CN104723210B - The one-dimensional constant force device of electromagnetism and its control method - Google Patents
The one-dimensional constant force device of electromagnetism and its control method Download PDFInfo
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- CN104723210B CN104723210B CN201510083728.XA CN201510083728A CN104723210B CN 104723210 B CN104723210 B CN 104723210B CN 201510083728 A CN201510083728 A CN 201510083728A CN 104723210 B CN104723210 B CN 104723210B
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- 238000012545 processing Methods 0.000 claims abstract description 17
- 230000033228 biological regulation Effects 0.000 claims abstract description 7
- 230000001133 acceleration Effects 0.000 claims description 7
- 238000013016 damping Methods 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 6
- 230000004907 flux Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 238000004804 winding Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000005498 polishing Methods 0.000 abstract description 4
- 230000004044 response Effects 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
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- 230000009286 beneficial effect Effects 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 2
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- 230000013632 homeostatic process Effects 0.000 description 2
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- 241000145637 Lepturus Species 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
Abstract
The invention discloses the one-dimensional constant force device of electromagnetism and its control method, this device includes pedestal, voice coil motor, push rod, end cap, capping and controller, pedestal is the tubular structure of sealed bottom, voice coil motor is sleeved in pedestal, end cap is sequentially arranged at the top of pedestal with capping, end cap towards base bottom indent and and capping between formed a spacing space, one end of push rod is connected with voice coil motor after passing through end cap, the other end of push rod stretches out capping and end is provided with sensor assembly, and push rod moves under the drive of voice coil motor in spacing space；Sensor assembly be used for gathering constant force device by force signal and attitude signal and be sent to controller, controller makes constant force device and processing workpiece holding constant force according to the coil current by force signal and attitude signal real-time regulation voice coil motor.Present configuration is simple, low production cost, and fast response time has preferable controllability, and controllability is strong, can be widely applied in robot polishing workpiece industry.
Description
Technical field
The present invention relates to the constant force control field of industrial robot application scenario, the more particularly to one-dimensional perseverance of electromagnetism
Power apparatus and its control method.
Background technology
In the middle of industrial robot processed and applied occasion, such as polishing grinding process, often require that robot processed
Constant active force is kept to make final work pieces process effect meet demand processing workpiece in journey.At present according to compliance, main
Robot is divided passive compliance and active compliance two big class, passive compliance most representational for providing constant force
Passive compliance device be america's MIT Draper experimental design one kind be referred to as remote center submissive RCC (Remote Center
Compliance passive mechanical device).What typically one, RCC device was made up of many springs can be obedient to six, space freedom
The compliant mechanism of degree, it may be mounted between the wrist of robot arm and end effector, and its basic functional principle is logical
Overregulate the rigidity of spring, obtain compliance of different sizes, realize rotating around compliant control and translating.Active compliance is most
The representational device for providing constant force is by Austrian FerRobotics Compliant Robot
The pneumatic constant force device ACF of Tecnology GmbH company development ＆ production, controls end-of-arm tooling and ring by adjusting air pressure valve
Border keeps constant contact force.
But, remote center's compliance device is to change device holding constant force when contacting workpiece by adjusting spring,
This device cannot in workpiece fabrication real-time adjustment power as needed size, controllability is poor, and also cannot be right in working
The fluctuation situation of power is tracked.And the pneumatic constant force device of ACF itself is expensive, and require outside offer permanent at work
Calm the anger body, need to configure air compressor and just can be operated, it is larger not only result in operating noise, and further increases
Application cost.Generally speaking, the current device for providing constant force have that real-time regulation is poor, poor controllability or
The problems such as high cost, significantly limit the popularization and application of industrial robot.
Content of the invention
In order to solve above-mentioned technical problem, it is an object of the invention to provide a kind of one-dimensional constant force device of electromagnetism, the present invention
Another object is that provide a kind of one-dimensional constant force device of electromagnetism control method.
The technical solution adopted for the present invention to solve the technical problems is：
The one-dimensional constant force device of electromagnetism, including pedestal, voice coil motor, push rod, end cap, capping and controller, described pedestal is
The tubular structure of sealed bottom, described voice coil motor is sleeved in pedestal, and described end cap is sequentially arranged at the top of pedestal with capping
Portion, described end cap forms a spacing space towards base bottom indent and and capping between, and one end of described push rod passes through end cap
It is connected with voice coil motor afterwards, the other end of described push rod stretches out capping and end is provided with sensor assembly, and described push rod is in sound
Move in spacing space under the drive of circle motor；
Described sensor assembly be used for gathering constant force device by force signal and attitude signal and be sent to controller, described
Controller makes constant force device and processing workpiece according to the coil current by force signal and attitude signal real-time regulation voice coil motor
Keep constant force.
Further, described voice coil motor includes motor stator and electric mover, and described motor stator includes two coiling sides
To contrary coil, described motor stator is arranged on the bottom of pedestal, and described electric mover is set in above motor stator, described
One end of push rod is connected with electric mover after passing through end cap.
Further, described sensor assembly includes the one-dimensional force transducer by force signal for gathering constant force device and use
Three-axis gyroscope in the attitude signal of collection constant force device.
Further, it is filled with damping material in described spacing space.
Further, described push rod is decussate texture.
Another technical scheme that the present invention solves that its technical problem adopted is：
The control method of the one-dimensional constant force device of described electromagnetism, including：
Constant force between S1, the constant force device obtaining user's setting and processing workpiece；
S2, the real-time of constant force device of acquisition sensor assembly collection are subject to force signal and attitude signal；
S3, the target of the attitude signal calculating sensor assembly combining the constant force setting and acquisition are subject to force signal；
S4, the target of calculating sensor assembly are by the constant force device of force signal and collection by the difference between force signal；
S5, the coil current of voice coil motor is adjusted in real time according to the difference calculating.
Further, described sensor assembly includes the one-dimensional force transducer by force signal for gathering constant force device and use
In the three-axis gyroscope of the attitude signal of collection constant force device, described step S3 is specially：
The constant force setting is combined according to following formula and the target of the attitude signal one-dimensional force transducer of calculating obtaining is subject to
Force signal：
fTarget=fConnect+m2gsin(α)
Wherein, fTargetThe target representing one-dimensional force transducer is subject to force signal, fConnectRepresent the constant force setting, m2Represent
The quality of the fixture that constant force device uses, g represents acceleration of gravity, and α represents the constant force device and water of three-axis gyroscope collection
The angle of plane.
Further, described step S4 is specially：
Target according to the following formula one-dimensional force transducer of calculating is by the constant force device of force signal and collection by between force signal
Difference DELTA f：
Δ f=fTarget-fPass
Wherein, fPassRepresent one dimension force sensor acquisition constant force device by force signal.
Further, described step S4 is specially：
Difference according to calculating adjusts the coil current of voice coil motor in real time, if difference is positive number, tunes up voice coil loudspeaker voice coil electricity
The coil current of machine, on the contrary if difference is negative, turn the coil current of voice coil motor down.
Further, described step S4 is specially：
In conjunction with following formula, the difference according to calculating adjusts the coil current of voice coil motor in real time：
Wherein, Δ i represents the adjusted value of electric current, and B represents the magnetic flux density of voice coil motor, and l represents the coil of voice coil motor
Effective length.
The invention has the beneficial effects as follows：The one-dimensional constant force device of electromagnetism of the present invention, including pedestal, voice coil motor, push rod, end
Lid, capping and controller, pedestal is the tubular structure of sealed bottom, and voice coil motor is sleeved in pedestal, and end cap and capping are successively
Be arranged on the top of pedestal, end cap towards base bottom indent and and capping between formed a spacing space, one end of push rod is worn
It is connected with voice coil motor after crossing end cap, the other end of push rod stretches out capping and end is provided with sensor assembly, and push rod is in voice coil loudspeaker voice coil
Move in spacing space under the drive of motor；Sensor assembly be used for gathering constant force device by force signal and attitude signal simultaneously
It is sent to controller, controller makes constant force fill according to the coil current by force signal and attitude signal real-time regulation voice coil motor
Put and process workpiece and keep constant force.This constant force device structure is simple, low production cost, fast response time, has preferably
Controllability, controllability is strong, can adjust power output in time thus keeping the constant force with processing workpiece.
Another beneficial effect of the present invention is：The control method of the one-dimensional constant force device of electromagnetism of the present invention, including：S1, obtain
Take the constant force between the constant force device of family setting and processing workpiece；S2, the constant force dress of acquisition sensor assembly collection
That puts is subject to force signal and attitude signal in real time；The attitude signal of S3, the constant force combining setting and acquisition calculates sensing
The target of device module is subject to force signal；S4, the target of calculating sensor assembly are believed by the stress of force signal and the constant force device of collection
Difference between number；S5, the coil current of voice coil motor is adjusted in real time according to the difference calculating.This control method response speed
Hurry up, there is preferable controllability, controllability is strong, power output being adjusted in time thus keeping the homeostatic process with processing workpiece
Power.
Brief description
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the frame for movement schematic diagram of the one-dimensional constant force device of electromagnetism of the present invention；
Fig. 2 is the use state schematic diagram of the one-dimensional constant force device of electromagnetism of the present invention.
Specific embodiment
With reference to Fig. 1, the invention provides a kind of one-dimensional constant force device of electromagnetism, including pedestal 1, voice coil motor, push rod 4, end
Lid 5, capping 6 and controller, described pedestal 1 is the tubular structure of sealed bottom, and described voice coil motor is sleeved in pedestal 1, institute
State end cap 5 and capping 6 is sequentially arranged at the top of pedestal 1, described end cap 5 towards pedestal 1 bottom indent and and covers shape between 6
Become a spacing space, one end of described push rod 4 is connected with voice coil motor after passing through end cap 5, and the other end of described push rod 4 stretches out envelope
Cover 6 and end is provided with sensor assembly 7, described push rod 4 moves under the drive of voice coil motor in spacing space；
Described sensor assembly 7 be used for gathering constant force device by force signal and attitude signal and be sent to controller, institute
State controller and constant force device and processing work are made according to the coil current by force signal and attitude signal real-time regulation voice coil motor
Part keeps constant force.
It is further used as preferred embodiment, described voice coil motor includes motor stator 2 and electric mover 3, described electricity
Machine stator 2 includes two contrary coils of direction of winding, and described motor stator 2 is arranged on the bottom of pedestal 1, described electric mover
3 are set in above motor stator 2, and one end of described push rod 4 is connected with electric mover 3 after passing through end cap 5.
It is further used as preferred embodiment, described sensor assembly 7 includes believing for the stress gathering constant force device
Number one-dimensional force transducer and for gather constant force device attitude signal three-axis gyroscope.
It is further used as preferred embodiment, in described spacing space, be filled with damping material.
It is further used as preferred embodiment, described push rod 4 is decussate texture.
Present invention also offers a kind of control method of the one-dimensional constant force device of electromagnetism, including：
Constant force between S1, the constant force device obtaining user's setting and processing workpiece；
S2, the real-time of constant force device of acquisition sensor assembly 7 collection are subject to force signal and attitude signal；
S3, the target of the attitude signal calculating sensor assembly 7 combining the constant force setting and acquisition are subject to force signal；
S4, the target of calculating sensor assembly 7 are by the constant force device of force signal and collection by the difference between force signal；
S5, the coil current of voice coil motor is adjusted in real time according to the difference calculating.
It is further used as preferred embodiment, described sensor assembly 7 includes believing for the stress gathering constant force device
Number one-dimensional force transducer and the three-axis gyroscope for gathering the attitude signal of constant force device, described step S3 is specially：
The constant force setting is combined according to following formula and the target of the attitude signal one-dimensional force transducer of calculating obtaining is subject to
Force signal：
fTarget=fConnect+m2gsin(α)
Wherein, fTargetThe target representing one-dimensional force transducer is subject to force signal, fConnectRepresent the constant force setting, m2Represent
The quality of the fixture that constant force device uses, g represents acceleration of gravity, and α represents the constant force device and water of three-axis gyroscope collection
The angle of plane.
It is further used as preferred embodiment, described step S4 is specially：
Target according to the following formula one-dimensional force transducer of calculating is by the constant force device of force signal and collection by between force signal
Difference DELTA f：
Δ f=fTarget-fPass
Wherein, fPassRepresent one dimension force sensor acquisition constant force device by force signal.
It is further used as preferred embodiment, described step S4 is specially：
Difference according to calculating adjusts the coil current of voice coil motor in real time, if difference is positive number, tunes up voice coil loudspeaker voice coil electricity
The coil current of machine, on the contrary if difference is negative, turn the coil current of voice coil motor down.
It is further used as preferred embodiment, described step S4 is specially：
In conjunction with following formula, the difference according to calculating adjusts the coil current of voice coil motor in real time：
Wherein, Δ i represents the adjusted value of electric current, and B represents the magnetic flux density of voice coil motor, and l represents the coil of voice coil motor
Effective length.
Below in conjunction with specific embodiment, the invention will be further described.
Embodiment one
With reference to Fig. 1, the one-dimensional constant force device of electromagnetism, including pedestal 1, voice coil motor, push rod 4, end cap 5, capping 6 and control
Device, push rod 4 is decussate texture, and pedestal 1 is the tubular structure of sealed bottom, and voice coil motor is sleeved in pedestal 1, end cap 5 He
The tops that capping 6 is sequentially arranged at pedestal 1, end cap 5 forms a spacing space towards pedestal 1 bottom indent and and capping 6 between,
One end of push rod 4 is connected with voice coil motor after passing through end cap 5, and the other end of push rod 4 stretches out capping 6 and end is provided with sensor
Module 7, push rod 4 moves under the drive of voice coil motor in spacing space, and end cap 5 plays position-limiting action to the crossbeam of push rod 4；
Sensor assembly 7 be used for gathering constant force device by force signal and attitude signal and be sent to controller, controller
Constant force device is made to keep permanent with processing workpiece according to the coil current by force signal and attitude signal real-time regulation voice coil motor
It is set for firmly.
Controller can be using microprocessor, ARM chip or computer etc..
The displacement of voice coil motor is mainly interacted by load, current of electric, electric machine structure size and physical parameter
Determined.This constant force device acts on the stress letter on constant force device by one-dimensional force transducer and three-axis gyroscope Real-time Collection
Number and device attitude signal, signal is carried out calculate by controller and processes and the coil current of voice coil motor carried out in real time
Control, to reach the purpose that voice coil motor keeps constant force in direction of displacement.Voice coil motor is linear electric motor, is convenient for one-dimensional
The control of straight line force, and have fast response time, the features such as driving force is big, can rapidly change when sensing power change
The position of tail house, thus more preferable to the control effect of power.In addition, the low cost of voice coil motor, by voice coil motor Lai real
Existing constant force controls, and greatly reduces the cost of constant force device.
Voice coil motor includes motor stator 2 and electric mover 3, and motor stator 2 includes two and is mutually wound around and direction of winding
Contrary coil, motor stator 2 is arranged on the bottom of pedestal 1, and electric mover 3 is set in above motor stator 2, and the one of push rod 4
End is connected with electric mover 4 through after end cap 5.Because the direction of winding of the two of motor stator 2 coils is contrary, therefore in electric current
During conducting, electric mover 3 bottom may remain in the middle part of motor stator 2.No matter constant force device is positive stress or opposite direction is subject to
Power, voice coil motor can compensate to this power.
Sensor assembly 7 includes the one-dimensional force transducer by force signal for gathering constant force device and is used for gathering constant force
The three-axis gyroscope of the attitude signal of device.
It is filled with damping material in spacing space, forms damping module, damping material can absorb unnecessary kinetic energy, voice coil loudspeaker voice coil electricity
Machine and damping module match and complete constant force polishing purpose so that this constant force device can keep homeostatic process with processing workpiece
Power, during for robot polishing workpiece end, can keep constant force to act on.
This device combines robot active compliance and passive compliance method, and existing passive compliance device is without to existing business
The advantage that industry robot controller is changed in a large number, combining active compliance algorithm can enter in robot work process again
Row real time modifying and the advantage that terminal position is tracked.
Embodiment two
The control method of the one-dimensional constant force device of electromagnetism of embodiment one, including：
Constant force between S1, the constant force device obtaining user's setting and processing workpiece；
S2, the real-time of constant force device of acquisition sensor assembly 7 collection are subject to force signal and attitude signal, sensor assembly
7 include the one-dimensional force transducer by force signal for gathering constant force device and for gathering the attitude signal of constant force device three
Axle gyroscope；
S3, the target of the attitude signal calculating sensor assembly 7 combining the constant force setting and acquisition are subject to force signal,
It is specially：
The constant force setting is combined according to following formula and the target of the attitude signal one-dimensional force transducer of calculating obtaining is subject to
Force signal：
fTarget=fConnect+m2gsin(α)
Wherein, fTargetThe target representing one-dimensional force transducer is subject to force signal, fConnectRepresent the constant force setting, m2Represent
The quality of the fixture that constant force device uses, g represents acceleration of gravity, and α represents the constant force device and water of three-axis gyroscope collection
The angle of plane；
S4, calculate sensor assembly 7 target be subject to force signal and collection constant force device by the difference between force signal,
It is specially：
Target according to the following formula one-dimensional force transducer of calculating is by the constant force device of force signal and collection by between force signal
Difference DELTA f：
Δ f=fTarget-fPass
Wherein, fPassRepresent one dimension force sensor acquisition constant force device by force signal；
S5, the coil current of voice coil motor is adjusted in real time according to the difference calculating, if difference is positive number, tune up voice coil loudspeaker voice coil
The coil current of motor, on the contrary if difference is negative, turn the coil current of voice coil motor down.
Preferably, step S4 is specially：
In conjunction with following formula, the difference according to calculating adjusts the coil current of voice coil motor in real time：
Wherein, Δ i represents the adjusted value of electric current, and B represents the magnetic flux density of voice coil motor, and l represents the coil of voice coil motor
Effective length.
The control principle of the present embodiment is described with reference to Fig. 2.
As illustrated in fig. 2, it is assumed that now the constant force setting of constant force device is as Fset, because device is made by gravity
With it is therefore desirable to compensate to gravity G.Assuming that three-axis gyroscope measures constant force device with the angle of horizontal plane is α, now
Actual power output F to processing workpiece of constant force deviceoutShould be：
Fout=Fset-G×sin(α)
In the middle of work process, the attitude of constant force device is being constantly occurring change, and therefore constant force device reality is to processing
Power output F of workpieceoutα should constantly be followed and carry out real-time adjustment.
During constant force device work, its kinetic balance equation is as follows：
In above formula, B represents the magnetic flux density of voice coil motor, and l represents the coil effective length of voice coil motor, and i represents voice coil loudspeaker voice coil
The coil current of motor, m1Represent the quality of constant force device end, a represents the acceleration of constant force device end, c represents constant force dress
The damped coefficient put, v represents the speed of constant force device end, fPassRepresent the stress letter of the constant force device of one dimension force sensor acquisition
Number, f' represents frictional force, fConnectRepresent the constant force of the constant force device setting, m2Represent the matter of the fixture of constant force device use
Amount, α represents the angle of constant force device and horizontal plane.
According to above-mentioned formula, on the premise of the constant force that constant force device sets determines, one-dimensional force transducer
Detect by force signal fPassIt is to follow constant force device end acceleration and constant force device to change with the angle α of horizontal plane.And
The coil current i of voice coil motor and speed v of constant force device end, acceleration a, the constant force device of one dimension force sensor acquisition
By force signal fPassRelated with frictional force f'.Because constant force device is applied to thin tail sheep low-speed motion occasion, therefore can approx recognize
For a=0, v=0, the kinetic balance equation therefore obtaining constant force device is as follows：
Therefore, during constant force device work, if the constant force setting is as fConnect, then the target stress letter of one-dimensional force transducer
Number fTargetFor：
fTarget=fConnect+m2gsin(α)
This method pass through calculate one-dimensional force transducer target be subject to force signal and collection constant force device by force signal it
Between difference, and then adjust voice coil motor coil current so that constant force device with processing workpiece keep constant force.
It is more than that the preferable enforcement to the present invention is illustrated, but the invention is not limited to embodiment, ripe
Know those skilled in the art and also can make a variety of equivalent variations or replacement on the premise of spiritual without prejudice to the present invention, these
Equivalent modification or replacement are all contained in the application claim limited range.
Claims (10)
1. the one-dimensional constant force device of electromagnetism is it is characterised in that include pedestal, voice coil motor, push rod, end cap, capping and controller, institute
State the tubular structure that pedestal is sealed bottom, described voice coil motor is sleeved in pedestal, and described end cap and capping are sequentially arranged at
The top of pedestal, described end cap towards base bottom indent and and capping between formed a spacing space, one end of described push rod
It is connected with voice coil motor through after end cap, the other end of described push rod stretches out capping and end is provided with sensor assembly, described
Push rod moves under the drive of voice coil motor in spacing space；
Described sensor assembly be used for gathering constant force device by force signal and attitude signal and be sent to controller, described control
Device makes constant force device keep with processing workpiece according to the coil current by force signal and attitude signal real-time regulation voice coil motor
Constant force.
2. the one-dimensional constant force device of electromagnetism according to claim 1 is it is characterised in that described voice coil motor includes motor stator
And electric mover, described motor stator includes two contrary coils of direction of winding, and described motor stator is arranged on the bottom of pedestal
Portion, described electric mover is set in above motor stator, and one end of described push rod is connected with electric mover after passing through end cap.
3. the one-dimensional constant force device of electromagnetism according to claim 1 is it is characterised in that described sensor assembly is included for adopting
The one-dimensional force transducer by force signal of collection constant force device and the three-axis gyroscope for gathering the attitude signal of constant force device.
4. the one-dimensional constant force device of electromagnetism according to claim 1 is it is characterised in that be filled with damping in described spacing space
Material.
5. the one-dimensional constant force device of electromagnetism according to claim 1 is it is characterised in that described push rod is decussate texture.
6. the control method of the one-dimensional constant force device of the electromagnetism described in claim 1 is it is characterised in that include：
Constant force between S1, the constant force device obtaining user's setting and processing workpiece；
S2, the real-time of constant force device of acquisition sensor assembly collection are subject to force signal and attitude signal；
S3, the target of the attitude signal calculating sensor assembly combining the constant force setting and acquisition are subject to force signal；
S4, the target of calculating sensor assembly are by the constant force device of force signal and collection by the difference between force signal；
S5, the coil current of voice coil motor is adjusted in real time according to the difference calculating.
7. the control method of the one-dimensional constant force device of electromagnetism according to claim 6 is it is characterised in that described sensor assembly
Including for gathering the one-dimensional force transducer by force signal of constant force device and three for gathering the attitude signal of constant force device
Axle gyroscope, described step S3 is specially：
The constant force setting and the target stress letter of the attitude signal one-dimensional force transducer of calculating obtaining are combined according to following formula
Number：
fTarget=fConnect+m2g sin(α)
Wherein, fTargetThe target representing one-dimensional force transducer is subject to force signal, fConnectRepresent the constant force setting, m2Represent constant force dress
Put the quality of the fixture of use, g represents acceleration of gravity, α represent the constant force device of three-axis gyroscope collection with horizontal plane
Angle.
8. the control method of the one-dimensional constant force device of electromagnetism according to claim 7 is it is characterised in that described step S4 is concrete
For：
Target according to the following formula one-dimensional force transducer of calculating is by the constant force device of force signal and collection by the difference between force signal
Value Δ f：
Δ f=fTarget-fPass
Wherein, fPassRepresent one dimension force sensor acquisition constant force device by force signal.
9. the control method of the one-dimensional constant force device of electromagnetism according to claim 8 is it is characterised in that described step S4 is concrete
For：
Difference according to calculating adjusts the coil current of voice coil motor in real time, if difference is positive number, tunes up voice coil motor
Coil current, on the contrary if difference is negative, turn the coil current of voice coil motor down.
10. the control method of the one-dimensional constant force device of electromagnetism according to claim 8 is it is characterised in that described step S4 tool
Body is：
In conjunction with following formula, the difference according to calculating adjusts the coil current of voice coil motor in real time：
Wherein, Δ i represents the adjusted value of electric current, and B represents the magnetic flux density of voice coil motor, and the coil that l represents voice coil motor is effective
Length.
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| CN107544016B (en) * | 2016-06-29 | 2021-02-19 | 深圳市大族数控科技股份有限公司 | Flying probe test shaft and test method thereof |
| CN109664295B (en) * | 2018-12-13 | 2021-12-21 | 华南理工大学 | Robot abrasive belt grinding constant force control method and device based on one-dimensional force sensor |
| CN114425733B (en) * | 2021-12-14 | 2022-12-06 | 上海工程技术大学 | Two-degree-of-freedom force control end effector |
| CN114448320B (en) * | 2021-12-22 | 2024-05-24 | 上海智能制造功能平台有限公司 | Electromagnetic compliance device based on voice coil motor |
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| WO2008060091A1 (en) * | 2006-11-15 | 2008-05-22 | Korea Basic Science Institute | Automatic constant pressure polishing apparatus for improving surface accuracy of lens |
| CN102649258A (en) * | 2012-05-17 | 2012-08-29 | 广东新海岸机械有限公司 | Polishing grinding head for glass edge grinding machine |
| CN103009218A (en) * | 2012-12-17 | 2013-04-03 | 华南理工大学 | Robot polishing device and polishing method thereof |
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| JPH11245148A (en) * | 1998-03-02 | 1999-09-14 | Okamoto Machine Tool Works Ltd | Wafer polishing machine, and method for polishing wafer using the same |
| JP5943851B2 (en) * | 2013-02-06 | 2016-07-05 | 三菱電機株式会社 | Polishing holding device for shaft member and polishing device using this holding device |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008060091A1 (en) * | 2006-11-15 | 2008-05-22 | Korea Basic Science Institute | Automatic constant pressure polishing apparatus for improving surface accuracy of lens |
| CN102649258A (en) * | 2012-05-17 | 2012-08-29 | 广东新海岸机械有限公司 | Polishing grinding head for glass edge grinding machine |
| CN103009218A (en) * | 2012-12-17 | 2013-04-03 | 华南理工大学 | Robot polishing device and polishing method thereof |
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