CN109773587A - A kind of power control precise machining equipment - Google Patents
A kind of power control precise machining equipment Download PDFInfo
- Publication number
- CN109773587A CN109773587A CN201910099510.1A CN201910099510A CN109773587A CN 109773587 A CN109773587 A CN 109773587A CN 201910099510 A CN201910099510 A CN 201910099510A CN 109773587 A CN109773587 A CN 109773587A
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- manipulator
- processing assembly
- torque sensor
- machining equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
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- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of power control precise machining equipment, including control system, manipulator, processing assembly, workbench and clamping device, the processing assembly includes torque sensor, fixing seat, electro spindle, rotation axis and conducting slip ring, one end of the rotation axis is provided with flexible pouch, it is filled with electro rheological fluids in the flexible pouch, is connected with positive terminal and negative terminal on the conducting slip ring.By the way that torque sensor and electro rheological fluids are arranged in processing assembly, in process, the operating force between processing assembly and workpiece is detected according to torque sensor, control system converts actual processing power to the fine position amount of arm end, to add manipulator to make feedback regulation, it realizes and real-time control is carried out to the operating force between processing assembly and workpiece, keep constant the operating force in process, processing efficiency is substantially improved while guaranteeing workpiece surface precision, production efficiency is relatively high, homogeneity of product is relatively preferable and the scope of application is relatively wide.
Description
Technical field
The present invention relates to a kind of machining equipment, especially a kind of power control precise machining equipment.
Background technique
With the development of process of industrialization, the raising of production automation level, automate processing in machining
Using more and more extensive, however, it is relatively high for precision requirement in the high performance part such as titanium alloy, quartz glass, from
Dynamicization processing is generally difficult to meet its required precision, and manufacturing enterprise, the country is mainly still to complete using by the way of craft at present
The processing of the relatively high severe service components of precision requirement, production efficiency is relatively low, and the consistency of product is relatively poor.
Publication No. is that one kind disclosed in the Chinese invention patent application of CN105184007A is based on dynamic workpiece-mounting and clamping system
Milling Process surface error prediction technique, the machining accuracy of part is improved by way of being prejudged, but it is only applicable in
In the processing of weak separation part, scope of application relative narrower.
In view of this, the applicant conducts in-depth research precise machining equipment, there is this case generation then.
Summary of the invention
A kind of the purpose of the present invention is to provide production efficiencys relatively high, homogeneity of product is relatively preferably and the scope of application
Relatively wide power control precise machining equipment.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of power control precise machining equipment, including control system, manipulator, the processing group for being mounted on the arm end
Part, the clamping device of the workbench by the manipulator and setting on the workbench, the processing assembly include
The torque sensor that is mounted on the arm end, the test side for being directly or indirectly fixedly connected on the torque sensor
On fixing seat, be fixedly connected with electro spindle on the fixing seat, be fixedly connected on the output end of the electro spindle and turn
Moving axis and the conducting slip ring being set in the rotation axis, one end setting of the rotation axis far from the electro spindle are flexible
Bag, the flexible pouch is interior to be filled with electro rheological fluids, is connected with positive terminal and negative terminal, the anode on the conducting slip ring
One end of wiring and the negative terminal is located at the two sides of the inner cavity of the flexible pouch, and is immersed in the electro rheological fluids
In, the manipulator, the clamping device, the torque sensor and the electro spindle are communicated with the control system respectively to be connected
It connects.
As an improvement of the present invention, the processing assembly further includes mounting flange and connecting flange, and the torque passes
Sensor is fixedly connected by being fixedly connected on the mounting flange with the arm end, and the fixing seat is connected by fixed
It connects and is fixedly connected on indirectly on the connecting flange on the test side of the torque sensor.
As an improvement of the present invention, the manipulator is joint series manipulator, and the torque sensor is six
Dimensional force sensor, the flexible pouch are flexible rubber bag.
As an improvement of the present invention, the processing assembly further includes the change with the control system communication connection respectively
Frequency device and pressure regulator, the electro spindle by connect with the frequency converter realize indirectly with the control system communication connection, institute
Pressure regulator is stated to be electrically connected with the conducting slip ring.
As an improvement of the present invention, the clamping device includes described for the fixture of clamping workpiece and for driving
The rotating electric machine of fixture rotation.
By adopting the above technical scheme, the invention has the following advantages:
1, by the way that torque sensor and electro rheological fluids are arranged in processing assembly, in process, according to moment sensing
Device detects the operating force between processing assembly and workpiece, and control system will be real using the methods of power/position control according to the operating force
Border operating force is converted into the fine position amount of arm end, to add manipulator to make feedback regulation, realizes to processing assembly
Operating force between workpiece carries out real-time control, keeps constant the operating force in process, is guaranteeing workpiece surface essence
Be substantially improved processing efficiency while spending, production efficiency is relatively high, homogeneity of product relatively preferably and the scope of application relatively
Extensively.
2 compare with ordinary motor, and electro spindle has the characteristics that high revolving speed, high-power, processing assembly can be given to provide high speed
The power of rotation makes processing assembly while guaranteeing processing efficiency, realizes the Precision Machining of high-performance difficult-to-machine material.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of power control precise machining equipment of the invention；
Fig. 2 is the structural schematic diagram of processing assembly of the invention；
Fig. 3 is the cutting structural schematic diagram of processing assembly of the invention；
Fig. 4 is the operation principle schematic diagram of power control precise machining equipment of the invention.
Corresponding mark is as follows in figure:
10- manipulator；20- processing assembly；
21- torque sensor；22- fixing seat；
23- electro spindle；24- rotation axis；
25- conducting slip ring；26- mounting flange；
27- connecting flange；28- flexible pouch；
29- electro rheological fluids；30- workbench；
40- clamping device；41- fixture；
42- rotating electric machine.
Specific embodiment
Invention is described further in the following with reference to the drawings and specific embodiments:
As shown in Figure 1-Figure 3, power control precise machining equipment provided in this embodiment, including control system (are not shown in figure
Out), manipulator 10, the processing assembly 20 for being mounted on 10 end of manipulator, the workbench 30 positioned at 10 side of manipulator and setting
Clamping device 40 on workbench 30, wherein manipulator 10 can be using conventional manipulator, for example, by using joint series
Manipulator, in the present embodiment, manipulator 10 are the six axis Serial manipulators that can directly buy acquisition from the market.
Processing assembly 20 includes the torque sensor 21 being mounted on 10 end of manipulator, is directly or indirectly fixedly connected on
Fixing seat 22 on the test side of torque sensor 21, is fixedly connected on electricity at the electro spindle 23 being fixedly connected in fixing seat 22
Rotation axis 24 on the output end of main shaft 23 and the conducting slip ring 25 being set in rotation axis 24, it is preferred that in the present embodiment
In, processing assembly 20 further includes mounting flange 26 and connecting flange 27, and torque sensor 21 is by being fixedly connected on mounting flange
It realizes on 26 and is fixedly connected with 10 end of manipulator, connect so relatively firm, fixing seat 22, which passes through, is fixedly connected on connection
On flange 27 realize be fixedly connected on the test side of torque sensor 21 indirectly, it should be noted that fixing seat 22 with company
When acting flange 27 is attached, preferably the side of fixing seat 22 is connected on connecting flange 27, may make processing group in this way
The center of part 20 facilitates the overall length for reducing processing assembly 20, guarantees manipulator in process close to mounting flange 26
10 rigidity.In addition, torque sensor 21 is preferably the six-dimension force sensor that can directly buy acquisition from the market, electro spindle 23
The electro spindle that preferably can directly buy acquisition from the market is compared with ordinary motor, and electro spindle 23 has high revolving speed, power big
The characteristics of, high-speed rotating power can be provided to processing assembly 20, make processing assembly 20 while guaranteeing processing efficiency, it is real
The Precision Machining of existing high-performance difficult-to-machine material.
Rotation axis 24 and electro spindle 23 are coaxially arranged, and rotation axis 24 is provided with flexible pouch far from one end of electro spindle 23
28, flexible pouch 28 is preferably flexible rubber bag.Electro rheological fluids 29 are filled in flexible pouch 28, electro rheological fluids 29 are mainly by micron
Sized particles are suspended in the suspension formed in insulator, and under the action of an external electric field, electro rheological fluids 29 can be in liquid and solid-state
Between make quick, reversible, controllable variation, the ingredient of specific electro rheological fluids 29 and its electro rheological fluids phase of proportion and routine
Together, the not emphasis of the present embodiment, and will not be described here in detail.Preferably, in the present embodiment, processing assembly 20 further includes and controls
The frequency converter (not shown) of system communication connection, electro spindle 23 are indirectly logical with control system by connecting realization with frequency converter
News connection, in this way, can be by the rotation of Frequency Converter Control electro spindle 23, and then drive the rotation of flexible pouch 28 to realize and workpiece is added
Work.
Positive terminal and negative terminal are connected on conducting slip ring 25, positive terminal and negative terminal are far from conducting slip ring 25
One end be located at flexible pouch 28 inner cavity two sides, and be immersed in electro rheological fluids 29, it is preferred that in the present embodiment,
Processing assembly 20 further includes the pressure regulator (not shown) with control system communication connection, and pressure regulator is electrically connected with conducting slip ring 25
It connects.In this way, changing the voltage swing of the electric field in flexible pouch 28 by pressure regulator, the state of electro rheological fluids 29 is made to change,
When voltage of electric field becomes larger, electro rheological fluids 29 are solid state, and the rigidity of flexible pouch 28 becomes larger, when voltage of electric field becomes smaller, electricity
Rheological body 29 is liquid condition, and 29 rigidity of flexible pouch becomes smaller.It should be noted that conducting slip ring 25 used in the present embodiment is
Conventional conducting slip ring, is mainly used in unconfined continuous rotation, the connection type with positive terminal and negative terminal
It is also routine, voltage needed for electro rheological fluids 29 is transferred on positive terminal and negative terminal through conducting slip ring 25, so that electric
The state generation variation of rheological body 29, flexible pouch 28 play the role of adapting to the electro rheological fluids 29 of different-stiffness variation, guarantee to add
The flexible variety of work component.
Clamping device 40 includes the rotating electric machine 42 for the fixture 41 of clamping workpiece and for driving fixture 41 rotations,
Middle fixture 41 is conventional work piece holder, not the emphasis of the present embodiment, and and will not be described here in detail.In addition, manipulator 10, clamping fill
Set 40 rotating electric machine 42, torque sensor 21 and electro spindle 23 respectively with control system communication connection, i.e. manipulator 10, clamping
The working sequence of the rotating electric machine 42 of device 40, torque sensor 21 and electro spindle 23 is controlled by control system.
As shown in figure 4, and combine Fig. 1-Fig. 3 shown in, the power control precise machining equipment of the present embodiment when in use, can basis
Actual processing request is changed the rigidity of electro rheological fluids 29 by pressure regulator, adapts to the processing of different workpieces, and by manipulator 10
The attitude motion positioning of processing assembly 20 as required is driven, workpiece is processed；Flexible pouch 28 as machining tool
Rotary power is provided by electro spindle 23, and the revolving speed of electro spindle 23 is controlled using frequency converter, and flexible pouch 28 connects with workpiece
When touching, operating force can be generated, the processing on real-time power numerical value measured can be sent to control system, control system by torque sensor 21
The measured value of operating force is handled (specific processing mode is conventional mode) by system, will be real by power/position control method
Border operating force is converted into the fine position amount of 10 end of manipulator, and sends manipulator 10 to, and driving processing assembly 20 is made instead
Feedback is adjusted, and is realized that the operating force between processing assembly 20 and workpiece carries out real-time control, is kept the operating force in process
It is constant, complete the Precision Machining of workpiece.
The power control precise machining equipment of the present embodiment can be required according to material, processing method and machining accuracy of workpiece etc.
The rigidity for changing processing assembly 20 by pressure regulator, for the workpiece of plane and the high removal amount of needs, the corresponding pressure regulator that adjusts makes
The rigidity of processing assembly 20 becomes larger, and for the workpiece of curved surface and micro- removal amount, the corresponding pressure regulator that adjusts makes the rigid of processing assembly 20
Degree becomes smaller, and by the movement of control manipulator 10 and the revolving speed of processing assembly 20, realizes roughing, the semifinishing to workpiece
And finishing, required precision needed for reaching workpiece.
The present invention is described in detail above in conjunction with attached drawing, but embodiments of the present invention be not limited in it is above-mentioned
Embodiment, those skilled in the art can make various modifications according to the prior art to the present invention, such as by above-described embodiment
In joint series manipulator be changed to multi-joint parallel manipulator etc., these are all within the scope of protection of the present invention.
Claims (5)
1. a kind of power control precise machining equipment, which is characterized in that including control system, manipulator, be mounted on the manipulator end
The processing assembly at end, the clamping device of the workbench by the manipulator and setting on the workbench, it is described to add
Work component includes the torque sensor being mounted on the arm end, is directly or indirectly fixedly connected on the moment sensing
Fixing seat on the test side of device is fixedly connected with electro spindle on the fixing seat, is fixedly connected on the defeated of the electro spindle
Rotation axis in outlet and the conducting slip ring being set in the rotation axis, the one end of the rotation axis far from the electro spindle
It is provided with flexible pouch, electro rheological fluids are filled in the flexible pouch, positive terminal is connected on the conducting slip ring and cathode connects
One end of line, the positive terminal and the negative terminal is located at the two sides of the inner cavity of the flexible pouch, and is immersed in institute
State in electro rheological fluids, the manipulator, the clamping device, the torque sensor and the electro spindle respectively with the control
System communication connection.
2. power control precise machining equipment as described in claim 1, which is characterized in that the processing assembly further includes mounting flange
And connecting flange, the torque sensor is by being fixedly connected on the mounting flange and the fixed company of the arm end
It connects, the fixing seat is fixedly connected on the test side of the torque sensor by being fixedly connected on indirectly on the connecting flange
On.
3. power control precise machining equipment as described in claim 1, which is characterized in that the manipulator is that joint series are mechanical
Hand, the torque sensor are six-dimension force sensor, and the flexible pouch is flexible rubber bag.
4. power control precise machining equipment as described in claim 1, which is characterized in that the processing assembly further include respectively with institute
State the frequency converter and pressure regulator of control system communication connection, the electro spindle is realized indirectly and institute by connecting with the frequency converter
Control system communication connection is stated, the pressure regulator is electrically connected with the conducting slip ring.
5. the power control precise machining equipment as described in any claim in claim 1-4, which is characterized in that the clamping dress
It sets including the fixture for clamping workpiece and the rotating electric machine for driving the fixture rotation.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099510.1A CN109773587A (en) | 2019-01-31 | 2019-01-31 | A kind of power control precise machining equipment |
| PCT/CN2019/105241 WO2020155630A1 (en) | 2019-01-31 | 2019-09-11 | Force-controlled precision machining apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910099510.1A CN109773587A (en) | 2019-01-31 | 2019-01-31 | A kind of power control precise machining equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109773587A true CN109773587A (en) | 2019-05-21 |
Family
ID=66502983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910099510.1A Pending CN109773587A (en) | 2019-01-31 | 2019-01-31 | A kind of power control precise machining equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109773587A (en) |
| WO (1) | WO2020155630A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020155630A1 (en) * | 2019-01-31 | 2020-08-06 | 泉州装备制造研究所 | Force-controlled precision machining apparatus |
| CN113650030A (en) * | 2021-08-31 | 2021-11-16 | 中科尚易健康科技(北京)有限公司 | Extension device with tail end force control mechanical arm and mechanical arm with extension device |
| WO2022160347A1 (en) * | 2021-02-01 | 2022-08-04 | Abb Schweiz Ag | Assembly and apparatus for machining mechanical part |
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| JPH0911114A (en) * | 1995-06-23 | 1997-01-14 | Fujikura Ltd | Surface finish process method |
| CN102765012A (en) * | 2012-03-23 | 2012-11-07 | 中国科学院光电技术研究所 | Flexible controllable air bag polishing tool based on electrorheological fluid |
| CN103056759A (en) * | 2012-12-24 | 2013-04-24 | 中国科学院自动化研究所 | Robot grinding system based on feedback of sensor |
| CN103551925A (en) * | 2013-09-13 | 2014-02-05 | 北京理工大学 | Positive and negative blade electrodes alternated type electrorheological buffing device |
| CN108907905A (en) * | 2018-08-07 | 2018-11-30 | 武汉理工大学 | A kind of robot sanding and polishing method and device for automotive hub casting mold |
| CN109047449A (en) * | 2018-09-10 | 2018-12-21 | 耿攀 | A kind of stamping die buffering formed punch |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773587A (en) * | 2019-01-31 | 2019-05-21 | 泉州装备制造研究所 | A kind of power control precise machining equipment |
-
2019
- 2019-01-31 CN CN201910099510.1A patent/CN109773587A/en active Pending
- 2019-09-11 WO PCT/CN2019/105241 patent/WO2020155630A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0911114A (en) * | 1995-06-23 | 1997-01-14 | Fujikura Ltd | Surface finish process method |
| CN102765012A (en) * | 2012-03-23 | 2012-11-07 | 中国科学院光电技术研究所 | Flexible controllable air bag polishing tool based on electrorheological fluid |
| CN103056759A (en) * | 2012-12-24 | 2013-04-24 | 中国科学院自动化研究所 | Robot grinding system based on feedback of sensor |
| CN103551925A (en) * | 2013-09-13 | 2014-02-05 | 北京理工大学 | Positive and negative blade electrodes alternated type electrorheological buffing device |
| CN108907905A (en) * | 2018-08-07 | 2018-11-30 | 武汉理工大学 | A kind of robot sanding and polishing method and device for automotive hub casting mold |
| CN109047449A (en) * | 2018-09-10 | 2018-12-21 | 耿攀 | A kind of stamping die buffering formed punch |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020155630A1 (en) * | 2019-01-31 | 2020-08-06 | 泉州装备制造研究所 | Force-controlled precision machining apparatus |
| WO2022160347A1 (en) * | 2021-02-01 | 2022-08-04 | Abb Schweiz Ag | Assembly and apparatus for machining mechanical part |
| CN113650030A (en) * | 2021-08-31 | 2021-11-16 | 中科尚易健康科技(北京)有限公司 | Extension device with tail end force control mechanical arm and mechanical arm with extension device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020155630A1 (en) | 2020-08-06 |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190521 |
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| RJ01 | Rejection of invention patent application after publication |