixed wedge 6 can slide against each other. Both the movable wedge 53 and the fixed wedge 6 are made of GCr15 bearing steel and hardened to HRC58. The static friction coefficient between them is μ=0.15, and the corresponding friction angle is φ=arctan0.15≈8.5°, which satisfies the self-locking condition α<φ.

[0028] Specifically, there are four piezoelectric ceramic stacked actuators 7, located at the four corners of the upper surface of the intermediate pressure plate 4. Each piezoelectric ceramic stacked actuator 7 is formed by alternately stacking and sintering 150 PZT piezoelectric ceramic sheets with a thickness of 0.1 mm and copper electrodes, with a total height of 15 mm, a maximum elongation of 0.6 mm, and a driving voltage range of -30V to 150V. The lower end of each piezoelectric ceramic stacked actuator 7 contacts the intermediate pressure plate 4 through a spherical gasket, and the upper end contacts the upper support plate 8 through a flat gasket. The spherical gasket is self-aligning to prevent lateral forces from damaging the actuator.

[0029] Specifically, the upper support plate 8 is a rectangular steel plate with guide holes at its four corners for sliding engagement with the guide posts. A shallow groove, 0.2 mm deep, is located in the center of the lower surface of the upper support plate 8, equal in thickness to the pressure sensor 9. The pressure sensor 9 is a 32×32 dot matrix thin-film piezoresistive sensor with an effective area of ​​100 mm × 100 mm. Its edges are fixed to the shallow groove via an adhesive layer, making the upper surface of the pressure sensor 9 flush with the lower surface of the upper support plate 8. The position of the pressure sensor 9 corresponds to the positions of the four piezoelectric ceramic stacked actuators 7, with multiple sensing points above each actuator.

[0030] Specifically, the controller uses an STM32H743 microcontroller with built-in multi-channel ADC and DAC. The signal output terminal of the pressure-sensitive sensor 9 is connected to the signal input terminal of the controller via a flexible circuit board. The control signal output terminals of the controller are respectively connected to the motor 28 of the main lifting mechanism 2, the electromagnetic push rod 52 of the wedge-shaped self-locking mechanism 5, and the drive power supply of the four piezoelectric ceramic stacked actuators 7.

[0031] In this embodiment, the return spring 54 is a piano wire compression spring with a wire diameter of 1mm and a free length of 15mm. The piezoelectric ceramic stacked actuator 7 is a PIP-885.91 type, and the drive power supply is an E-617 type. The controller power supply is 24V DC, and the motor 28 is a 24V servo motor. All components exposed to humid environments are nickel-plated or spray-coated.

[0032] The working principle of an intelligent lifting servo control support based on a pressure-sensitive sensor is as follows: In the initial state, the support is in a locked load-bearing state: the electromagnetic push rod 52 is energized in the positive direction, and its extended end pushes the movable wedge 53 to the right, so that the inclined surface of the movable wedge 53 is tightly fitted with the inclined surface of the fixed wedge 6, pushing the intermediate bearing plate 4 upward. A gap of about 0.3mm is maintained between the lower surface of the intermediate bearing plate 4 and the upper surface of the intermediate floating plate 3. At this time, the vertical load is transmitted to the intermediate floating plate 3 through the upper bearing plate 8, the piezoelectric ceramic stacked actuator 7, the intermediate bearing plate 4, the movable wedge 53, and the fixed wedge 6, and then transmitted to the lower base 1 through the lead screw nut 24, the lead screw 23, the worm gear 22, and the outer shell 21. Since the wedge angle α=7° is less than the friction angle φ≈8.5°, the horizontal component of the vertical load generated on the inclined surface is less than the maximum static friction force. Therefore, even if the electromagnetic push rod 52 is de-energized, the movable wedge 53 will not be pushed out in the reverse direction, and the self-locking is reliable. In actual operation, in order to maintain a stable locking mechanism, the electromagnetic push rod 52 can be kept energized, but the self-locking is not affected even when the power is cut off.

[0033] When it is necessary to raise the support (e.g., to compensate for cumulative settlement by 5mm), the controller performs the following steps: 1. Unlocking: The controller outputs a reverse current to the electromagnetic push rod 52, which actively generates a backward pulling force to overcome the static friction between the inclined surfaces, pulling the movable wedge 53 back to the left. The return spring 54 is compressed during the movement of the movable wedge 53, storing energy to help maintain the unlocked position. After the inclined surface of the movable wedge 53 disengages from the inclined surface of the fixed wedge 6, the intermediate pressure plate 4 moves downward under its own weight and the vertical load transmitted by the upper bearing plate 8 until the lower surface of the intermediate pressure plate 4 contacts the upper surface of the intermediate floating plate 3. At this time, the compression of the piezoelectric ceramic stacked actuator 7 is slightly reduced compared to the locked state, but it still maintains the pre-compression state and will not loosen.

[0034] 2. Large-stroke coarse lifting: The controller drives the motor 28 to rotate forward. The motor 28 drives the worm wheel 22 to rotate via the worm gear 27, and the worm wheel 22 drives the lead screw 23 to rotate. Since the lead screw nut 24 is restricted from rotation by the guide block 25 and the guide groove 26, the lead screw nut 24 drives the intermediate floating plate 3 to rise vertically along the guide column. The upper surface of the intermediate floating plate 3 contacts the lower surface of the intermediate bearing plate 4, thereby pushing the intermediate bearing plate 4, the piezoelectric ceramic stacked actuator 7, and the upper bearing plate 8 to rise together. The controller calculates the lifting displacement through the encoder pulse count of the motor 28. When the encoder feedback of the motor 28 reaches 0.3mm below the target height (with a fine-tuning margin), the motor 28 stops.

[0035] 3. Relocking: The controller outputs positive current to the electromagnetic push rod 52 again, causing it to extend and push the movable wedge 53 to the left. Its inclined surface re-fits the inclined surface of the fixed wedge 6, lifting the intermediate pressure plate 4 upwards by 0.3mm and restoring the gap between the intermediate pressure plate 4 and the intermediate floating plate 3. At this time, the height of the upper bearing plate 8 rises by 0.3mm, reaching the target value of 5mm for the total increase. Since α < φ, the self-locking condition is met, and even if the electromagnetic push rod 52 is de-energized, the movable wedge 53 will not retract.

[0036] 4. Micrometer-level fine-tuning and leveling: The controller reads the 32×32 dot matrix pressure data from the pressure sensor 9 and calculates the COP coordinates of the pressure center. If the COP deviates from the geometric center of the upper support plate 8 by more than the allowable value (e.g., 1mm), it indicates that the upper support plate 8 is tilted. Based on the pressure difference in the four corner areas, the controller independently adjusts the elongation of the four piezoelectric ceramic stacked actuators 7: the actuators in the corners with higher pressure are appropriately shortened, and the actuators in the corners with lower pressure are appropriately lengthened, in increments of 0.01mm, until the COP returns to the center and the pressure variance at each point is minimized. The final height control accuracy reaches ±0.05mm.

[0037] When external vibrations (such as vehicle traffic) cause high-frequency vertical vibrations in the utility tunnel, the pressure sensor 9 detects the pressure fluctuation signal, and the controller analyzes the vibration frequency (e.g., 35Hz) and amplitude. In this mode, the wedge-shaped self-locking mechanism 5 remains locked, and the main lifting mechanism 2 does not operate. The controller calculates the reverse vibration waveform in real time at a 1kHz update rate, driving the four piezoelectric ceramic stacked actuators 7 to extend and retract synchronously, outputting a displacement (maximum ±0.5mm) with the opposite phase and equivalent amplitude to the vibration. The response time of the piezoelectric ceramic stacked actuators 7 is less than 0.1ms, effectively suppressing vibrations in the 5-500Hz range. Since the intermediate bearing plate 4 remains stationary in the locked state, the extension and retraction of the piezoelectric ceramic stacked actuators 7 directly pushes and pulls the upper bearing plate 8 without affecting the components below the intermediate bearing plate 4. Simultaneously, the pressure sensor 9 continuously monitors the vibration suppression effect, forming a closed-loop control.

[0038] When an earthquake or sudden large displacement causes the pressure sensor 9 to detect an instantaneous shift in the pressure center COP exceeding a set threshold (e.g., a deviation of 15mm from the center) or a sudden increase in total load exceeding 120% of the rated value, the controller immediately enters the emergency lifting mode: the controller outputs a large reverse current to the electromagnetic push rod 52, forcibly pulling back the movable wedge block 53 and unlocking the wedge self-locking mechanism 5; the controller drives the motor 28 to run at its highest speed, causing the lead screw nut 24 to drive the intermediate floating plate 3 to rise and fall at its maximum speed. Based on the offset direction of COP, the controller determines the direction of displacement and controls the lifting direction: for example, if COP shifts forward, the controller controls the intermediate floating plate to move backward quickly to follow the displacement; the controller estimates the required compensation displacement based on the encoder pulse count of the motor 28 and the COP offset, and the motor 28 stops when the predicted position is reached; the controller immediately outputs a positive current to the electromagnetic push rod 52 to relock; after locking, the piezoelectric ceramic stacked actuator 7 performs rapid fine-tuning to compensate for the remaining deviation, and the entire process from triggering to relocking is completed in less than 0.5 seconds.

[0039] Because the helix angle between the lead screw 23 and the lead screw nut 24 is less than the equivalent friction angle, the lead screw pair itself has a reverse self-locking characteristic. When the wedge-shaped self-locking mechanism 5 is in the locked state, the intermediate floating plate 3 is not subjected to vertical load (the load is borne by the wedge mechanism). The self-locking of the lead screw pair serves as a redundant safety measure to prevent a fall due to accidental failure of the wedge mechanism. Together, they constitute a double self-locking protection.

[0040] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart lifting servo control support based on a pressure-sensitive sensor, comprising a lower base (1), characterized in that, The top of the lower base (1) is provided with a main lifting mechanism (2), the drive output end of the main lifting mechanism (2) is fixedly connected to an intermediate floating plate (3), an intermediate bearing plate (4) is provided above the intermediate floating plate (3), a wedge self-locking mechanism (5) is provided between the intermediate floating plate (3) and the intermediate bearing plate (4), a fixed wedge block (6) cooperating with the wedge self-locking mechanism (5) is fixedly installed on the lower surface of the intermediate bearing plate (4), a plurality of piezoelectric ceramic stacked actuators (7) are installed at the top of the intermediate bearing plate (4), an upper bearing plate (8) is provided above the piezoelectric ceramic stacked actuators (7), a pressure sensor (9) is provided on the lower surface of the upper bearing plate (8), and the position of the pressure sensor (9) corresponds to the position of the piezoelectric ceramic stacked actuator (7); It also includes a controller, the signal output terminal of the pressure sensor (9) is connected to the signal input terminal of the controller, and the control signal output terminal of the controller is connected to the main lifting mechanism (2), the wedge self-locking mechanism (5) and the piezoelectric ceramic stacked actuator (7) respectively.

2. The intelligent lifting servo control support based on a pressure-sensitive sensor according to claim 1, characterized in that, The main lifting mechanism (2) includes: The outer shell (21) is fixed to the lower base (1); The worm gear (22) and worm (27) are installed inside the housing (21), and the worm (27) meshes with the worm gear (22); A lead screw (23) is connected to the worm gear (22) for transmission. A screw nut (24) that mates with the screw (23); Guide block (25) fixed to the lead screw nut (24); The guide groove (26) is provided on the inner wall of the outer shell (21), and the guide block (25) slides in conjunction with the guide groove (26); A motor (28) that drives the worm gear (27) and a motor mount (29) that fixes the motor (28) on the lower base (1).

3. The intelligent lifting servo control support based on a pressure-sensitive sensor according to claim 2, characterized in that, The helix angle between the lead screw (23) and the lead screw nut (24) is less than the equivalent friction angle, and the top end of the lead screw nut (24) is fixedly connected to the bottom end of the intermediate floating plate (3).

4. The intelligent lifting servo control support based on a pressure-sensitive sensor according to claim 1, characterized in that, The wedge-shaped self-locking mechanism (5) includes: A groove (51) is formed on the upper surface of the intermediate floating plate (3); The electromagnetic push rod (52) and the movable wedge (53) are installed in the groove (51); A return spring (54) is connected between the electromagnetic push rod (52) and the movable wedge (53); The upper surface of the movable wedge (53) is an inclined surface, and the lower surface of the fixed wedge (6) is an inclined surface. The inclined surface of the movable wedge (53) and the inclined surface of the fixed wedge (6) are slidably attached, and the position of the fixed wedge (6) corresponds to the groove (51).

5. The intelligent lifting servo control support based on a pressure-sensitive sensor according to claim 4, characterized in that, The wedge angles of the inclined surfaces of the movable wedge (53) and the fixed wedge (6) are both α, and the friction angle between the movable wedge (53) and the fixed wedge (6) is φ, and α < φ.

6. The intelligent lifting servo control support based on a pressure-sensitive sensor according to claim 4, characterized in that, The housing of the electromagnetic push rod (52) is fixed to one end of the groove (51), the extended end of the electromagnetic push rod (52) is connected to one end of the movable wedge (53), and the reset spring (54) is sleeved on the extended end of the electromagnetic push rod (52).

7. The intelligent lifting servo control support based on a pressure-sensitive sensor according to claim 1, characterized in that, There are four piezoelectric ceramic stacked actuators (7), which are respectively set in the four corner areas of the upper surface of the intermediate bearing plate (4). The lower end of each piezoelectric ceramic stacked actuator (7) contacts the intermediate bearing plate (4) through a spherical gasket, and the upper end contacts the upper bearing plate (8) through a flat gasket.

8. The intelligent lifting servo control support based on a pressure-sensitive sensor according to claim 1, characterized in that, The lower surface of the upper support plate (8) is provided with a shallow groove for accommodating the pressure sensor (9) in the central area. The depth of the shallow groove is equal to the thickness of the pressure sensor (9). The edge of the pressure sensor (9) is fixed to the inner gap of the shallow groove by an adhesive layer.

9. The intelligent lifting servo control support based on a pressure-sensitive sensor according to claim 1, characterized in that, Guide columns are installed at the four corners of the lower base (1), and guide holes matching the guide columns are opened at the four corners of the middle floating plate (3), the middle pressure plate (4) and the upper bearing plate (8).

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