CN110142686A - Dust-proof constant force device and control method, mechanical arm, milling apparatus and robot - Google Patents
Dust-proof constant force device and control method, mechanical arm, milling apparatus and robot Download PDFInfo
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- CN110142686A CN110142686A CN201910529581.0A CN201910529581A CN110142686A CN 110142686 A CN110142686 A CN 110142686A CN 201910529581 A CN201910529581 A CN 201910529581A CN 110142686 A CN110142686 A CN 110142686A
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- Prior art keywords
- mobile mechanism
- dust
- seal chamber
- constant force
- mobile
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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
- B24B37/00—Lapping machines or devices; Accessories
-
- 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
- B24B37/00—Lapping machines or devices; Accessories
- B24B37/005—Control means for lapping machines or devices
-
- 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
- B24B37/00—Lapping machines or devices; Accessories
- B24B37/34—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Sealing Devices (AREA)
Abstract
The application provides a kind of dust-proof constant force device, mechanical arm, milling apparatus and robot, is related to intelligence manufacture field.The dust-proof constant force device includes fixed mechanism, mobile mechanism, elastic element and gas input device.Mobile mechanism and fixed mechanism configure the seal chamber of a variable-volume jointly, and seal chamber is equipped with air inlet.Elastic element is located in seal chamber, is configured to have interaction relation with mobile mechanism.Gas input device, for inputting compressed air into seal chamber and the seal chamber internal pressure being made to be consistently greater than external pressure.The application configures the seal chamber of a variable-volume by mobile mechanism and fixed mechanism jointly and seal chamber internal pressure is kept to be greater than external pressure, to prevent external dust from entering inside seal chamber.Elastic element and mobile mechanism link, with the active force that balanced seal cavity pressure changing value generates mobile mechanism, to realize that constant force exports.
Description
Technical field
This application involves Intelligent Machining fields, in particular to a kind of dust-proof constant force device and control method, machinery
Arm, milling apparatus and robot.
Background technique
In automatic grinding processing, polishes the object of surface imperfection, in order to obtain smooth surface, need
Constant force is kept as far as possible.It is easy to produce more dust during the grinding process, and dust enters in constant force output device and understands to constant force
The rubbing surface of the movable part of output device generates damage, therefore to prevent dust from entering constant force output device, generallys use close
The structures such as sealing cover or organ cover carry out simple seal to constant force output device, so that constant force output device is in sealed environment.
When constant force output device is caused seal closure inner volume to change by external force, air pressure in seal closure can be with
Become smaller, then extraneous gas can oriented seal closure inner part drilling trend.Correspondingly, dust can also enter inside seal closure therewith,
Destruction is generated to constant force output device.
Summary of the invention
The purpose of the present invention is to provide a kind of dust-proof constant force devices that can prevent dust from entering sealed environment.
Another object of the present invention also reside in provide it is a kind of using the mechanical arm of above-mentioned dust-proof constant force device, milling apparatus and
Robot.
In a first aspect, the embodiment of the present application provides a kind of dust-proof constant force device, comprising:
Fixed mechanism；
Mobile mechanism, the seal chamber of a variable-volume is configured with the fixed mechanism jointly, and the seal chamber is equipped with
Air inlet；
Elastic element is located in the seal chamber, is configured to have interaction relation with the mobile mechanism；
Gas input device, for inputting compressed air into the seal chamber by the air inlet and making the sealing
Chamber internal pressure is consistently greater than external pressure.
During above-mentioned realization, a seal chamber is configured jointly using fixed mechanism and mobile mechanism.Mobile mechanism
For connecting with grinding executing agency, executing agency is ground when carrying out polishing operation, by exterior vibration, external shock forces are passed
Mobile mechanism is passed, mobile mechanism is mobile relative to fixed mechanism, and seal chamber volume is increased with it or reduced.Gas input device
It is filled with compressed gas into seal chamber by the air inlet that seal chamber is arranged, seal chamber internal pressure is kept to be greater than external pressure,
To prevent external dust from entering inside seal chamber.The movement of mobile mechanism makes the pressure of seal chamber change simultaneously, pressure
Changing value, which applies mobile mechanism, has linkage with mobile mechanism's moving direction opposite effect power, elastic element and mobile mechanism
Relationship, to the active force that balanced seal cavity pressure changing value generates mobile mechanism, to realize that the constant force of constant force device is defeated
Out.
As an implementation, the elastic element and the interaction relation of the mobile mechanism include:
When the mobile mechanism is located at home position, the elastic element is in former long status；
When the mobile mechanism is mobile relative to the fixed mechanism, the elastic element generates deformation quantity；
Has functional relation between the displacement of the mobile mechanism and the deformation quantity of the elastic element.
In one possible implementation, between the displacement of the mobile mechanism and the deformation quantity of the elastic element
Functional relation be linear relationship.
Further, the displacement of the mobile mechanism is equal with the deformation quantity of the elastic element.
During above-mentioned realization, the usually more difficult measurement of the measurement of deformation of elastic components amount and measurement result inaccuracy.It will
The displacement of mobile mechanism is configured to equal with the deformation quantity of elastic element, then the displacement that need to only obtain mobile mechanism can obtain
The deformation quantity for knowing elastic element simplifies measuring process and also makes measurement result more accurate by way of measuring indirectly.
In one possible implementation, dust-proof constant force device further include:
Displacement sensor, for obtaining the displacement of the mobile mechanism；
Air regulating device, for controlling the pressure entered in the seal chamber when the mobile mechanism is located at home position
Contracting gas flow is so that the seal chamber keeps positive pressure, and when the mobile mechanism is mobile relative to the fixed mechanism, adjusts
The air inflow of the compressed gas is saved to maintain pressure and the bullet of the barotropic gas to the mobile mechanism in the seal chamber
Property element be predetermined value to the vector sum of the elastic force of the mobile mechanism.
During above-mentioned realization, the essence that achievable constant force output is applied in combination of displacement sensor and air regulating device
Really control.
In one possible implementation, in seal chamber barotropic gas to the pressure and elastic element of mobile mechanism to shifting
The vector sum of the elastic force of motivation structure is fixed value.In another possible implementation, barotropic gas is to moving machine in seal chamber
The pressure and elastic element of structure are a numberical range to the vector sum of the elastic force of mobile mechanism.I.e. mobile mechanism externally exports
Constant force can be a fixed value, can also fluctuate in a numberical range.
In one possible implementation, the fixed mechanism is arranged in the seal chamber is used to support the elasticity
The supporting element of element, the elastic element are sheathed on the supporting element；
The STATEMENT OF FEDERALLY SPONSORED connecting with the mobile mechanism is also arranged on the supporting element；The STATEMENT OF FEDERALLY SPONSORED is limited at described
Between that one end in elastic element and the supporting element far from the elastic element.
In one possible implementation, the fixed mechanism includes:
Erecting bed, including the first mounting surface and the second mounting surface；
Guide post is fixed on the side of second mounting surface, and the elastic element and described is successively arranged on the guide post
STATEMENT OF FEDERALLY SPONSORED, one end of the elastic element are abutted with second mounting surface；Separate second mounting surface of the guide post
End is provided with fixed pin, and the elastic element and the STATEMENT OF FEDERALLY SPONSORED are limited on the guide post by the fixed pin；It is described
Moving part is axle sleeve；The mobile mechanism is fixedly connected with the axle sleeve；And
Fixing sleeve, including first end and second end, the first end are fixed on second mounting surface；The moving machine
Structure blocks the second end and to the fixing sleeve internal stretch preset length, the outer surface of the mobile mechanism and the fixation
The inner wall of set movably seals cooperation；The inner wall of the fixing sleeve, the upper surface of the axle sleeve and second mounting surface three
Person encloses the seal chamber.
In one possible implementation, the guide post is equipped with fixed part, institute close to the end of second mounting surface
It includes: that the fixed part is bonded with second mounting surface that guide post, which is stated, with the mode that the erecting bed is fixedly connected, the fixation
Portion is fixed on the second mounting surface by the first fixing piece；Or
Setting runs through the through hole of the first mounting surface and the second mounting surface on the erecting bed, and the guide post is arranged in described
In through hole, the fixed part of the guide post is fixed on the first mounting surface by the second fixing piece.
In one possible implementation, the mobile mechanism includes:
Mobile ontology, including connecting pin and closed end, the outer surface of the connecting pin and the fixing sleeve inner wall are movable
Ground sealing cooperation；
First installation cavity extends predetermined depth from the end face of the connecting pin to the closed end, is mounted on the guide post
The axle sleeve of end is plugged on first installation cavity inlet.
As an implementation, the end that the axle sleeve connects with the elastic element is equipped with along the guide post radial direction side
To the flange of extension, the upper surface of the flange is abutted with the elastic element and the upper surface is reserved with and second peace
The opposite installing zone in dress face, the installing zone is interior to be arranged the first displacement sensor.
In one possible implementation, the quantity of the guide post is two, opens up two institutes on the mobile ontology
State the first installation cavity；
The dust-proof constant force device further includes the pillar being fixed on second mounting surface, the company of being equipped with inside the pillar
The vent line of logical compressed gas gas source and the seal chamber；
It is additionally provided on the mobile ontology and extends the second of predetermined depth from the end face of the connecting pin to the closed end
Installation cavity；The pillar is inserted into second installation cavity far from the end of second mounting surface and can be in second installation
Intracavitary movement；
Between the mobile ontology and the fixing sleeve, between the axle sleeve and first installation cavity, the pillar and
Being reserved between second installation cavity can pass the gas through, but can make the gap of the seal chamber holding positive pressure.
In one possible implementation, second displacement sensor is arranged in the bottom of second installation cavity.
In one possible implementation, the pillar is located among two guide posts, and two guide posts and
The axis parallel of the pillar three and three axial lines are along arranged in a straight line.
In one possible implementation, the mobile ontology is equipped with the first sealing close to the position of the connecting pin
Circle, first sealing ring is in the gap between the mobile ontology and the fixing sleeve；
The outer surface of the pillar is equipped with the second sealing ring, and first sealing ring is located at the pillar and second peace
In gap between behaveing affectedly.
Second aspect, the embodiment of the present application provide a kind of mechanical arm, including arm body and dust-proof constant force dress as described above
It sets, one end connecting flange mounting plate of the arm body, the fixed mechanism of the other end and the dust-proof constant force device is fixed to be connected
It connects.
During above-mentioned realization, the inclination of arm body can be such that the angular range between arm body and fixed mechanism increases, and be
Arm body reserves more installation spaces, can more easily connect with external device (ED).
In one possible implementation, arm body is internally provided with cavity, is filled with shock-absorbing ball in cavity.
Constant force device carry grinding apparatus, when polishing product, the vibration frequency of dust-proof constant force device be it is very big,
Under long-term work, this has damage the mechanical arm for carrying dust-proof constant force device；Elastic element energy in dust-proof constant force device
Enough parts of eliminating are shaken, and the vibration ball inside arm body is eliminated part and shaken, so that two-stage damping is realized, to eliminate vibration as far as possible.
In one possible implementation, the arm body is equipped with the charging port being connected to the cavity.
The third aspect, the embodiment of the present application also provides a kind of milling apparatus, including grinding head and as described above dust-proof
Constant force device；The grinding head is detachably connected with the mobile mechanism.
Fourth aspect, the embodiment of the present application also provides a kind of attrition process machine people, including grinding head and as described above
Mechanical arm；The grinding head is detachably connected with the mobile mechanism.
5th aspect, the embodiment of the present application also provides a kind of dust-proof constant force control methods, comprising:
It constructs a fixed mechanism and one is capable of the mobile mechanism that the relatively described fixed mechanism moves, the mobile mechanism
Configure the seal chamber of a variable-volume jointly with the fixed mechanism；Compressed gas is passed through in the seal chamber to keep just
Pressure；
The elastic element for having interaction relation with the mobile mechanism is set in the seal chamber；
When the mobile mechanism is mobile relative to the fixed mechanism, adjusts and enter the compressed gas in the seal chamber
Air inflow to maintain barotropic gas in the seal chamber to the pressure of the mobile mechanism and the elastic element to the shifting
The vector sum of the elastic force of motivation structure is preset value.
In one possible implementation, the preset value is fixed value.
In alternatively possible implementation, preset value is a numberical range.
From the above technical scheme, the application configures a variable-volume using fixed mechanism and mobile mechanism jointly
Seal chamber, gas input device is filled with compressed gas into seal chamber by the air inlet that seal chamber is arranged, keeps seal chamber
Internal pressure is greater than external pressure, to prevent external dust from entering inside seal chamber.The movement of mobile mechanism makes seal chamber simultaneously
Pressure change, the changing value of pressure applies and mobile mechanism's moving direction opposite effect power, elasticity mobile mechanism
Element and mobile mechanism have interaction relation, to the active force that balanced seal cavity pressure changing value generates mobile mechanism, from
And it realizes constant force and exports.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of structural schematic diagram of dust-proof constant force device shown in the embodiment of the present application；
Fig. 2 is the structural schematic diagram of the dust-proof constant force device of another kind shown in the embodiment of the present application；
Fig. 3 be shown in Fig. 2 in dust-proof constant force device A-A to sectional view；
Fig. 4 is a kind of structural schematic diagram of mechanical arm shown in the embodiment of the present application.
Icon: 100- fixed mechanism；120- STATEMENT OF FEDERALLY SPONSORED；121- flange；130- erecting bed；The first mounting surface of 131-；132-
Second mounting surface；140- guide post；141- fixed pin；150- fixing sleeve；160- pillar；170- vent line；200- mobile mechanism,
210- moves ontology；The first installation cavity of 220-；The second installation cavity of 230-；The first sealing ring of 240-；The second sealing ring of 250-；300-
Elastic element；400- gas input device；500- seal chamber；510- air inlet；600- air regulating device；700- first is displaced
Sensor；800- second displacement sensor；900- arm body；910- shock-absorbing ball；920- charging port；940- flange mounting plate.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model of the application protection
It encloses.
In the description of the present application, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Application product using when the orientation or positional relationship usually put, be merely for convenience of description the application and simplify description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as the limitation to the application.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
In the description of the present application, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in this application.
Fig. 1 is a kind of structural schematic diagram of dust-proof constant force device shown in the embodiment of the present application.As shown in Figure 1, dust-proof perseverance
Power device includes fixed mechanism 100, mobile mechanism 200, elastic element 300 and gas input device 400.
Fixed mechanism 100 and mobile mechanism 200 configure the seal chamber 500 of a variable-volume jointly, and seal chamber 500 is set
There is air inlet 510.A seal chamber 500 is configured jointly using fixed mechanism 100 and mobile mechanism 200.Mobile mechanism 200 uses
It is connect in grinding executing agency, grinds executing agency when carrying out polishing operation, by exterior vibration, external shock forces transmitting
To mobile mechanism 200, mobile mechanism 200 is mobile relative to fixed mechanism 100, and 500 volume of seal chamber is increased with it or reduced.It is close
Envelope chamber 500 is arranged air inlet 510 and is passed through compressed gas by air inlet 510, and the pressure inside seal chamber 500 is greater than external pressure
Power, to prevent external dust from entering inside seal chamber 500.
Elastic element 300 is located in seal chamber 500, and is configured to have interaction relation with mobile mechanism 200.Gas is defeated
Enter device 400 and compressed gas source is provided, and compressed air is inputted into seal chamber 500 by air inlet 510.
When mobile mechanism 200 is mobile relative to fixed mechanism 100, the movement of mobile mechanism 200 makes the pressure of seal chamber 500
It changes, the changing value of pressure applies and 200 moving direction opposite effect power of mobile mechanism, elasticity mobile mechanism 200
Element 300 and mobile mechanism 200 have interaction relation, generate to 500 change value of pressure of balanced seal chamber to mobile mechanism 200
Active force, thus realize constant force device constant force output.
As an implementation, elastic element 300 and the interaction relation of mobile mechanism 200 include:
When mobile mechanism 200 is located at home position, elastic element 300 is in former long status；
When mobile mechanism 200 is mobile relative to fixed mechanism 100, elastic element 300 generates deformation quantity；
Has functional relation between the displacement of mobile mechanism 200 and the deformation quantity of elastic element 300.
During above-mentioned realization, when mobile mechanism 200 is located at home position, elastic element 300 is in former long status, then
The two reference pair having the same is shone, convenient for making to establish between the displacement of mobile mechanism 200 and the deformation quantity of elastic element 300
More succinct functional relation.
In one possible implementation, between the deformation quantity of the displacement and elastic element 300 of mobile mechanism 200
Functional relation is linear relationship.
Further, the deformation quantity of displacement with elastic element 300 of mobile mechanism 200 is equal.
During above-mentioned realization, the usually more difficult measurement of the measurement of 300 deformation quantity of elastic element and measurement result inaccuracy.
It configures with the deformation quantity of elastic element 300 displacement of mobile mechanism 200 to equal, then need to only obtain mobile mechanism 200
Displacement just would know that the deformation quantity of elastic element 300, by way of measuring indirectly, that is, simplifies measuring process and also to measure
As a result more accurate.
In one possible implementation, dust-proof constant force device further include:
Displacement sensor, for obtaining the displacement of mobile mechanism 200.It is passed it should be noted that being displaced in the present embodiment
The installation site of sensor is not specifically limited, as long as the displacement of mobile mechanism 200 can be obtained.
Air regulating device 600 enters in seal chamber 500 for controlling when mobile mechanism 200 is located at home position
The compressed gas scale of construction is so that seal chamber 500 keeps positive pressure, and when mobile mechanism 200 is mobile relative to fixed mechanism 100, adjusts
The air inflow of compressed gas is to maintain barotropic gas in seal chamber 500 to move the pressure of mobile mechanism 200 with 300 pairs of elastic element
The vector sum of the elastic force of motivation structure 200 is predetermined value.
During above-mentioned realization, the achievable constant force that is applied in combination of displacement sensor and air regulating device 600 is exported
Accurate control.When mobile mechanism 200 is located at home position, air regulating device 600 need to control input seal chamber 500
The compressed gas scale of construction simultaneously makes seal chamber 500 keep positive pressure, it is assumed that barotropic gas is F1 to the pressure of mobile mechanism 200.
When mobile mechanism 200 is in running order, mobile mechanism 200 be would be normally located at relative to home position to admittedly
Determine the position of mobile certain displacement inside mechanism 100, elastic element 300 is in pressured state, 300 pairs of movements of elastic element at this time
The elastic force that mechanism 200 generates is F, and mobile mechanism 200 externally exports constant force F1+F.
When grinding executing agency's progress polishing operation and keeping mobile mechanism 200 mobile relative to fixed mechanism 100, seal chamber
500 volumes change, it is assumed that and the displacement of mobile mechanism 200 is △ L, and the elastic force change value that elastic element 300 generates is △ F,
To make the externally output constant force F1+F of mobile mechanism 200, then the compressed gas inputted into seal chamber 500 produces mobile mechanism 200
Raw pressure △ F1 should be identical as △ F size, contrary, i.e. △ F+ △ F1=0.
Under conditions of having functional relation between the displacement of mobile mechanism 200 and the deformation quantity of elastic element 300, obtain
Know that the displacement △ L of mobile mechanism 200 can know the deformation quantity of elastic element 300 by functional relation, with mobile mechanism 200
For displacement is equal with the deformation quantity of elastic element 300, then △ L*k=△ F；K is the coefficient of elasticity of elastic element 300.Root
According to △ F1=△ P*A, wherein A is the stress sectional area of mobile mechanism 200, wherein the stress sectional area of mobile mechanism 200 is to move
△ P=△ F/A can be calculated in the frontal projected area of its moving direction in the stress surface of motivation structure.△ P is gas regulation
The air inflow of the progress compressed gas adjusting of device 600.
In one possible implementation, pressure and elasticity member of the barotropic gas to mobile mechanism 200 in seal chamber 500
Part 300 is fixed value (setting fixed value for predetermined value above-mentioned) to the vector sum (F1+F) of the elastic force of mobile mechanism 200.
In another possible implementation, barotropic gas is right to the pressure and elastic element 300 of mobile mechanism 200 in seal chamber 500
The vector sum (F1+F) of the elastic force of mobile mechanism 200 is that a numberical range (sets numerical value model for predetermined value above-mentioned
It encloses).The constant force that i.e. mobile mechanism 200 externally exports can be a fixed value, can also fluctuate in a numberical range.
Fixed mechanism 100 is arranged the supporting element for being used to support elastic element 300 in seal chamber 500, and 300 sets of elastic element
On supporting element.The STATEMENT OF FEDERALLY SPONSORED 120 connecting with mobile mechanism 200 is also arranged on supporting element；STATEMENT OF FEDERALLY SPONSORED 120 is limited at bullet
Property element 300 and supporting element in far from elastic element 300 that one end between.
Wherein, fixed mechanism 100 includes erecting bed 130, guide post 140 and fixing sleeve 150.
Erecting bed 130 includes the first mounting surface 131 and the second mounting surface 132.
Guide post 140 is fixed on the side of the second mounting surface 132, is successively arranged elastic element 300 and STATEMENT OF FEDERALLY SPONSORED on guide post 140
120.Guide post 140 is supporting element.One end of elastic element 300 is abutted with the second mounting surface 132, and separate the second of guide post 140
The end of mounting surface 132 is provided with fixed pin 141, and elastic element 300 and STATEMENT OF FEDERALLY SPONSORED 120 are limited to guide post 140 by fixed pin 141
On.STATEMENT OF FEDERALLY SPONSORED 120 is axle sleeve, and mobile mechanism 200 is fixedly connected with axle sleeve.
Fixing sleeve 150 includes first end and second end, and first end is fixed on the second mounting surface 132.200 envelope of mobile mechanism
Stifled second end and to 150 internal stretch preset length of fixing sleeve, the outer surface of mobile mechanism 200 and the inner wall of fixing sleeve 150 can
Actively sealing cooperation.The inner wall of fixing sleeve 150, the upper surface of axle sleeve and 132 three of the second mounting surface enclose seal chamber
500。
In one possible implementation, setting runs through the first mounting surface 131 and the second mounting surface on erecting bed 130
132 through hole, guide post 140 are arranged in through hole, and the fixed part of guide post 140 is fixed on the first installation by the second fixing piece
On face 131.
As alternatively possible implementation, it can also be arranged in guide post 140 close to the end of the second mounting surface 132 and fix
Portion, guide post 140 and the mode that erecting bed 130 is fixedly connected include: that fixed part is bonded with the second mounting surface 132, and fixed part passes through
First fixing piece is fixed on the second mounting surface 132.It should be noted that the fixation of above two guide post 140 and erecting bed 130
Connection type is only exemplary, all guide post 140 to be connected to erecting bed 130 and guide post 140 is made to extend to fixed knot
Connection type inside structure each falls within the protection scope of the application.
In one possible implementation, mobile mechanism 200 includes mobile ontology 210 and the first installation cavity 220.Its
In, mobile ontology 210 includes connecting pin and closed end, and the outer surface of connecting pin is movably sealed with 150 inner wall of fixing sleeve matches
It closes.First installation cavity 220 extends predetermined depth from the end face of connecting pin to closed end, and the entrance of the first installation cavity 220 is sheathed on
The outer wall of axle sleeve is simultaneously interference fitted with axle sleeve.
As an implementation, the end that STATEMENT OF FEDERALLY SPONSORED 120 connects with elastic element 300 is equipped with along 140 radial direction side of guide post
To the flange 121 of extension, the upper surface of flange 121 is abutted with elastic element 300 and upper surface is reserved with and the second mounting surface 132
Opposite installing zone, installing zone is interior to be arranged the first displacement sensor 700.First displacement sensor 700 is used for and the second mounting surface
132 cooperations, it is mobile mechanism 200 that the first displacement sensor 700, which detects the distance between the second mounting surface 132 changing value,
Displacement.
Fig. 2 is the structural schematic diagram of the dust-proof constant force device of another kind shown in the embodiment of the present application.Fig. 3 is to prevent shown in Fig. 2
A-A is to sectional view in dirt constant force device.As shown in Figures 2 and 3, the dust-proof constant force device in the embodiment is relative to shown in Fig. 1
Dust-proof constant force device, the quantity of guide post 140 are two, open up two the first installation cavitys 220 on mobile ontology 210.With Fig. 1 institute
Show that pillar 160 is arranged in the dust-proof constant force device in the embodiment on the second mounting surface 132 unlike dust-proof constant force device,
The vent line 170 of connection compressed gas gas source and seal chamber 500 is equipped with inside pillar 160.
The second installation cavity 230 for extending predetermined depth from the end face of connecting pin to closed end is additionally provided on mobile ontology 210；
Pillar 160 is inserted into predetermined length in the second installation cavity 230 far from the end of the second mounting surface 132.
Between mobile ontology 210 and fixing sleeve 150, between axle sleeve and the first installation cavity 220, pillar 160 and the second installation
Being reserved between chamber 230 can pass the gas through, but can make the gap of the holding positive pressure of seal chamber 500.
In one possible implementation, unlike dust-proof constant force device shown in Fig. 1, the embodiment is in the second peace
Behave affectedly 230 bottom setting second displacement sensor 800, with the displacement for measuring mobile mechanism 200, in a kind of realization side
In formula, second displacement sensor 800 passes through measurement and that one end the distance between of the pillar 160 far from the second mounting surface 132
Variable quantity obtains the displacement of mobile mechanism 200.
In one possible implementation, pillar 160 is located among two guide posts 140, and two guide posts 140 and pillar
The axis parallel of 160 threes and three axial lines are along arranged in a straight line.
In one possible implementation, mobile ontology 210 is equipped with the first sealing ring 240 close to the position of connecting pin,
First sealing ring 240 is located in the gap between mobile ontology 210 and fixing sleeve 150.It is close that the outer surface of pillar 160 is equipped with second
Seal 250, the first sealing ring 240 are located in the gap between pillar 160 and the second installation cavity 230.
During above-mentioned realization, the setting of the first sealing ring 240 and the second sealing ring 250 can increase seal chamber 500
Leakproofness.It should be noted that being the matching relationship in axis and hole between mobile mechanism 200 and fixed mechanism 100, in processing essence
It spends in suitable situation, the first sealing ring 240 needs to overcome the frictional force in the gap between mobile ontology 210 and fixing sleeve 150,
And second sealing ring 250 need to overcome the frictional force in the gap between pillar 160 and the second installation cavity 230 and little, therefore
First sealing ring 240 and the second sealing ring 250 do not interfere the shifting of mobile mechanism 200 when increasing the leakproofness of seal chamber 500
It is dynamic.
According to a second aspect of the present application, a kind of mechanical arm is additionally provided.Fig. 4 is a kind of machine shown in the embodiment of the present application
The structural schematic diagram of tool arm.As shown in figure 4, mechanical arm includes arm body 900 and any dust-proof constant force device as described above.Its
In, one end connecting flange mounting plate 940 of arm body 900, the other end is fixedly connected with the fixed mechanism 100 of dust-proof constant force device.
In one possible implementation, the relatively fixed mechanism 100 of arm body 900 is obliquely installed.
During above-mentioned realization, the inclination of arm body 900 can make the angle model between arm body 900 and fixed mechanism 100
Increase is enclosed, more installation spaces is reserved for arm body 900, can more easily be connect with external device (ED).
In one possible implementation, arm body 900 is internally provided with cavity, is filled with shock-absorbing ball 910 in cavity.
Constant force device carry grinding apparatus, when polishing product, the vibration frequency of dust-proof constant force device be it is very big,
Under long-term work, this has damage the mechanical arm for carrying dust-proof constant force device；Elastic element 300 in dust-proof constant force device
Part vibration can be eliminated, the vibration ball inside arm body 900 is eliminated part and shaken, so that two-stage damping is realized, to eliminate as far as possible
Vibration.
In one possible implementation, arm body 900 is equipped with the charging port 920 being connected to cavity.In arm body 900
Shock-absorbing ball can be directly packaged in the cavity inside arm body 900, and the charging port being connected to cavity can also be equipped on arm body 900,
By charging port, the operation that the shock-absorbing ball in arm body 900 can be increased, reduced or be replaced.
According to the third aspect of the application, a kind of milling apparatus is additionally provided comprising grinding head is prevented with as described above
Dirt constant force device, grinding head are detachably connected with mobile mechanism 200.
According to the fourth aspect of the application, a kind of attrition process machine people is additionally provided, including grinding head, as described above
Mechanical arm, grinding head are detachably connected with mobile mechanism 200.
According to the 5th of the application the aspect, a kind of dust-proof constant force control method is additionally provided, comprising:
The mobile mechanism 200 that mechanism 100 moves, moving machine can be fixed relatively by constructing a fixed mechanism 100 and one
Structure 200 and fixed mechanism 100 configure the seal chamber 500 of a variable-volume jointly；Be passed through in seal chamber 500 compressed gas with
Keep positive pressure；
The elastic element 300 for having interaction relation with mobile mechanism 200 is set in seal chamber 500；
When mobile mechanism 200 is mobile relative to fixed mechanism 100, the air inlet for entering compressed gas in seal chamber 500 is adjusted
Amount is to maintain bullet of the barotropic gas to the pressure of mobile mechanism 200 with elastic element 300 to mobile mechanism 200 in seal chamber 500
The vector sum of power is preset value.
In one possible implementation, preset value is fixed value.
In alternatively possible implementation, preset value is numberical range.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (23)
1. a kind of dust-proof constant force device characterized by comprising
Fixed mechanism；
Mobile mechanism, the seal chamber of a variable-volume is configured with the fixed mechanism jointly, and the seal chamber is equipped with air inlet
Mouthful；
Elastic element is located in the seal chamber, is configured to have interaction relation with the mobile mechanism；
Gas input device, for inputting compressed air into the seal chamber by the air inlet and making the seal chamber
Internal pressure is consistently greater than external pressure.
2. dust-proof constant force device according to claim 1, which is characterized in that the elastic element and the mobile mechanism
Interaction relation includes:
When the mobile mechanism is located at home position, the elastic element is in former long status；
When the mobile mechanism is mobile relative to the fixed mechanism, the elastic element generates deformation quantity；
Has functional relation between the displacement of the mobile mechanism and the deformation quantity of the elastic element.
3. dust-proof constant force device according to claim 2, which is characterized in that the displacement of the mobile mechanism and the bullet
Property element deformation quantity between functional relation be linear relationship.
4. dust-proof constant force device according to claim 3, which is characterized in that the displacement of the mobile mechanism and the bullet
The deformation quantity of property element is equal.
5. according to the dust-proof constant force device any in claim 2 to 4, which is characterized in that further include:
Displacement sensor, for obtaining the displacement of the mobile mechanism；
Air regulating device, for controlling the compressed gas entered in the seal chamber when the mobile mechanism is located at home position
The scale of construction is so that the seal chamber keeps positive pressure, and when the mobile mechanism is mobile relative to the fixed mechanism, adjusts institute
The air inflow of compressed gas is stated to maintain barotropic gas in the seal chamber first to the pressure of the mobile mechanism and the elasticity
Part is predetermined value to the vector sum of the elastic force of the mobile mechanism.
6. dust-proof constant force device according to claim 5, which is characterized in that the preset value is fixed value；Or it is described
Preset value is a numberical range.
7. according to claim 1 to any dust-proof constant force device in 4, which is characterized in that the fixed mechanism is described
Setting is used to support the supporting element of the elastic element in seal chamber, and the elastic element is sheathed on the supporting element；
The STATEMENT OF FEDERALLY SPONSORED connecting with the mobile mechanism is also arranged on the supporting element；The STATEMENT OF FEDERALLY SPONSORED is limited at the elasticity
Between that one end in element and the supporting element far from the elastic element.
8. dust-proof constant force device according to claim 7, which is characterized in that the fixed mechanism includes:
Erecting bed, including the first mounting surface and the second mounting surface；
Guide post is fixed on the side of second mounting surface, is successively arranged the elastic element and the linkage on the guide post
Part, one end of the elastic element are abutted with second mounting surface；The end far from second mounting surface of the guide post
It is provided with fixed pin, the elastic element and the STATEMENT OF FEDERALLY SPONSORED are limited on the guide post by the fixed pin；The STATEMENT OF FEDERALLY SPONSORED
For axle sleeve；The mobile mechanism is fixedly connected with the axle sleeve；And
Fixing sleeve, including first end and second end, the first end are fixed on second mounting surface；Mobile mechanism's envelope
Block up the second end and to the fixing sleeve internal stretch preset length, the outer surface of the mobile mechanism and the fixing sleeve
Inner wall movably seals cooperation；The inner wall of the fixing sleeve, the upper surface of the axle sleeve and the second mounting surface three enclose
Synthesize the seal chamber.
9. dust-proof constant force device according to claim 8, which is characterized in that the guide post is close to second mounting surface
End is equipped with fixed part, and the mode that the guide post is fixedly connected with the erecting bed includes: the fixed part and second peace
It fills face paste to close, the fixed part is fixed on the second mounting surface by the first fixing piece；Or
Setting runs through the through hole of the first mounting surface and the second mounting surface on the erecting bed, and the guide post is arranged in described run through
In hole, the fixed part of the guide post is fixed on the first mounting surface by the second fixing piece.
10. dust-proof constant force device according to claim 8, which is characterized in that the mobile mechanism includes:
Mobile ontology, including connecting pin and closed end, the outer surface of the connecting pin and the fixing sleeve inner wall are movably close
Envelope cooperation；
First installation cavity extends predetermined depth from the end face of the connecting pin to the closed end, is mounted on the guide post end
Axle sleeve be plugged on first installation cavity inlet.
11. dust-proof constant force device according to claim 10, which is characterized in that the axle sleeve connects with the elastic element
End be equipped with the flange that extends along the guide post radial direction, the upper surface of the flange is abutted with the elastic element and institute
It states upper surface and is reserved with the installing zone opposite with second mounting surface, the first displacement sensor is set in the installing zone.
12. dust-proof constant force device according to claim 10, which is characterized in that the quantity of the guide post is two, described
Two first installation cavitys are opened up on mobile ontology；
The dust-proof constant force device further includes the pillar being fixed on second mounting surface, and connection pressure is equipped with inside the pillar
The vent line of contracting gas source and the seal chamber；
The second installation for extending predetermined depth from the end face of the connecting pin to the closed end is additionally provided on the mobile ontology
Chamber；The pillar is inserted into second installation cavity far from the end of second mounting surface and can be in second installation cavity
It is mobile；
Between the mobile ontology and the fixing sleeve, between the axle sleeve and first installation cavity, the pillar and described
Being reserved between second installation cavity can pass the gas through, but can make the gap of the seal chamber holding positive pressure.
13. dust-proof constant force device according to claim 12, which is characterized in that the bottom of second installation cavity setting the
Two displacement sensors.
14. dust-proof constant force device according to claim 12, which is characterized in that the pillar is located in two guide posts
Between, and two guide posts and the axis parallel of the pillar three and three axial lines are along arranged in a straight line.
15. dust-proof constant force device according to claim 12, which is characterized in that the mobile ontology is close to the connecting pin
Position be equipped with the first sealing ring, first sealing ring is in the gap between the mobile ontology and the fixing sleeve；
The outer surface of the pillar is equipped with the second sealing ring, and first sealing ring is located at the pillar and second installation cavity
Between gap in.
16. a kind of mechanical arm, which is characterized in that the dust-proof constant force dress including arm body and as described in any in claim 1 to 15
It sets, one end connecting flange mounting plate of the arm body, the fixed mechanism of the other end and the dust-proof constant force device is fixed to be connected
It connects.
17. mechanical arm according to claim 16, which is characterized in that the relatively described fixed mechanism inclination of the arm body is set
It sets.
18. mechanical arm according to claim 16 or 17, which is characterized in that the arm body is internally provided with cavity, described
Shock-absorbing ball is filled in cavity.
19. mechanical arm according to claim 18, which is characterized in that the arm body is equipped with and fills out with what the cavity was connected to
Fill mouth.
20. a kind of milling apparatus, which is characterized in that the dust-proof perseverance including grinding head and as described in any in claim 1 to 15
Power device；The grinding head is detachably connected with the mobile mechanism.
21. a kind of attrition process machine people, which is characterized in that including grinding head, as described in any in claim 16 to 19
Mechanical arm and the dust-proof constant force device as described in any in claim 1 to 15；The grinding head and the mobile mechanism are removable
Unload connection.
22. a kind of dust-proof constant force control method characterized by comprising
It constructs a fixed mechanism and one is capable of the mobile mechanism that the relatively described fixed mechanism moves, the mobile mechanism and institute
State the seal chamber that fixed mechanism configures a variable-volume jointly；Compressed gas is passed through in the seal chamber to keep positive pressure；
The elastic element for having interaction relation with the mobile mechanism is set in the seal chamber；
When the mobile mechanism is mobile relative to the fixed mechanism, adjust enter the compressed gas in the seal chamber into
Tolerance is to maintain barotropic gas in the seal chamber to the pressure of the mobile mechanism and the elastic element to the moving machine
The vector sum of the elastic force of structure is preset value.
23. dust-proof constant force control method according to claim 22, which is characterized in that the preset value is fixed value；Or
Preset value described in person is a numberical range.
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| CN201910529581.0A CN110142686B (en) | 2019-06-18 | 2019-06-18 | Dustproof constant force device, control method, mechanical arm, grinding equipment and robot |
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| CN201910529581.0A CN110142686B (en) | 2019-06-18 | 2019-06-18 | Dustproof constant force device, control method, mechanical arm, grinding equipment and robot |
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| CN110142686B CN110142686B (en) | 2023-08-15 |
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|---|---|
| CN110142686B (en) | 2023-08-15 |
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