CN107571154A - A kind of integrated Compliant Force control device - Google Patents
A kind of integrated Compliant Force control device Download PDFInfo
- Publication number
- CN107571154A CN107571154A CN201710935899.XA CN201710935899A CN107571154A CN 107571154 A CN107571154 A CN 107571154A CN 201710935899 A CN201710935899 A CN 201710935899A CN 107571154 A CN107571154 A CN 107571154A
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- China
- Prior art keywords
- support base
- control device
- force control
- compliant force
- shell
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Abstract
The present invention is a kind of integrated Compliant Force control device, and device is divided into three parts, and external structure includes forward flange, telescopic protective cover, shell, rear flange and electric interfaces.Running part mainly includes directive slide track, pneumatic actuator, support base and the device that is connected accordingly, such as retainer ring and shaft coupling.Pneumatic control part mainly includes proportioning valve, magnetic valve, angular transducer, displacement transducer and the control circuit being fixed on support base.The important feature of the present invention is that gas circuit is provided with support base, instead of and is separately provided a valve plate in the prior art, belongs to one-machine-multi-function design, structure is more compact, and parts are more simplified, while use is easier, the cost of product is reduced, improves the reliability of product.
Description
Technical field
The present invention relates to a kind of integrated Compliant Force control device, belongs to automatic field.
Background technology
Artificial automation surface operation processing, such as Surface Machining (polishing, polishing) and workpiece are replaced for machine
Processing, for ensure the crudy of whole technical process, it is necessary to constant force be processed or by along machining locus carry out expected force
Tracking.For traditional manual type, skilled worker ensures quality by rule of thumb, while has human cost height, working environment
Harm to the human body is big, the shortcomings such as crudy uniformity difference and efficiency are low.For the output Force control system in modern times, it is installed on
Machining tool on robot arm can produce a kind of contact force with shock wave character when being contacted with work piece.It is right
Processed in low side, this problem can be neglected.But in the case that requirement on machining accuracy is higher or work piece surface is more sensitive,
Work piece surface can be caused the situation of flaw or breakage occur.Therefore impulsive force caused by this contact is natural
It is eliminated.In addition, existing output Force control system often lacks high dynamic response energy in the case where high-frequency is disturbed
Power, because its adjustable mechanism has certain inertia, it is necessary to the corresponding reaction time.For the industrial robot of standard,
Belong to rigid system, even if producing small error during the adjustment of track, will also result in the huge deviation of contact force, produce not
The consequence being expected to.
Mainly solved the above problems at present using a kind of Compliant Force control device, the existing power control device of one of which, bag
Two parts are included, one is executing agency, and another is control cabinet, and equipment is very numerous and diverse.
Another product is by inside control system integration to executing agency, and device is easier, but unreasonable structure, chi
Very little and weight is larger, is not suitable for being applied to small scale robot occasion.
The content of the invention
Goal of the invention：The purpose of apparatus of the present invention, it is the one fixed power of output in certain flexible stroke range, and
Integrated level is higher, lighter compared with prior art.
Technical scheme：
A kind of integrated Compliant Force control device, it is characterised in that：
Formed including external structure, transmission mechanism and pneumatic control mechanism；
The external structure is included in the forward flange and rear flange of housing exterior, and electric interfaces；
Shell embedded transmission mechanism, the transmission mechanism include：
Support base, it is hollow structure, its inner chamber is provided with directive slide track, and support base is connected with rear flange；
The ring dress of the directive slide track insertion forward flange bottom is clamped in protruding by retainer ring；
The pneumatic actuator parallel to directive slide track, the extension bar of the pneumatic actuator and preceding method are provided with the rear flange
Orchid is connected；
The pneumatic control mechanism includes：
The displacement transducer being fixed in the pneumatic actuator side wall and the angular transducer being fixed on the support base；
Magnetic valve on support base；
Proportioning valve on support base；
Circuit board on shell, the circuit board are connected with magnetic valve, proportioning valve and sensor.
Described integrated Compliant Force control device, it is characterised in that：A plurality of gas circuit is provided with the wall of the support base, it is described
Magnetic valve and proportioning valve are arranged on gas circuit opening；The magnetic valve is connected by the gas circuit in support base wall and pneumatic actuator
Connect.
Described integrated Compliant Force control device, it is characterised in that：The retainer ring is open annular, two of opening
Ear structure one is provided with through hole, and another is provided with screwed hole.
Described integrated Compliant Force control device, it is characterised in that：The one end of the directive slide track in support base cavity
It is fixed with the back-up ring that support base is skidded off for restricted guidance slide rail；Part of the rear flange in support base cavity has leads for limitation
To the hierarchic structure of slide rail bottom offset.
Described integrated Compliant Force control device, it is characterised in that：Pass through tool between the pneumatic actuator and forward flange
There is swing to be connected with the shaft coupling of rotational freedom.
Described integrated Compliant Force control device, it is characterised in that：Described circuit board is secured by bolts in shell master
Between body and housing back panel；The bearing of the circuit board is provided with damping packing ring.
Described integrated Compliant Force control device, it is characterised in that：Flexible guarantor is provided between the forward flange and shell
Sheath.
Described integrated Compliant Force control device, it is characterised in that：Slot-like opening is provided with around the rear flange.
Brief description of the drawings：
Fig. 1 is external structure schematic diagram；
Fig. 2 is running part schematic diagram；
Fig. 3 is support base schematic diagram；
Fig. 4 is retainer ring schematic diagram；
Fig. 5 is rear flange schematic diagram；
Fig. 6 is stopping means；
Fig. 7 circuit board scheme of installations；
Fig. 8 support base scheme of installations；
In figure：1 forward flange；2 telescopic protective covers；3 shells；4 rear flanges；5 circuit interfaces；6 air-path interfaces；7 mufflers；8 are oriented to
Slide rail；9 pneumatic actuators；10 support bases；11 retainer rings；12 shaft couplings；13 back-up rings；14 circuit boards；15 packing rings；16 proportioning valves；
17 magnetic valves；18 angular transducers；19 displacement transducers；
3A housing main bodies；3B housing back panels.
Advantage and effect：The part of the present invention is mostly one-machine-multi-function design, and structure is more compact, and parts are more simplified,
Use simultaneously is easier, reduces the cost of product, improves the reliability of product.
Embodiment：
The present invention is a kind of integrated Compliant Force control device, and device is divided into three parts, and external structure includes forward flange 1, stretched
Protective case 2, shell 3, rear flange 4 and electric interfaces.
Running part mainly includes directive slide track 8, pneumatic actuator 9, support base 10 and the device that is connected accordingly, such as
Retainer ring 11 and shaft coupling 12.
Pneumatic control part mainly include be fixed on support base 10 proportioning valve 16, magnetic valve 17, angular transducer 18,
Displacement transducer 19 and control circuit.
Support base 10 constructs for hollow type, and in its cavity arrangements directive slide track 8, the lower end of support base 10 is connected to rear flange
On 4, and in the tongue of the upper end of directive slide track 8 insertion forward flange 1, and it is clamped by retainer ring 11, retainer ring 11 is only
There is design, it is opening form, stretches out two ears respectively in opening, and side ear is through hole, and side is screwed hole, can be with
The locking of ring 11 is only fixed by bolt, it is simple to operate.Back-up ring 13 is secured by bolts under directive slide track 8
End, directive slide track 8 can carry out telescopic slide with back-up ring 13 in the inner chamber of support base 10, back-up ring 13 here by with rear method
The sliding stroke progress that blue 4 upper surface grooves and the inner chamber boss of support base 10 offset to directive slide track 8 is spacing.Pneumatic actuator 9
Parallel to directive slide track 8 and it is fixed on rear flange 4, its extension bar is connected by shaft coupling 12 with upper flange, the shaft coupling 12
It can be swung and be rotated, for compensating pneumatic actuator 9 and directive slide track 8 caused Parallel errors when mounted.Pneumatically
Fixed displacement transducer 19 in the side wall of actuator 9, can conveniently measure the change in displacement of pneumatic actuator 9, and structure is simpler,
As a result it is more accurate.For convenience of above-mentioned arrangement, the upper surface of rear flange 4 is provided with multiple grooves, for the spacing and pneumatic of slide rail
The fixation of actuator 9, at the same time, four angles of the periphery of rear flange 4 are respectively provided with a perforation, and the equipment with outside can be facilitated to enter
Row is connected.
Shell 3 includes the main body of shell 3 and the backboard of shell 3, and wherein circuit board 14 is secured by bolts in the main body of shell 3 and outer
Between the backboard of shell 3, such a design dismounting is simple, facilitates the debugging efforts of circuit.At the same time, in order to ensure that the safety of circuit can
By property, packing ring 15 is added between circuit board 14 and shell 3, absorbing is served to circuit board 14 and is acted on vibration isolation.
Proportioning valve 16, magnetic valve 17 and angular transducer 18 are fixed in the side wall of support base 10, in the side wall of support base 10
A plurality of gas circuit is provided with, the conducting for gas circuit is with exchanging.Here support base 10 is exclusive design, can be risen as main structure
To the effect of fixed rack, and can fixed valve body and sensor so that the installation fixation of sensor and valve body is relatively reliable, with this
Meanwhile the gas circuit in the side wall of support base 10 is instead of traditional tracheae and conventional valve plate so that structure is more simple
Just with reliably.
Shell 3 is connected with rear flange 4, and telescopic protective cover 2 is fixed between shell 3 and forward flange 1, and this structure, which ensure that, to be set
Effective sealing of standby internal structure, what simultaneous retractable protective case 2 can also meet running part slides up and down function.
The present invention is further detailed with reference to accompanying drawing：
Fig. 1 shows the claimed surface structure of apparatus of the present invention, and telescopic protective cover 2 selects soft materials (to be not limited to rubber
Glue), shell 3 selects rigid material (being not limited to plastics, metal), and this combination ensure that device possesses IP68 degree of protection.
Simultaneous retractable protective case 2 is also equipped with certain flexible ability, the elastic construction design of this outside, Ke Yibao in the axial direction
During operation, internal executing agency can be obtained good the card present invention during stroke range of motion by external structure
Good protection, without having exposed phenomenon.
There are circuit interface 5 and air-path interface 6 in the side arrangement of shell 33.Wherein circuit interface 5 be used for equipment power supply and
Communication is used, and the compressed air in external pressure source can be delivered to internal pressure control device by air-path interface 6.Fig. 2 shows this
The internal drive organization distribution of invention device,
Fig. 3 illustrates the structure of support base 10 in detail, and it is hollow inner chamber that it is internal, and side is provided with various gas circuits.
Fig. 6 illustrates the mounting means of rail plate in detail, and rail plate is fixed on support base by its own slideway
In 10 inner chamber, its upper end is then embedded in inside the tongue of forward flange 1, and used retainer ring 11 is locked.
The structure design of retainer ring 11 is shown in detail in Fig. 4, and the apparatus structure is divided into two parts, and one is ring shaped contact portion
With a pair of extensions, the wherein side of extension is through-hole form, and opposite side is screw thread well format, by bolt by two kinds of holes
Carry out locked, it is possible to play the purpose of locking slide rail and forward flange 1.
Fig. 5 set forth in detail the structure design of rear flange 4, and rear flange 4 is attached by bolt and support base 10, and
On the two equitant surface, rear flange 4 sets circular groove, spacing for being provided for back-up ring 13；Meanwhile among rear flange 4
Enclose as fin structure, for carrying out cooperation fixation with the annular groove of shell 3；In 4 outermost surrounding of rear flange, through hole is provided with,
It is attached available for external structure.Another groove is provided with the upper surface of rear flange 4, for placing pneumatic actuator 9.Pneumatically
Execution is placed parallel with rail plate, and its upper end is connected by shaft coupling 12 with forward flange 1, and wherein shaft coupling 12 is can be around it
Axis rotates and swinging structure, for making up pneumatic actuator 9 with rail plate due to Parallel errors caused by processing or assembling.
The side arrangement of support base 10 gas flow channel, and proportioning valve 16 is fixed on the side of support base 10 with magnetic valve 17,
And communicated with the corresponding interface of gas flow channel, it the advantage is that, both eliminated valve block this general attachment means, significantly
Improve the utilization rate of structure.
Sensor for detecting inclination angle and displacement is individually fixed in support base 10 and the side of pneumatic actuator 9.
Circuit system for carrying out pressure control is then arranged between the main body of shell 3 and the backboard of shell 3 by bolt, and
Packing ring 15 is arranged in the both sides of each bolt hole of circuit board 14, to carry out vibration damping and vibration isolation to circuit board 14.
Circuit system is exported and gives proportioning valve 16 1 control signals by the comparison to each sensor and setup parameter,
Proportioning valve 16 is then output in 9 one specified air pressure of pneumatic actuator according to the control signal, and the air pressure can make pneumatic actuator 9
Piston rod is released, and then drives forward flange 1 to be pumped.In this course, rail plate is as follower
Part, the effect for bearing external load is served along its own slideway, and the back-up ring 13 for being connected to rail plate lower end then passes through
Collided with rear flange 4 and support base 10 and the shift motion of rail plate is limited.
Claims (8)
- A kind of 1. integrated Compliant Force control device, it is characterised in that：Formed including external structure, transmission mechanism and pneumatic control mechanism；The external structure is included in shell（3）Outside forward flange（1）And rear flange（4）, and electric interfaces；Shell（3）Embedded transmission mechanism, the transmission mechanism include：Support base（10）, it is hollow structure, its inner chamber is provided with directive slide track（8）, support base（10）With rear flange（4）It is connected；The directive slide track（8）Embedded forward flange（1）The ring dress of bottom passes through retainer ring in protruding（11）Clamp；The rear flange（4）On be provided with parallel to directive slide track（8）Pneumatic actuator（9）, the pneumatic actuator（9）'s Extension bar and forward flange（1）It is connected；The pneumatic control mechanism includes：It is fixed on the pneumatic actuator（9）Displacement transducer in side wall（19）Be fixed on the support base（10）On angle Spend sensor（18）；Installed in support base（10）On magnetic valve（17）；Installed in support base（10）On proportioning valve（16）；Installed in shell（3）On circuit board（14）, the circuit board（14）With magnetic valve（17）, proportioning valve（16）And sensor It is connected.
- 2. integrated Compliant Force control device according to claim 1, it is characterised in that：The support base（10）Wall in open There are a plurality of gas circuit, the proportioning valve（16）, magnetic valve（17）Installed in gas circuit opening；The proportioning valve（16）With magnetic valve （17）It is connected by gas circuit in wall；Installed in magnetic valve described in gas circuit opening（17）Pass through support base（10）Gas circuit in wall with Pneumatic actuator（9）Connection.
- 3. integrated Compliant Force control device according to claim 1, it is characterised in that：The retainer ring（11）For split ring Shape, two ear structures one of opening are provided with through hole, and another is provided with screwed hole.
- 4. integrated Compliant Force control device according to claim 1, it is characterised in that：The directive slide track（8）Supporting Seat（10）One end in cavity is fixed with for restricted guidance slide rail（8）Skid off support base（10）Back-up ring（13）；Rear flange（4） In support base（10）Part in cavity has for restricted guidance slide rail（8）The hierarchic structure of bottom offset.
- 5. integrated Compliant Force control device according to claim 1, it is characterised in that：The pneumatic actuator（9）With it is preceding Flange（1）Between pass through with swing and rotational freedom shaft coupling（12）Connection.
- 6. integrated Compliant Force control device according to claim 1, it is characterised in that：Described circuit board（14）Pass through spiral shell Bolt is fixed on housing main body（3A）And housing back panel（3B）Between；The circuit board（14）Bearing be provided with damping packing ring （15）.
- 7. integrated Compliant Force control device according to claim 1, it is characterised in that：The forward flange（1）With shell（3） Between be provided with telescopic protective cover（2）.
- 8. integrated Compliant Force control device according to claim 1, it is characterised in that：The rear flange（4）Surrounding is provided with Slot-like opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710935899.XA CN107571154A (en) | 2017-10-10 | 2017-10-10 | A kind of integrated Compliant Force control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710935899.XA CN107571154A (en) | 2017-10-10 | 2017-10-10 | A kind of integrated Compliant Force control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107571154A true CN107571154A (en) | 2018-01-12 |
Family
ID=61040359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710935899.XA Pending CN107571154A (en) | 2017-10-10 | 2017-10-10 | A kind of integrated Compliant Force control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107571154A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110026990A (en) * | 2019-04-02 | 2019-07-19 | 清博(昆山)自动化科技有限公司 | A kind of automatically controlled integrated form active force control device and its control method |
| CN110480338A (en) * | 2019-08-28 | 2019-11-22 | 苏州大学 | A kind of compliance device of big L/D ratio peg-in-hole assembly, assembly system, assembly method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201900559U (en) * | 2010-11-22 | 2011-07-20 | 王敬达 | Grinding pressure control device of grinding head |
| CN205685358U (en) * | 2016-04-28 | 2016-11-16 | 广东利迅达机器人系统股份有限公司 | A kind of high accuracy bathtub milling robot |
| CN106903613A (en) * | 2017-03-07 | 2017-06-30 | 山东大学 | The flexible polishing constant force control device of double actuator drivens |
| CN206357024U (en) * | 2016-12-09 | 2017-07-28 | 东莞市小可机器人科技有限公司 | The polishing system with power control function is measured with 3D |
-
2017
- 2017-10-10 CN CN201710935899.XA patent/CN107571154A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201900559U (en) * | 2010-11-22 | 2011-07-20 | 王敬达 | Grinding pressure control device of grinding head |
| CN205685358U (en) * | 2016-04-28 | 2016-11-16 | 广东利迅达机器人系统股份有限公司 | A kind of high accuracy bathtub milling robot |
| CN206357024U (en) * | 2016-12-09 | 2017-07-28 | 东莞市小可机器人科技有限公司 | The polishing system with power control function is measured with 3D |
| CN106903613A (en) * | 2017-03-07 | 2017-06-30 | 山东大学 | The flexible polishing constant force control device of double actuator drivens |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110026990A (en) * | 2019-04-02 | 2019-07-19 | 清博(昆山)自动化科技有限公司 | A kind of automatically controlled integrated form active force control device and its control method |
| CN110480338A (en) * | 2019-08-28 | 2019-11-22 | 苏州大学 | A kind of compliance device of big L/D ratio peg-in-hole assembly, assembly system, assembly method |
| CN110480338B (en) * | 2019-08-28 | 2020-08-25 | 苏州大学 | Compliant device, assembly system and assembly method for assembling shaft hole with large length-diameter ratio |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180112 |
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| RJ01 | Rejection of invention patent application after publication |