CN113649946A - Active force position compensator and control method thereof - Google Patents
Active force position compensator and control method thereof Download PDFInfo
- Publication number
- CN113649946A CN113649946A CN202110903130.6A CN202110903130A CN113649946A CN 113649946 A CN113649946 A CN 113649946A CN 202110903130 A CN202110903130 A CN 202110903130A CN 113649946 A CN113649946 A CN 113649946A
- Authority
- CN
- China
- Prior art keywords
- force
- polishing
- assembly
- power
- fixed seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000005498 polishing Methods 0.000 claims abstract description 83
- 230000005484 gravity Effects 0.000 claims abstract description 49
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 238000004364 calculation method Methods 0.000 claims abstract description 5
- 238000010200 validation analysis Methods 0.000 claims abstract description 4
- 238000007789 sealing Methods 0.000 claims description 12
- 230000009286 beneficial effect Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003584 silencer Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
- B24B41/042—Balancing mechanisms
-
- 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/02—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
- B24B49/04—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent involving measurement of the workpiece at the place of grinding during grinding operation
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention relates to a driving force position compensator and a control method thereof, wherein the driving force position compensator comprises a polishing movable end, a fixed seat and a fixed end connected with the tail end of a robot, the fixed seat is arranged between the polishing movable end and the fixed end, the fixed seat is fixedly connected with the lower end of the fixed end, the fixed seat is provided with a power component for providing polishing force position compensation, a gravity balance component for providing polishing gravity compensation, an inclination angle measuring component for measuring an included angle with the ground level and a distance measuring component for measuring whether the position of the robot changes relative to the ground; the force position compensation control method comprises the following steps: parameter setting, inclination measurement, contact determination, output force calculation, output force input, end force measurement, end force judgment and adjustment validation. The double-power compensation structure is adopted, stable polishing under different working conditions can be adapted, polishing force position compensation can be accurately provided, polishing precision is guaranteed, and the anti-interference capability is strong.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a driving force position compensator and a control method thereof.
Background
With the development of society, machines replace manual work to perform various automated operation processes, and are rapidly developed, for example, in the field of automation of surface grinding and polishing. In order to ensure the processing quality in the processing, constant force is needed for grinding and polishing or constant distance and constant force is needed for track tracking. The traditional manual polishing mode has the defects of higher requirement on the technical level of workers, severe processing environment, great harm to the human body and the like if the quality and the processing consistency are to be ensured.
Present pneumatic constant force grinding device on the market realizes that the scheme majority that the constant force was polished uses cylinder cooperation solenoid valve to accomplish, the rationale under different gestures: when the tool is in a horizontal state, only the friction force of the tool is needed to be overcome, so that the cylinder can continuously output pressure; when the horizontal state is not achieved and the set target force is larger than the self weight of the tool, the gravity at the current angle needs to be subtracted, and then the air cylinder continuously outputs pressure; when the horizontal angle is not the same as the set target force, the cylinder needs to output pulling force to overcome a part of gravity, and the rest gravity is used for constant force work.
Therefore, when the tool needs to be ground in both a horizontal state and a non-horizontal state during operation, the reversing valve needs to work once in the switching process, so that certain air impact force can be generated in the switching process, certain time is needed for the reversing valve to work, the tool can damage the surface of the workpiece, and the workpiece is unqualified if the requirement on the machined surface is high.
Disclosure of Invention
The present invention provides a driving force position compensator with fast response speed, high precision, high stability and strong versatility, and a control method of the driving force position compensator with high precision and accurate control, so as to solve at least one of the above technical problems.
The technical scheme for solving the technical problems is as follows:
the invention provides an active force position compensator for achieving one of the purposes, which comprises a polishing movable end, a fixed seat and a fixed end, wherein the fixed end is connected with the tail end of a robot;
the power assembly is provided with a power floating joint, one end of the power floating joint is connected with the output end of the power assembly, and the other end of the power floating joint is connected with the polishing movable end;
the gravity balance assembly is provided with a balance floating joint, one end of the balance floating joint is connected with the output end of the gravity balance assembly, and the other end of the balance floating joint is connected with the polishing movable end;
a guide module is arranged between the fixed seat and the polishing movable end, one end of the guide module is fixedly connected with the fixed seat, and the other end of the guide module is connected with the polishing movable end;
and a force measuring assembly is arranged between the lower end of the power floating joint and the polishing movable end.
The invention has the beneficial effects that: the polishing machine is provided with the gravity balance assembly and the power assembly, the gravity balance assembly can provide gravity compensation, the power assembly can provide power for polishing and also provides a certain compensation effect, the power floating joint and the balance floating joint can effectively ensure the flexible adjustment of polishing force, the guide module can play a guide role between the fixed seat and the polishing movable end, the force measurement assembly can measure the acting force between the power assembly and the polishing movable end, the force position compensation can be accurately provided, the polishing precision is guaranteed, and the anti-interference capability is strong.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the stiff end includes cylinder body and upper end cover, the top of cylinder body is provided with the mounting groove, the downside closing cap of upper end cover in the upside opening part of mounting groove, be provided with the collection card in the mounting groove, the collection card is fixed in through the fixed plate in the mounting groove, the upside of upper end cover is provided with the last flange that is used for with terminal flange joint of robot.
The beneficial effect of adopting the further scheme is that: the collecting card can collect and store various parameters, is convenient for the control of the polishing force position, and the upper connecting flange can be connected with the tail end of the robot, so that the installation is convenient.
Furthermore, a plurality of support rods are arranged between the upper end cover and the fixing seat at intervals in the circumferential direction, one ends of the support rods are fixedly connected with the upper end cover, and the other ends of the support rods are fixedly connected with the fixing seat.
The beneficial effect of adopting the further scheme is that: the bracing piece can play the fixed action to the fixing base for fixing base and upper end cover form stable being connected.
Furthermore, a first sealing ring is arranged between the lower side wall of the upper end cover and the top end face of the cylinder body, and a second sealing ring is arranged between the upper connecting flange and the lower end cover.
The beneficial effect of adopting the further scheme is that: the first sealing ring and the second sealing ring can ensure flexible connection between the upper end cover and the upper connecting flange as well as the cylinder body, and rigid contact is avoided.
Further, the side of cylinder body is provided with the gas circuit mounting panel, be provided with the gas circuit spare on the gas circuit mounting panel, the gas circuit spare respectively with power component with the gravity balance subassembly gas circuit is connected.
The beneficial effect of adopting the further scheme is that: the gas circuit mounting plate is provided with a gas circuit piece which can respectively convey a working gas source to the power assembly and the gravity balance assembly.
Furthermore, be provided with the muffler subassembly on the cylinder body, the one end of muffler subassembly with the lateral wall of cylinder body is connected.
The beneficial effect of adopting the further scheme is that: the silencer can play the amortization effect in the course of the work, and the sound wave produces the vibration effect to various devices in the compensation process of the power position.
Furthermore, the guide module comprises a guide rod and a guide sleeve, the guide rod is connected with the guide sleeve in a sliding mode, the guide sleeve is fixedly connected with the fixed seat, and the lower end of the guide rod is fixedly connected with the polishing movable end.
The beneficial effect of adopting the further scheme is that: the guide rod and the guide sleeve are matched to play a role in guiding, and the force position compensation effect is better.
Further, the movable end of polishing includes grinding motor, the seat of polishing and lower cover, grinding motor is fixed in the one end upside of the seat of polishing, the lower cover is fixed in the other end upside of the seat of polishing, the lower cover with be provided with the third sealing washer between the seat of polishing, balanced floating joint the guide arm and the lower extreme of dynamometry subassembly all with the last lateral wall fixed connection of lower cover.
The beneficial effect of adopting the further scheme is that: the polishing motor is arranged at one end of the polishing seat and can play a polishing role, and the lower end cover and the polishing seat are matched to ensure that the gravity balance assembly, the guide rod and the force measuring assembly can normally work.
Further, the range finding subassembly includes range finding baffle, slide bar and mounting, the slide bar set up in on the mounting, the mounting with fixing base fixed connection, the slide bar with range finding baffle floats and connects.
The beneficial effect of adopting the further scheme is that: the slide bar cooperation range finding baffle can measure initiative power position compensator position to control of polishing.
The present invention provides a force level compensation control method according to the above-mentioned active force level compensator, the force level compensation control method comprising:
parameter setting: setting polishing parameters according to the polishing requirements of a workpiece to be polished, wherein the polishing parameters comprise target force F1 parameter setting required by polishing, weight M parameter setting of a polishing movable end and balancing force F2 parameter setting required by gravity compensation output by a gravity balancing component;
(II) dip angle measurement: the inclination angle measuring component measures a horizontal included angle beta between the driving force position compensator and the ground in real time;
(III) contact determination: when the force measuring assembly measures that pressure is input, the distance measuring assembly measures that the position of the distance measuring assembly relative to the ground changes, and the movable polishing end is determined to be in contact with a workpiece to be polished;
(IV) calculating output force: after the contact is determined, calculating to obtain an output force F3 required to be output by the power assembly of the active force position compensator according to the target force F1, the balance force F2, the weight M and the horizontal included angle beta in the step two, wherein the calculation formula is as follows:
F3＝F1+F2-M*g*cosβ
wherein g is a gravity constant, and g is 9.8N/kg;
(V) outputting force input: converting the output force F3 obtained in the step four into the pressure P required to be input by the power assembly, and providing air pressure meeting the required pressure P for the power assembly;
(sixth) terminal force measurement: the force measuring assembly measures the tail end force in real time to obtain a tail end force F4';
(seventh) end force judgment: judging whether the end force F4 'is equal to the target force F1, and if F4' is equal to F1, the power assembly continues to output; if F4 'is not equal to F1, adjusting the air pressure of the input power assembly according to the difference value of the tail end force F4' and the target force F1;
(eighth) adjustment validation: the force measuring assembly measures the adjusted tail end force to obtain a tail end force F4 ', judges whether the tail end pressure F4 ' is equal to a target force F1, and if F4 ' is equal to F1, the power assembly continuously outputs; if F4 "F1, steps (two) to (seven) are re-executed until F4" becomes F1.
The beneficial effect who adopts above-mentioned scheme is: by adopting the force position compensation control method, the grinding power output by the power assembly can be verified, the gravity balance assembly can provide gravity compensation, the gravity balance force output by the gravity balance assembly can form the condition of overload or insufficiency output when the inclination angle of the main force position compensator changes, and the power output by the gravity balance assembly can be balanced by matching with the power assembly through measuring the tail end force, so that the target force required by grinding can be stably realized.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded view of the structure of the present invention;
FIG. 3 is a flow chart of the force level compensation control of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a fixed seat; 2. a fixed end; 21. a cylinder body; 22. an upper end cover; 23. an upper connecting flange; 24. a fixing plate; 25. collecting cards; 26. a first seal ring; 27. a second seal ring; 28. a gas path piece; 29. a muffler; 3. polishing the movable end; 31. polishing the base; 32. polishing the motor; 33. a lower end cover; 34. a third seal ring; 4. a power assembly; 5. a gravity balance assembly; 6. a force measuring assembly; 7. a power floating joint; 8. a balanced floating joint; 9. a guide module; 91. a guide bar; 92. a guide sleeve; 10. a support bar; 11. a ranging assembly; 111. a fixing member; 112. a slide bar; 113. a ranging baffle; 12. an inclination angle measuring assembly.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Examples
As shown in fig. 1, the present invention provides an active force position compensator for achieving one of the above objects, including a polishing movable end 3, a fixed seat 1 and a fixed end 2 connected to a tail end of a robot, where the fixed seat 1 is disposed between the polishing movable end 3 and the fixed end 2, the fixed seat 1 is fixedly connected to a lower end of the fixed end 2, the fixed seat 1 is provided with a power assembly 4 for providing polishing force position compensation, a gravity balance assembly 5 for providing polishing gravity compensation, an inclination angle measurement assembly 12 for measuring an included angle with a ground level, and a distance measurement assembly 11 for measuring whether a position change relative to the ground is made, it should be noted that the power assembly 4 and the gravity balance assembly 5 are both telescopic cylinders, and an external air source device provides an air source to the power assembly 4 and the gravity balance assembly 5, so that the power assembly 4 and the gravity balance assembly 5 operate.
The power component 4 is provided with the power and floats and connect 7, the one end that the power floated and connect 7 is connected with the output of power component 4, the other end that the power floated and connect 7 with polish the expansion end 3 and be connected, the upper end that the power floated and connect 7 is connected with the piston rod of power component 4, power component 4 output power passes through the power and floats and connect 7 transmission for polishing the expansion end 3, it is easy to understand, be provided with the first movable hole that can supply the power to float and connect 7 activities on fixing base 1.
The gravity balance assembly 5 is provided with a balance floating joint 8, one end of the balance floating joint 8 is connected with the output end of the gravity balance assembly 5, the other end of the balance floating joint 8 is connected with the polishing movable end 3, the upper end of the balance floating joint 8 is fixedly connected with the piston rod of the gravity balance assembly 5, and it is easy to understand that the balance floating joint 8 transmits the power of the gravity balance assembly 5 to the polishing movable end 3 so as to compensate the gravity.
Fixing base 1 and polish and be provided with direction module 9 between the expansion end 3, the one end of direction module 9 links firmly with fixing base 1 and connects, and the other end of direction module 9 is connected with the expansion end 3 of polishing.
A force measuring assembly 6 is arranged between the lower end of the power floating joint 7 and the grinding movable end 3, and it is easy to understand that the force measuring assembly 6 measures the acting force of the power assembly 4 on the grinding movable end 3.
Preferably, the fixed end 2 comprises a cylinder body 21 and an upper end cover 22, the top of the cylinder body 21 is provided with an installation groove, the lower side of the upper end cover 22 covers an opening at the upper side of the installation groove, an acquisition card 25 is arranged in the installation groove, the acquisition card 25 is fixed in the installation groove through a fixing plate 24, and the upper side of the upper end cover 22 is provided with an upper connecting flange 23 for flange connection with the tail end of the robot; a fourth sealing ring is arranged between the lower end face of the cylinder body 21 and the fixed seat 1, so that an assembly space for accommodating the power assembly 4, the gravity balance assembly 5, the distance measuring assembly 11 and the inclination angle measuring assembly 12 is defined between the fixed seat 1 and the cylinder body 21, an electrical interface aerial plug in telecommunication connection with the acquisition card 25 is arranged on the cylinder body 21, and the acquisition card 25 acquires and stores parameters required by force position compensation control.
Preferably, circumference interval is provided with a plurality of bracing pieces 10 between upper end cover 22 and the fixing base 1, the one end and the upper end cover 22 fixed connection of bracing piece 10, the other end and the 1 fixed connection of fixing base of bracing piece 10, and in this embodiment, bracing piece 10 circumference is provided with threely, and bracing piece 10 can strengthen the antitorque commentaries on classics effect between fixing base 1 and the upper end cover 22, guarantees the stability between upper end cover 22, cylinder body 21 and the fixing base 1.
Preferably, a first sealing ring 26 is provided between the lower side wall of the upper end cap 22 and the top end surface of the cylinder 21, and a second sealing ring 27 is provided between the upper connecting flange 23 and the lower end cap 33.
Preferably, the side of the cylinder body 21 is provided with an air path mounting plate, the air path mounting plate is provided with two air path pieces 28, the air path pieces 28 are respectively connected with the power assembly 4 and the gravity balance assembly 5 through air paths, and the two air path pieces 28 are respectively communicated with the power assembly 4 and the gravity balance assembly 5 through air paths.
Preferably, the cylinder 21 is provided with a muffler 29 assembly, one end of the muffler 29 assembly is connected to the side wall of the cylinder 21, and the side wall of the cylinder 21 is provided with a muffling hole, and one end of the muffler 29 is connected to the muffling hole, so that the muffler 29 can muffle sound generated inside the cylinder 21 and reduce interference of sound waves of the sound to other devices.
Preferably, the guide module 9 includes a guide rod 91 and a guide sleeve 92, the guide rod 91 is slidably connected to the guide sleeve 92, the guide sleeve 92 is fixedly connected to the fixing base 1, the lower end of the guide rod 91 is fixedly connected to the polishing movable end 3, it should be noted that the guide rod 91 is in spline connection with the guide sleeve 92, and the spline connection can ensure that the guide rod 91 axially slides relative to the guide sleeve 92 and simultaneously avoids radial rotation.
Preferably, the movable end 3 of polishing includes a polishing motor 32, a polishing seat 31 and a lower end cover 33, the polishing motor 32 is fixed on the upper side of one end of the polishing seat 31, the lower end cover 33 is fixed on the upper side of the other end of the polishing seat 31, a third sealing ring 34 is arranged between the lower end cover 33 and the polishing seat 31, and the lower ends of the balance floating joint 8, the guide rod 91 and the force measuring assembly 6 are all fixedly connected with the upper side wall of the lower end cover 33.
Preferably, the distance measuring assembly 11 includes a distance measuring baffle 113, a sliding rod 112 and a fixing member 111, the sliding rod 112 is disposed on the fixing member 111, the fixing member 111 is fixedly connected with the fixing base 1, and the sliding rod 112 is connected with the distance measuring baffle 113 in a floating manner.
To achieve the above object, there is also provided a force level compensation control method according to the above active force level compensator, the force level compensation control method including:
parameter setting: setting grinding parameters according to the grinding requirements of a workpiece to be ground, wherein the grinding parameters comprise target force F1 parameter setting required by grinding, weight M parameter setting of a grinding movable end and balancing force F2 parameter setting required by gravity compensation output by a gravity balance assembly, the balancing force of the gravity compensation is obtained and set by simple calculation according to the weight M of the grinding movable end, the gravity compensation result and an actual value can form fluctuation due to the change of an inclination angle of the grinding movable end, and the gravity compensation can be complemented by setting the output of a power assembly;
(II) dip angle measurement: the inclination angle measuring component measures a horizontal included angle beta between the driving force position compensator and the ground in real time;
(III) contact determination: when the force measuring assembly measures that pressure is input, the distance measuring assembly measures that the position of the distance measuring assembly relative to the ground changes, and the movable polishing end is determined to be in contact with a workpiece to be polished;
(IV) calculating output force: after the contact is determined, calculating to obtain an output force F3 required to be output by the power assembly of the active force position compensator according to the target force F1, the balance force F2, the weight M and the horizontal included angle beta in the step two, wherein the calculation formula is as follows:
F3＝F1+F2-M*g*cosβ
wherein g is a gravity constant, and g is 9.8N/kg;
(V) outputting force input: converting the output force F3 obtained in the step four into the pressure P required to be input by the power assembly, and providing air pressure meeting the required pressure P for the power assembly;
(sixth) terminal force measurement: the force measuring assembly measures the tail end force in real time to obtain a tail end force F4';
(seventh) end force judgment: judging whether the end force F4 'is equal to the target force F1, and if F4' is equal to F1, the power assembly continues to output; if F4 'is not equal to F1, adjusting the air pressure of the input power assembly according to the difference value of the tail end force F4' and the target force F1;
(eighth) adjustment validation: the force measuring assembly measures the adjusted tail end force to obtain a tail end force F4 ', judges whether the tail end pressure F4 ' is equal to a target force F1, and if F4 ' is equal to F1, the power assembly continuously outputs; if F4 "F1, steps (two) to (seven) are re-executed until F4" becomes F1.
The force position compensation control method is only one cycle period in the whole polishing process, wherein the adjustment effect of the step (eight) is internal cycle control in one cycle period, so that the force output by the power assembly can meet the requirement of the target force F1, and in order to realize the complete control of polishing, the polishing operation can be completed by circularly realizing the compensation control method for multiple times; further, the target force F1 may be a variety of target forces set by the controller, although the target force values may be modified in real time.
In the description of the present invention, it is to be understood that the terms "center", "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "inner", "outer", "peripheral side", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and simplicity of description, and do not indicate or imply that the system or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The active force position compensator is characterized by comprising a polishing movable end (3), a fixed seat (1) and a fixed end (2) connected with the tail end of a robot, wherein the fixed seat (1) is arranged between the polishing movable end (3) and the fixed end (2), the fixed seat (1) is fixedly connected with the lower end of the fixed end (2), and the fixed seat (1) is provided with a power component (4) for providing polishing force position compensation, a gravity balance component (5) for providing polishing gravity compensation, an inclination angle measuring component (12) for measuring an included angle with the horizontal ground and a distance measuring component (11) for measuring whether the position of the movable end changes relative to the ground;
the power assembly (4) is provided with a power floating joint (7), one end of the power floating joint (7) is connected with the output end of the power assembly (4), and the other end of the power floating joint (7) is connected with the polishing movable end (3);
the gravity balance assembly (5) is provided with a balance floating joint (8), one end of the balance floating joint (8) is connected with the output end of the gravity balance assembly (5), and the other end of the balance floating joint (8) is connected with the polishing movable end (3);
a guide module (9) is arranged between the fixed seat (1) and the polishing movable end (3), one end of the guide module (9) is fixedly connected with the fixed seat (1), and the other end of the guide module (9) is connected with the polishing movable end (3);
and a force measuring assembly (6) is arranged between the lower end of the power floating joint (7) and the grinding movable end (3).
2. The active force position compensator according to claim 1, wherein the fixed end (2) comprises a cylinder body (21) and an upper end cover (22), a mounting groove is formed in the top of the cylinder body (21), the lower side of the upper end cover (22) is covered at an opening of the upper side of the mounting groove, a capture card (25) is arranged in the mounting groove, the capture card (25) is fixed in the mounting groove through a fixing plate (24), and an upper connecting flange (23) for flange connection with the end of a robot is arranged on the upper side of the upper end cover (22).
3. The active force position compensator according to claim 2, wherein a plurality of support rods (10) are arranged between the upper end cover (22) and the fixed seat (1) at intervals in the circumferential direction, one end of each support rod (10) is fixedly connected with the upper end cover (22), and the other end of each support rod (10) is fixedly connected with the fixed seat (1).
4. A primary force level compensator according to claim 2, wherein a first sealing ring (26) is arranged between the lower side wall of the upper end cover (22) and the top end surface of the cylinder body (21), and a second sealing ring (27) is arranged between the upper connecting flange (23) and the lower end cover (33).
5. The main power position compensator according to claim 2, wherein an air path mounting plate is arranged on the side surface of the cylinder body (21), an air path member (28) is arranged on the air path mounting plate, and the air path member (28) is respectively connected with the power assembly (4) and the gravity balance assembly (5) through an air path.
6. A primary power level compensator according to claim 2, wherein a muffler (29) assembly is provided on the cylinder (21), one end of the muffler (29) assembly being connected to the side wall of the cylinder (21).
7. The active force position compensator according to any one of claims 1-6, wherein the guide module (9) comprises a guide rod (91) and a guide sleeve (92), the guide rod (91) is slidably connected with the guide sleeve (92), the guide sleeve (92) is fixedly connected with the fixed seat (1), and the lower end of the guide rod (91) is fixedly connected with the grinding movable end (3).
8. The main power position compensator of claim 7, wherein the polishing movable end (3) comprises a polishing motor (32), a polishing seat (31) and a lower end cover (33), the polishing motor (32) is fixed on the upper side of one end of the polishing seat (31), the lower end cover (33) is fixed on the upper side of the other end of the polishing seat (31), a third sealing ring (34) is arranged between the lower end cover (33) and the polishing seat (31), and the balance floating joint (8), the guide rod (91) and the lower end of the force measuring component (6) are fixedly connected with the upper side wall of the lower end cover (33).
9. The active force position compensator according to claims 1-6, wherein the distance measuring assembly (11) comprises a distance measuring baffle (113), a sliding rod (112) and a fixing member (111), the sliding rod (112) is disposed on the fixing member (111), the fixing member (111) is fixedly connected with the fixing base (1), and the sliding rod (112) is connected with the distance measuring baffle (113) in a floating manner.
10. A force level compensation control method of an active force level compensator according to any of claims 1-9, characterized in that the force level compensation control method comprises:
parameter setting: setting polishing parameters according to the polishing requirements of a workpiece to be polished, wherein the polishing parameters comprise target force F1 parameter setting required by polishing, weight M parameter setting of a polishing movable end and balancing force F2 parameter setting required by gravity compensation output by a gravity balancing component;
(II) dip angle measurement: the inclination angle measuring component measures a horizontal included angle beta between the driving force position compensator and the ground in real time;
(III) contact determination: when the force measuring assembly measures that pressure is input, the distance measuring assembly measures that the position of the distance measuring assembly relative to the ground changes, and the movable polishing end is determined to be in contact with a workpiece to be polished;
(IV) calculating output force: after the contact is determined, calculating to obtain an output force F3 required to be output by the power assembly of the active force position compensator according to the target force F1, the balance force F2, the weight M and the horizontal included angle beta in the step two, wherein the calculation formula is as follows:
F3＝F1+F2-M*g*cosβ
wherein g is a gravity constant, and g is 9.8N/kg;
(V) outputting force input: converting the output force F3 obtained in the step four into the pressure P required to be input by the power assembly, and providing air pressure meeting the required pressure P for the power assembly;
(sixth) terminal force measurement: the force measuring assembly measures the tail end force in real time to obtain a tail end force F4';
(seventh) end force judgment: judging whether the end force F4 'is equal to the target force F1, and if F4' is equal to F1, the power assembly continues to output; if F4 'is not equal to F1, adjusting the air pressure of the input power assembly according to the difference value of the tail end force F4' and the target force F1;
(eighth) adjustment validation: the force measuring assembly measures the adjusted tail end force to obtain a tail end force F4 ', judges whether the tail end pressure F4 ' is equal to a target force F1, and if F4 ' is equal to F1, the power assembly continuously outputs; if F4 "F1, steps (two) to (seven) are re-executed until F4" becomes F1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110903130.6A CN113649946A (en) | 2021-08-06 | 2021-08-06 | Active force position compensator and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110903130.6A CN113649946A (en) | 2021-08-06 | 2021-08-06 | Active force position compensator and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113649946A true CN113649946A (en) | 2021-11-16 |
Family
ID=78478609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110903130.6A Pending CN113649946A (en) | 2021-08-06 | 2021-08-06 | Active force position compensator and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113649946A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751218A (en) * | 2016-05-05 | 2016-07-13 | 佛山市新鹏机器人技术有限公司 | Constant force device used for tail end of robot and control method for constant force device |
| CN106891339A (en) * | 2017-02-10 | 2017-06-27 | 广东省智能制造研究所 | Polishing process and milling robot with gravity compensation |
| CN109590853A (en) * | 2019-01-07 | 2019-04-09 | 河北工业大学 | A kind of large-scale curved Pneumatic flexible grinding device |
| CN110281108A (en) * | 2019-06-18 | 2019-09-27 | 蓝点触控(北京)科技有限公司 | A kind of robot flexibility intelligence polishing system based on six-dimension force sensor |
| CN110328577A (en) * | 2018-10-23 | 2019-10-15 | 浙江数脉科技有限公司 | A kind of compact active high-precision force position compensation device |
| CN211305809U (en) * | 2019-12-20 | 2020-08-21 | 同高先进制造科技（太仓）有限公司 | Automatic grinding device of roof welding seam |
| CN111843766A (en) * | 2020-07-17 | 2020-10-30 | 大连理工大学 | High-precision force and position hybrid control device for grinding and polishing of robot |
| CN212471103U (en) * | 2020-05-08 | 2021-02-05 | 佳奕筱安(上海)机器人科技有限公司 | Axial active floating constant force control device |
| CN113172547A (en) * | 2021-03-31 | 2021-07-27 | 上海工程技术大学 | Flexible grinding device of industry arm constant force |
| WO2021151934A1 (en) * | 2020-01-29 | 2021-08-05 | Amtos Solutions D.O.O. | Apparatus for active contact force control in machining and handling operations |
-
2021
- 2021-08-06 CN CN202110903130.6A patent/CN113649946A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105751218A (en) * | 2016-05-05 | 2016-07-13 | 佛山市新鹏机器人技术有限公司 | Constant force device used for tail end of robot and control method for constant force device |
| CN106891339A (en) * | 2017-02-10 | 2017-06-27 | 广东省智能制造研究所 | Polishing process and milling robot with gravity compensation |
| CN110328577A (en) * | 2018-10-23 | 2019-10-15 | 浙江数脉科技有限公司 | A kind of compact active high-precision force position compensation device |
| CN109590853A (en) * | 2019-01-07 | 2019-04-09 | 河北工业大学 | A kind of large-scale curved Pneumatic flexible grinding device |
| CN110281108A (en) * | 2019-06-18 | 2019-09-27 | 蓝点触控(北京)科技有限公司 | A kind of robot flexibility intelligence polishing system based on six-dimension force sensor |
| CN211305809U (en) * | 2019-12-20 | 2020-08-21 | 同高先进制造科技（太仓）有限公司 | Automatic grinding device of roof welding seam |
| WO2021151934A1 (en) * | 2020-01-29 | 2021-08-05 | Amtos Solutions D.O.O. | Apparatus for active contact force control in machining and handling operations |
| CN212471103U (en) * | 2020-05-08 | 2021-02-05 | 佳奕筱安(上海)机器人科技有限公司 | Axial active floating constant force control device |
| CN111843766A (en) * | 2020-07-17 | 2020-10-30 | 大连理工大学 | High-precision force and position hybrid control device for grinding and polishing of robot |
| CN113172547A (en) * | 2021-03-31 | 2021-07-27 | 上海工程技术大学 | Flexible grinding device of industry arm constant force |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109202460B (en) | High-precision drilling and nail feeding device | |
| CN107241478B (en) | Rotary test device | |
| CN102091799A (en) | End effector for automatically drilling curved surface | |
| CN108425990B (en) | Three-way adjusting type damper for damping equipment and working method thereof | |
| CN104647027A (en) | Vertical intelligent high-pressure rotor assembly device with elastic structure | |
| CN205403838U (en) | Multifunctional robot joint capability test system | |
| CN207465245U (en) | A kind of manipulator two-way floating mechanism | |
| CN112108998A (en) | Robot power control polishing and grinding end effector with active damping | |
| CN113649946A (en) | Active force position compensator and control method thereof | |
| CN102554928B (en) | Control method for quelling robot of vibration acceleration transducer | |
| CN209868599U (en) | Rigid-flexible hybrid force control end effector driven by gas and electricity | |
| CN110154057A (en) | It can be realized the vibration damping end effector and displacement processing method for drilling of displacement processing | |
| CN217619131U (en) | High-rigidity force-control floating device | |
| CN211117334U (en) | Planar two-degree-of-freedom micro-disturbance flexible active vibration isolation device | |
| CN110439958B (en) | Planar two-degree-of-freedom micro-disturbance flexible active vibration isolation device and method | |
| CN107618019A (en) | Mobile robot elastic component self-adapting flexible bindiny mechanism and detecting system | |
| CN202037356U (en) | Automatic curved surface drilling tail end actuator | |
| CN207336717U (en) | Motor-operating mechanism test device | |
| CN114905431B (en) | Positioning device, positioning method and detection method for white car body damping tower | |
| CN102538921A (en) | Hydraulic weighing unit and ten-thousand-ton grade hydraulic electronic scale | |
| CN215178597U (en) | Speed reducer test bed | |
| CN213859351U (en) | Pneumatic loading external force device for rigidity measurement of industrial robot | |
| CN212421283U (en) | Self-balancing universal hoisting robot | |
| CN211331925U (en) | Multi-degree-of-freedom-based welding device | |
| CN110095224A (en) | A kind of dynamometry component and six degree of freedom force measuring machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20211116 |
|
| RJ01 | Rejection of invention patent application after publication |