CN204893433U - Pneumatic type contact force active control multipurpose operation mechanism - Google Patents
Pneumatic type contact force active control multipurpose operation mechanism Download PDFInfo
- Publication number
- CN204893433U CN204893433U CN201520718743.2U CN201520718743U CN204893433U CN 204893433 U CN204893433 U CN 204893433U CN 201520718743 U CN201520718743 U CN 201520718743U CN 204893433 U CN204893433 U CN 204893433U
- Authority
- CN
- China
- Prior art keywords
- cylinder
- slide bar
- working head
- main shaft
- contact force
- 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.)
- Expired - Fee Related
Links
Landscapes
- Actuator (AREA)
Abstract
The utility model provides a pneumatic type contact force active control multipurpose operation mechanism, includes cylinder, baroceptor, cylinder actuating mechanism, working head, working head drive arrangement and actuating mechanism, the working head install in on actuating mechanism's the main shaft, the drive of working head drive arrangement the main shaft rotates to the drive working head rotates, actuating mechanism is connected with the piston rod of cylinder, by the cylinder drive, realizes the back -and -forth movement, cylinder actuating mechanism passes through the trachea with the cylinder and is connected, provides the air supply for the cylinder to make the cylinder realize the drive, the baroceptor is installed on the trachea. The utility model discloses a with working head grafting to motion platform, can reduce impact, through the contact force of pneumatic type operation controls operation in -process to improve processingquality, because contact force control is accomplished through pneumatic control by the pneumatic type operation completely, to required by the action of grafting motion platform, the required precision is all lower to the whole cost of reduction equipment.
Description
Technical field
The utility model relates to Machining Technology field, particularly relates to a kind of pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism.
Background technology
Along with the development of automated arm and Robotics, various co-ordinate-type lathe, machining center and joint type industrial robot are come out one after another, and define co-ordinate-type and articulated type two class popular motion platform gradually, connect different work head in this two type games platform end, various job task can be completed.
But, when secondary operations is carried out for the manipulating object (as: pipe fitting, panel beating curved surface etc.) that shaping error is larger, there is following shortcoming in this two classes popular motion platform: one, this two type games platform adopts spatial data to drive the operation of operation head, thus needs accurate dimension, the locus of knowing manipulating object in advance; Its two, because operation head needs to reach accurate locus, just require that each free degree of this two type games platform has higher precision, also likely need be equipped with reverse-engineering equipment, thus cost is high.
Utility model content
The purpose of this utility model is to overcome above deficiency and defect proposes a kind of pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism.
For reaching this object, the utility model by the following technical solutions:
A kind of pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism, comprises cylinder, baroceptor, executing agency, working head drive unit and working head;
Described in described air cylinder driven, executing agency moves linearly; Described working head drive unit is installed on described executing agency; Described baroceptor is for measuring the air pressure of described cylinder;
Described working head drive unit drives described working head to carry out work.
The air cylinder driven mechanism of described cylinder comprises air pump, control system, lose heart control valve and reversal valve;
Described air pump is connected with cylinder by described reversal valve; Described air pump is connected with described reversal valve by air inlet pipe; Described reversal valve is connected with described cylinder with escape pipe by air inlet pipe;
Described disappointing control valve is installed in described air inlet pipe; Described baroceptor, described disappointing control valve and described reversal valve control by described control system.
Described executing agency comprises slide bar headstock and main shaft, and described main shaft is installed on one end of described slide bar headstock; The piston rod of described cylinder is connected with the other end of described slide bar headstock; Described working head is installed on the top of described main shaft; The below of described main shaft is connected with working head drive unit by shaft coupling;
Described cylinder is double piston-rod and carries the cylinder of position sensor; The double piston-rod of described cylinder is connected with described slide bar headstock; Described working head drive unit is motor.
Described executing agency comprises two slide bars, slide bar headstock, slide bar tailstock, pedestal, substrate and main shaft;
Slide bar described in two is each passed through described pedestal, and one end is connected with described slide bar headstock; The other end is connected with described slide bar tailstock; Described pedestal is installed on described substrate; Described main shaft is installed on the front end of described slide bar headstock;
The end of described cylinder is mounted on described pedestal, and the piston rod of described cylinder is connected with described slide bar headstock; Described cylinder is described in two between slide bar;
Described working head drive unit is motor; The below of described main shaft is connected with working head drive unit by shaft coupling.
The side of described pedestal is provided with front end limit position sensor, origin position sensor and rear end limit position sensor successively; Opposite side is provided with piston stroke distal limit sensor and piston stroke near-end limit sensor successively; The side of the described slide bar headstock corresponding with the described pedestal being provided with limit position sensor is provided with catch.
Described pedestal is U-shaped seat; Slide bar described in two is through the both sides of described U-shaped seat; The end of described cylinder is placed in the U-lag of described U-shaped seat.
Described executing agency comprises installing plate, substrate, two slide blocks, two rectilinear orbits and main shaft;
The bottom of described installing plate is installed on slide block described in two; Slide block described in two is installed on rectilinear orbit described in two respectively; Rectilinear orbit described in two is installed on described substrate; Described main shaft is installed on the front end of described installing plate;
Described cylinder one end is installed on described substrate by cylinder mount pad; The piston rod of the other end is connected with described installing plate by piston rod contiguous block; Described cylinder is between two rectilinear orbits; The described installing plate position corresponding with described cylinder is provided with breach;
Described working head drive unit comprises motor, belt and motor base; Described motor is installed on the rear end of described installing plate by described motor base; The output shaft of described motor is connected with described main shaft by belt.
The side of described substrate is provided with front end limit position sensor, origin position sensor and rear end limit position sensor successively, and opposite side is provided with piston stroke distal limit sensor and piston stroke near-end limit sensor successively; The side of the described installing plate corresponding with the described substrate being provided with limit position sensor is provided with catch.
Described main shaft is installed on described slide bar headstock by bearing.
Described front end limit position sensor, origin position sensor and rear end limit position sensor are provided with U-lag, and when described catch passes through from described U-lag, corresponding position sensor is triggered.
The utility model by by working head grafting to motion platform, can percussion be reduced, be controlled the contact force in operation process by pneumatic type operation, thus raising crudy; Because contact force controls to be operated by pneumatic type completely to have been controlled by air pressure, all lower to being grafted motion platform action request, required precision, thus reduce Whole Equipment cost.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model specific embodiment.
Fig. 2 is the structural representation of another specific embodiment of the utility model.
Fig. 3 is the structural representation of another specific embodiment of the utility model.
Wherein: 7-working head, 8-loses heart control valve, 9-baroceptor, 10-reversal valve, 12-control system, 13-air pump, 201-pedestal, 204-rectilinear orbit, 205-slide block, 206-substrate, 221-front end limit position sensor, 222-origin position sensor, 223-rear end limit position sensor, 224-piston stroke distal limit sensor, 225-piston stroke near-end limit sensor, 226-catch, 308-cylinder, 313-piston rod contiguous block, 314-cylinder mount pad, 315-installing plate, 401-motor, 402-motor base, 404-slide bar tailstock, 405-belt, 407-linear bearing, 408-slide bar, 413-slide bar headstock.
Detailed description of the invention
The technical solution of the utility model is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
Embodiment 1
As shown in Figure 1, a kind of pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism, comprises cylinder 308, baroceptor 9, executing agency, working head drive unit and working head 7;
Described cylinder 308 drives described executing agency to move linearly; Described working head drive unit is installed on described executing agency; Described baroceptor 9 is for measuring the air pressure of described cylinder 308;
Described working head drive unit drives described working head 7 to carry out work.
As described in Fig. 1,2 and 3, the air cylinder driven mechanism of cylinder 308 comprises air pump 13, control system 12, lose heart control valve 8 and reversal valve 10;
Described air pump 13 is connected with cylinder 308 by described reversal valve 10; Described air pump 13 is connected with described reversal valve 10 by air inlet pipe; Described reversal valve 10 is connected with described cylinder 308 with escape pipe by air inlet pipe;
Described disappointing control valve 8 is installed in described air inlet pipe; Described baroceptor, described disappointing control valve 8 and described reversal valve 10 control by described control system 12.
As Fig. 1, described executing agency comprises slide bar headstock 413 and main shaft, and described main shaft is installed on one end of described slide bar headstock 413; The piston rod of described cylinder 308 is connected with the other end of described slide bar headstock 413; Described working head 7 is installed on the top of described main shaft; The below of described main shaft is connected with working head drive unit by shaft coupling;
Described cylinder 308 is double piston-rod and carries the cylinder 308 of position sensor; The double piston-rod of described cylinder 308 is connected with described slide bar headstock 413; Described working head drive unit is motor 401.Double piston-rod is the slide rail that executing agency carries out moving linearly, the driving of Ye Shi executing agency, and avoids single-piston rod and drive and easily make executing agency occur around the problem of piston rod axis rotation.
As Fig. 1, the mainshaft mechanism of executing agency is arranged on slide bar headstock 413, and working head 7 is fixedly mounted on main shaft, and motor 401 drives main shaft to rotate, and motor output shaft and main-shaft axis overlap in design; Slide bar headstock 413 is directly connected on two piston rods of cylinder 308;
The source of the gas of cylinder 308 is provided by air pump 13, and baroceptor 9 gathers cylinder 308 air inlet air pressure.Due to air pressure equalisation everywhere, therefore baroceptor 9 can be installed in cylinder 308, also can be installed on air inlet pipe.The control valve 8 that loses heart is arranged on than on the pipeline of baroceptor 9 closer to air pump 13, and reversal valve 10 is arranged on than baroceptor 9 further from the pipeline of air pump 13; Control system 12 is according to the force value of baroceptor 9, control the aperture of disappointing control valve, thus control cylinder admission pressure, because the pressure at expulsion of cylinder 308 approximates atmospheric pressure all the time, the admission pressure of control cylinder 308 gets final product the power output of the piston rod of control cylinder 308, by the control to reversal valve 10, piston rod thrust output or pulling force can be made, thus desirably rule controls the contact force of working head 7 and workpiece to be machined.
Embodiment 2
As shown in Figure 2, another embodiment of the present utility model, the place different from embodiment 1 is the structure of executing agency, and described executing agency comprises two slide bars 408, slide bar headstock 413, slide bar tailstock 404, pedestal 201, substrate 206 and main shaft;
Slide bar 408 described in two is each passed through described pedestal 201, and one end of slide bar 408 described in two is connected with described slide bar headstock 413; The other end is connected with described slide bar tailstock 404; Described pedestal 201 is installed on described substrate 206; Described main shaft is installed on the front end of described slide bar headstock 413;
The end of described cylinder 308 is mounted on described pedestal 201, and the piston rod of described cylinder 308 is connected with described slide bar headstock 413; Described cylinder 308 is between slide bar described in two 408;
Described working head drive unit is motor 401; The below of described main shaft is connected with working head drive unit by shaft coupling.
The main shaft of described executing agency is arranged on slide bar headstock 413, and working head 7 is fixedly mounted on main shaft, and motor 401 drives main shaft to rotate, and the output shaft of motor 401 and main-shaft axis overlap in design; Slide bar 408 is through linear bearing 407, and one end is connected with slide bar headstock 413, and the other end is connected with slide bar tailstock 404; Linear bearing 407 is arranged in the installing hole of pedestal 201 of rectilinear orbit mechanism, and the pedestal 201 of rectilinear orbit mechanism is fixedly mounted on substrate 206; Position sensor 221,222,223 is all fixedly mounted on the pedestal 201 of rectilinear orbit mechanism; Cylinder 308 one end is connected with substrate 206 by cylinder mount pad, and the piston rod of cylinder 308 is connected with slide bar headstock 413; Catch 226 is fixedly mounted on slide bar headstock 413, and under the drive of piston rod, catch 226 is trigger position sensor 222 when origin position, at certain extreme position trigger sensor 221 or 223.
The source of the gas of cylinder 308 is provided by air pump 13, and baroceptor 9 gathers cylinder intake air pressure, and the control valve 8 that loses heart is arranged on than on the pipeline of baroceptor 9 closer to air pump 13, and reversal valve 10 is arranged on than baroceptor 9 further from the pipeline of air pump 13; Control system 12 is according to the force value of baroceptor 9, control the aperture of disappointing control valve, thus control cylinder admission pressure, because the pressure at expulsion of cylinder approximates atmospheric pressure all the time, the admission pressure of control cylinder gets final product the power output of control piston bar, by the control to reversal valve 10, piston rod thrust output or pulling force can be made, thus desirably rule controls contact force.
Embodiment 3
As shown in Figure 3, another embodiment of the present utility model, the place different from embodiment 1 is the structure of executing agency, and described executing agency comprises installing plate 315, substrate 206, two slide block 205, two rectilinear orbit 204 and main shaft;
The bottom of described installing plate 315 is installed on slide block 205 described in two; Slide block 205 described in two is installed on rectilinear orbit 204 described in two respectively; Rectilinear orbit 204 described in two is installed on described substrate 206; Described main shaft is installed on the front end of described installing plate 315;
Described cylinder 308 one end is installed on described substrate 206 by cylinder mount pad 314; The piston rod of the other end is connected with described installing plate 315 by piston rod contiguous block; Described cylinder 308 is between two rectilinear orbits 204; Described installing plate 315 position corresponding with described cylinder 308 is provided with breach;
Described working head drive unit comprises motor 401, belt 405 and motor base 402; Described motor 401 is installed on the rear end of described installing plate 315 by described motor base 402; The output shaft of described motor 401 is connected with described main shaft by belt 405.
Main shaft is arranged on the pedestal 315 of executing agency, and working head 7 is fixedly mounted on main shaft, and motor 401 is fixedly installed in the pedestal 315 of executing agency by motor base 402, and drives main shaft to rotate by belt 405; The pedestal 315 of executing agency is fixedly mounted on slide block 205, and slide block 205 coordinates with guide rail 204, and guide rail 204 is fixedly mounted on substrate 206; One end of cylinder 308 is connected to substrate 206 by cylinder mount pad 314, and the other end is connected to executing agency's pedestal 315 by piston rod contiguous block 313; Under piston rod drives, the catch 226 being fixed on executing agency's pedestal 315 can trigger three position sensors 221,222,223 being fixed on substrate 206.
The source of the gas of cylinder 308 is provided by air pump 13, the control valve 8 that loses heart is arranged on than on the pipeline of reversal valve 10 closer to air pump 13, baroceptor 9 is provided with two, is all in than reversal valve 10 further from the pipeline of air pump 13, detects cylinder intake pressure and pressure at expulsion respectively; Control system 12 is according to air inlet baroceptor and the pressure differential being vented baroceptor, control the aperture of disappointing control valve 8, thus the power output of control cylinder piston rod, by the control to reversal valve 10, can make piston rod thrust output or pulling force, thus desirably rule controls contact force.
Below know-why of the present utility model is described in conjunction with specific embodiments.These describe just in order to explain principle of the present utility model, and can not be interpreted as the restriction to the utility model protection domain by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present utility model, and these modes all will fall within protection domain of the present utility model.
Claims (10)
1. a pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism, is characterized in that: comprise cylinder, baroceptor, executing agency, working head drive unit and working head;
Described in described air cylinder driven, executing agency moves linearly; Described working head drive unit is installed on described executing agency; Described baroceptor is for measuring the air pressure of described cylinder;
Described working head drive unit drives described working head to carry out work.
2. pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism according to claim 1, is characterized in that: the air cylinder driven mechanism of described cylinder comprises air pump, control system, lose heart control valve and reversal valve;
Described air pump is connected with cylinder by described reversal valve; Described air pump is connected with described reversal valve by air inlet pipe; Described reversal valve is connected with described cylinder with escape pipe by air inlet pipe;
Described disappointing control valve is installed in described air inlet pipe; Described baroceptor, described disappointing control valve and described reversal valve control by described control system.
3. pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism according to claim 2, it is characterized in that: described executing agency comprises slide bar headstock and main shaft, described main shaft is installed on one end of described slide bar headstock; The piston rod of described cylinder is connected with the other end of described slide bar headstock; Described working head is installed on the top of described main shaft; The below of described main shaft is connected with working head drive unit by shaft coupling;
Described cylinder is double piston-rod and carries the cylinder of position sensor; The double piston-rod of described cylinder is connected with described slide bar headstock; Described working head drive unit is motor.
4. pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism according to claim 2, is characterized in that: described executing agency comprises two slide bars, slide bar headstock, slide bar tailstock, pedestal, substrate and main shaft;
Slide bar described in two is each passed through described pedestal, and one end is connected with described slide bar headstock; The other end is connected with described slide bar tailstock; Described pedestal is installed on described substrate; Described main shaft is installed on the front end of described slide bar headstock;
The end of described cylinder is mounted on described pedestal, and the piston rod of described cylinder is connected with described slide bar headstock; Described cylinder is described in two between slide bar;
Described working head drive unit is motor; The below of described main shaft is connected with working head drive unit by shaft coupling.
5. pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism according to claim 4, is characterized in that: the side of described pedestal is provided with front end limit position sensor, origin position sensor and rear end limit position sensor successively; Opposite side is provided with piston stroke distal limit sensor and piston stroke near-end limit sensor successively; The side of the described slide bar headstock corresponding with the described pedestal being provided with limit position sensor is provided with catch.
6. pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism according to claim 5, is characterized in that: described pedestal is U-shaped seat; Slide bar described in two is through the both sides of described U-shaped seat; The end of described cylinder is placed in the U-lag of described U-shaped seat.
7. pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism according to claim 2, is characterized in that: described executing agency comprises installing plate, substrate, two slide blocks, two rectilinear orbits and main shaft;
The bottom of described installing plate is installed on slide block described in two; Slide block described in two is installed on rectilinear orbit described in two respectively; Rectilinear orbit described in two is installed on described substrate; Described main shaft is installed on the front end of described installing plate;
Described cylinder one end is installed on described substrate by cylinder mount pad; The piston rod of the other end is connected with described installing plate by piston rod contiguous block; Described cylinder is between two rectilinear orbits; The described installing plate position corresponding with described cylinder is provided with breach;
Described working head drive unit comprises motor, belt and motor base; Described motor is installed on the rear end of described installing plate by described motor base; The output shaft of described motor is connected with described main shaft by belt.
8. pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism according to claim 7, it is characterized in that: the side of described substrate is provided with front end limit position sensor, origin position sensor and rear end limit position sensor successively, opposite side is provided with piston stroke distal limit sensor and piston stroke near-end limit sensor successively; The side of the described installing plate corresponding with the described substrate being provided with limit position sensor is provided with catch.
9. the pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism according to claim 3 or 4, is characterized in that: described main shaft is installed on described slide bar headstock by bearing.
10. pneumatic type contact force ACTIVE CONTROL Multipurpose schoolwork mechanism according to claim 5, it is characterized in that: described front end limit position sensor, origin position sensor and rear end limit position sensor are provided with U-lag, when described catch passes through from described U-lag, corresponding position sensor is triggered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520718743.2U CN204893433U (en) | 2015-09-16 | 2015-09-16 | Pneumatic type contact force active control multipurpose operation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520718743.2U CN204893433U (en) | 2015-09-16 | 2015-09-16 | Pneumatic type contact force active control multipurpose operation mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204893433U true CN204893433U (en) | 2015-12-23 |
Family
ID=54915645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520718743.2U Expired - Fee Related CN204893433U (en) | 2015-09-16 | 2015-09-16 | Pneumatic type contact force active control multipurpose operation mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204893433U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105081794A (en) * | 2015-09-16 | 2015-11-25 | 佛山市新恒萃材料科技有限公司 | Pneumatic type contact-force active-control multipurpose operating mechanism |
-
2015
- 2015-09-16 CN CN201520718743.2U patent/CN204893433U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105081794A (en) * | 2015-09-16 | 2015-11-25 | 佛山市新恒萃材料科技有限公司 | Pneumatic type contact-force active-control multipurpose operating mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1256221C (en) | Rotary robot for container lock | |
| CN205521417U (en) | Pneumatic manipulator based on PLC | |
| CN111633491B (en) | Processing equipment of aluminum veneer for lightweight aluminum veneer curtain wall | |
| CN104950797B (en) | A kind of 3-PRRS six-freedom parallels locating platform | |
| CN104647365A (en) | Hydraulic-driven multi-joint industrial robot | |
| CN104476535A (en) | Multi-degree-of-freedom controllable wheel type mobile palletizing robot mechanism | |
| CN108127648A (en) | A kind of numerically-controlled machine tool clamping manipulator executing agency | |
| CN104942814A (en) | Multipurpose robot | |
| CN104339210A (en) | Horizontal type double-head machining center | |
| CN109129131A (en) | Curve part automatic sanding equipment and its control method | |
| CN106625641A (en) | Automatic loading and unloading manipulator for eccentric adjustment of encoder circular grating | |
| CN204471374U (en) | A kind of hydraulic-driven multi-joint industrial robot | |
| CN204893433U (en) | Pneumatic type contact force active control multipurpose operation mechanism | |
| CN204450237U (en) | Numerical control ruggedization shot-blasting machine | |
| CN105127981A (en) | Three-freedom-degree transfer robot with movable support | |
| CN204339434U (en) | A kind of based on hydraulically powered Digit Control Machine Tool loading and unloading manipulator | |
| CN104959978A (en) | Pipe fitting operation robot | |
| CN105081794A (en) | Pneumatic type contact-force active-control multipurpose operating mechanism | |
| CN104210104A (en) | 3D printer device capable of being adjusted in position and posture | |
| CN209077809U (en) | A kind of five degree of freedom fast servo tool micromotion platform | |
| CN106239544A (en) | A kind of mechanical hand imitating human hand and arm joint | |
| CN110878448A (en) | Gripping device for sewing equipment | |
| CN204248536U (en) | Be suitable for the Horizontal double-headed machining center of production line balance | |
| CN103522284A (en) | Workpiece auto-carry device | |
| CN204725493U (en) | A kind of pipe fitting Work robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151223 Termination date: 20190916 |