CN114454047A

CN114454047A - Floating force control device capable of automatically adjusting through force sensor

Info

Publication number: CN114454047A
Application number: CN202210267463.9A
Authority: CN
Inventors: 王建; 张荣杰; 邓凯; 陈安武
Original assignee: Jiayi Xiaoan Shanghai Robot Technology Co ltd
Current assignee: Jiayi Xiaoan Shanghai Robot Technology Co ltd
Priority date: 2022-03-18
Filing date: 2022-03-18
Publication date: 2022-05-10

Abstract

A floating force control device capable of automatically adjusting through a force sensor belongs to the technical field of polishing devices and comprises a sensor contact plate, a cylinder mounting seat, a guide shaft, a mini cylinder, a connecting plate, a contact wheel mounting plate, a flange type guide shaft support, an electric proportional valve, a linear bearing with a flange, a floating joint and a force sensor, wherein the mini cylinder, the electric proportional valve and the linear bearing with the flange are all arranged on the cylinder mounting seat, and the force sensor is arranged on the sensor contact plate; two guide shafts penetrate through the flanged linear bearing, one ends of the guide shafts are connected with the connecting plate, and the other ends of the guide shafts are connected with the sensor contact plate. The distance between the workpiece to be polished and the abrasive belt is adjusted to maintain the contact force between the floating force control module and the workpiece to be polished through changing the compression amount or the extension amount of the mini cylinder, so that the polishing quality is controlled and guaranteed.

Description

Floating force control device capable of automatically adjusting through force sensor

Technical Field

The invention relates to a force control device in the technical field of polishing devices, in particular to a floating force control device which can adjust the distance between a workpiece to be polished and an abrasive belt and automatically adjust through a force sensor.

Background

The part of many trades, the in-process of production can all involve the process of polishing, at present, the polishing of a lot of parts adopts the manual work to polish, but adopt the mode of artifical polishing to produce, not only ultimate polishing quality is difficult to obtain better guarantee, the efficiency of production is also relatively low, along with the development of science and technology, and the personnel selection cost increases, the operation degree of difficulty is big, the operational environment is abominable and there is the influence of factors such as certain potential safety hazard, more and more automatic equipment of polishing has replaced the mode that traditional manual work was polished. Mechanical equipment is used for polishing the workpiece, so that the polishing efficiency and the polishing quality can be greatly improved, and the direct contact between manpower and a severe polishing environment can be effectively reduced. However, during the grinding process, the contact force between the workpiece and the abrasive belt varies with the relative position between the workpiece and the abrasive belt and the movement of the workpiece, and if the contact force cannot be adjusted, only one type of workpiece can be ground by the device. For a scene requiring polishing of various parts or various polishing processes, the production cost and the process time may increase.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the floating force control device which can automatically adjust through the force sensor, and the distance between the grinding tool and the workpiece to be ground can be automatically adjusted according to the contact force between the workpiece and the grinding tool so as to ensure the constancy of the contact force between the workpiece and the grinding tool.

The invention is realized by the following technical scheme, the device comprises a sensor contact plate, a cylinder mounting seat, a guide shaft, a mini cylinder, a connecting plate, a contact wheel mounting plate, a first flange type guide shaft support, an electric proportional valve, a linear bearing with a flange, a floating joint, a force sensor, a second flange type guide shaft support, a third flange type guide shaft support and a machine body connecting mounting hole, wherein the mini cylinder, the electric proportional valve and the linear bearing with the flange are all arranged on the cylinder mounting seat, the force sensor is arranged on the sensor contact plate, and the machine body connecting mounting hole is arranged on the side wall of the cylinder mounting seat; the contact wheel is arranged on a contact wheel mounting plate through a second flange type guide shaft support, and the contact wheel mounting plate is arranged on the connecting plate; one end of the floating joint is connected with the force sensor, and the other end of the floating joint is connected with a piston rod of the mini cylinder; two guide shafts respectively penetrate through two linear bearings with flanges on the cylinder mounting base, one ends of the guide shafts are connected with the connecting plate through first flange type guide shaft supports, and the other ends of the guide shafts are connected with the sensor contact plate through third flange type guide shaft supports.

Further, in the invention, the contact wheel is a roller wheel processed by aluminum alloy; the contact wheels are three in total, wherein the contact wheel at the front end is a main grinding roller wheel.

Furthermore, in the invention, the trolley wheel mounting plate is processed by a Q235 steel plate, the mini cylinder is a single-action extrusion mini cylinder, and the force sensor is a miniature tension and pressure sensor.

Compared with the prior art, the invention has the following beneficial effects: according to the invention, after an external mechanical hand clamps a workpiece to be ground and reaches a preset point, the contact force between a contact wheel and the workpiece to be ground is collected by a force sensor and fed back to a system as a signal, and according to the comparison with a set value of the system, an instruction is sent out after the calculation of a force control system to control the flow of a mini cylinder through an electric proportional valve, so that the compression amount or the extension amount of the mini cylinder is changed, and thus the distance between the workpiece to be ground and an abrasive belt is adjusted to maintain the contact force between a floating force control module and the workpiece to be ground, and the control and the guarantee of the grinding quality are realized.

Drawings

FIG. 1 is a front view of an embodiment of the present invention;

FIG. 2 is a rear view of an embodiment of the present invention;

reference numbers in the figures: 1. the sensor comprises a sensor contact plate, 2, a cylinder mounting seat, 3, a guide shaft, 4, a mini cylinder, 5, a connecting plate, 6, a contact wheel, 7, a contact wheel mounting plate, 8, a first flange type guide shaft support, 9, an electric proportional valve, 10, a linear bearing with a flange, 11, a floating joint, 12, a force sensor, 13, a second flange type guide shaft support, 14, a third flange type guide shaft support, 15 and a machine body connecting mounting hole.

Detailed Description

The following embodiments of the present invention are described in detail with reference to the accompanying drawings, and the embodiments and specific operations of the embodiments are provided on the premise of the technical solution of the present invention, but the scope of the present invention is not limited to the following embodiments.

Examples

As shown in fig. 1 and 2, the present invention includes a sensor contact plate 1, a cylinder mounting seat 2, a guide shaft 3, a mini cylinder 4, a connection plate 5, a contact wheel 6, a contact wheel mounting plate 7, a first flange-type guide shaft seat 8, an electric proportional valve 9, a flanged linear bearing 10, a floating joint 11, a force sensor 12, a second flange-type guide shaft seat 13, a third flange-type guide shaft seat 14, and a body connection mounting hole 15, wherein the mini cylinder 4, the electric proportional valve 9, and the flanged linear bearing 10 are all disposed on the cylinder mounting seat 2, the force sensor 12 is disposed on the sensor contact plate 1, and the body connection mounting hole 15 is disposed on a side wall of the cylinder mounting seat 2; the contact wheel 6 is arranged on the contact wheel mounting plate 7 through a second flange type guide shaft support 13, and the contact wheel mounting plate 7 is arranged on the connecting plate 5; one end of the floating joint 11 is connected with the force sensor 12, and the other end of the floating joint 11 is connected with a piston rod of the mini cylinder 4; the two guide shafts 3 respectively penetrate through two flanged linear bearings 10 on the cylinder mounting base 2, one end of each guide shaft 3 is connected with the connecting plate 5 through a first flange-type guide shaft support 8, and the other end of each guide shaft 3 is connected with the sensor contact plate 1 through a third flange-type guide shaft support 14. The contact wheel 6 is a roller wheel processed by aluminum alloy; the contact wheels 6 are three in total, wherein the contact wheel 6 at the front end is a main grinding roller. The trolley mounting plate 7 is made of a Q235 steel plate, the mini cylinder 4 is a single-action extrusion mini cylinder, and the force sensor 12 is a micro tension and pressure sensor.

In the implementation process of the invention, the automatic adjustment strategy means that when a workpiece to be polished is clamped by an external manipulator and moves to a set point position, the whole body consisting of the contact wheel mounting plate 7, the guide shaft 3 and the sensor contact plate 1 after the workpiece contacts with an abrasive belt generates micro displacement, after the workpiece reaches the set point position, the force sensor 12 compares the actually measured contact force with the value of the force set by the corresponding workpiece, and feeds back the comparison result to the system, and the force control system sends out an instruction to control the electric proportional valve 9 after calculation, so that the ventilation of the two mini cylinders 4 is adjusted, the adjustment of the extension of the cylinders is realized, and the relative distance between the contact wheel 6 and the workpiece to be polished is adjusted to maintain the stable contact force.

In the implementation process of the invention, the contact wheels 6 are rollers processed by aluminum alloy, the surface treatment is needed to improve the wear resistance, the rollers are connected with the rotating shaft through bearings, the number of the contact wheels 6 is three, the contact wheel 6 at the front end is used as a main roller for polishing, and the other two rollers are used for increasing the wrapping angle of the abrasive belt on the main roller through winding, so that the relative sliding of the abrasive belt in the polishing process is avoided.

In the implementation process of the invention, the contact wheel mounting plate 7 is processed by a Q235 steel plate and is used for mounting and fixing the contact wheel 6, the guide shaft 3 is connected to the connecting plate 5 through the flange type guide shaft support 8 and is indirectly connected with the contact wheel mounting plate 7, so that the mini cylinder 4 can drive the mini cylinder to move to adjust the relative position between the abrasive belt and the workpiece. The parallelism tolerance between the roller shaft mounting surface and the guide shaft matching surface is ensured, so that the position movement of the contact wheel 6 in the adjusting process is ensured to be along the axial direction, and the requirement can be met only by needing excessive adjustment.

In the implementation process of the invention, the cylinder mounting seat 2 is a part for mounting the mini cylinder 4 and the electric proportional valve 9, and is also a part for connecting the whole floating force control module with an external machine body. Because it needs to be connected with the machine body through the mounting hole on the side, the cylinder mounting seat is of a box-type structure, so that the strength of the mounting seat can be ensured. Two linear bearings 10 with flanges are also mounted on the cylinder mounting base 2.

In the implementation process of the invention, the guide shaft 3 is guided by a linear bearing 10 with a flange, which is arranged on the cylinder mounting seat 2, two ends of the guide shaft 3 are connected with corresponding mounting plates by flange type guide shaft seats, wherein the sensor contact plate 1 is indirectly connected with a cylinder piston rod by a floating joint 11, and the connecting plate 5 is connected with a contact wheel mounting plate 7. Therefore, the contact wheel 6 can move along the direction of the guide shaft 3 under the driving of the cylinder, and the adjustment of the contact wheel 6 is realized.

In the implementation of the invention, a flanged linear bearing 10 is mounted on the cylinder mounting block 2, and has a supporting and guiding function for the guide shaft 3.

In the implementation process of the invention, the mini cylinder 4 is a single-action extrusion type mini cylinder, the cylinder diameter of the cylinder is 32mm, the stroke is 40mm, compared with a single-action introduction type mini cylinder, the structure of the floating force control module can be better arranged by adopting the single-action extrusion type mini cylinder, the cylinder is arranged on the cylinder mounting seat 2 through a mounting flange, and a cylinder piston rod is connected with the force sensor 12 through a floating joint 11 and a self-made floating adapter.

In the implementation process of the invention, the force sensor 12 adopts a miniature tension and pressure sensor, adopts a high-precision resistance strain type principle, has high dynamic response frequency, small appearance and convenient installation, has a force measuring range of 50N-500N, and can detect tension and thrust.

In the implementation process of the invention, the electric proportional valve 9 can adjust the cross-sectional area of the valve core according to the control signal, thereby realizing the adjustment of the flow, and as the electric proportional valve 9 adopts the electric signal to control the air pressure, the continuous and stepless adjustment of the air pressure can be realized, meanwhile, the remote control and the program control can be carried out, thereby being greatly convenient for the adjustment control of the mini cylinder 4.

The invention also comprises two organ covers, the number of the organ covers is two, but the length of the organ covers is different, and two sides of the organ covers are respectively arranged on the cylinder mounting seat 2, the sensor mounting plate 1 and the connecting plate 5, so that dust or external foreign matters generated when the abrasive belt grinds a workpiece can be well prevented from falling into parts such as the mini cylinder 4, the electric proportional valve 9, the linear bearing 10 with a flange and the like, and the service lives of the parts are shortened.

The specific mode of operation of the present invention has been described. It is to be understood that the present invention is not limited to the specific operating modes described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.

Claims

1. A floating force control device which can automatically adjust through a force sensor comprises a sensor contact plate (1) and a cylinder mounting seat (2), the device is characterized by further comprising a guide shaft (3), a mini cylinder (4), a connecting plate (5), a contact wheel (6), a contact wheel mounting plate (7), a first flange type guide shaft support (8), an electric proportional valve (9), a linear bearing (10) with a flange, a floating joint (11), a force sensor (12), a second flange type guide shaft support (13), a third flange type guide shaft support (14) and a machine body connecting mounting hole (15), wherein the mini cylinder (4), the electric proportional valve (9) and the linear bearing (10) with the flange are all arranged on the cylinder mounting plate (2), the force sensor (12) is arranged on the sensor contact plate (1), and the machine body connecting mounting hole (15) is arranged on the side wall of the cylinder mounting plate (2); the contact wheel (6) is arranged on the contact wheel mounting plate (7) through a second flange type guide shaft support (13), and the contact wheel mounting plate (7) is arranged on the connecting plate (5); one end of the floating joint (11) is connected with the force sensor (12), and the other end of the floating joint (11) is connected with a piston rod of the mini cylinder (4); the two guide shafts (3) respectively penetrate through two linear bearings (10) with flanges on the cylinder mounting seat (2), one end of each guide shaft (3) is connected with the connecting plate (5) through a first flange type guide shaft support (8), and the other end of each guide shaft (3) is connected with the sensor contact plate (1) through a third flange type guide shaft support (14).

2. The floating force control device for automatic adjustment by a force sensor according to claim 1, characterized in that the contact wheel (6) is a roller machined from aluminum alloy; the contact wheels (6) are three in total, wherein the contact wheel (6) at the front end is a main grinding roller.

3. The floating force control device capable of automatically adjusting through the force sensor according to claim 1, wherein the trolley mounting plate (7) is made of a Q235 steel plate, the mini cylinder (4) is a single-action extrusion mini cylinder, and the force sensor (12) is a micro pulling and pressing force sensor.