CN206405909U - A kind of pneumatic compliance device - Google Patents
A kind of pneumatic compliance device Download PDFInfo
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- CN206405909U CN206405909U CN201621363939.5U CN201621363939U CN206405909U CN 206405909 U CN206405909 U CN 206405909U CN 201621363939 U CN201621363939 U CN 201621363939U CN 206405909 U CN206405909 U CN 206405909U
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- pneumatic
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- mounting bracket
- signal collecting
- collecting element
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Abstract
The utility model provides a kind of pneumatic compliance device, including control platform, data acquisition card and hardware-in-the-loop；The hardware-in-the-loop includes pneumatic element, signal collecting element and milling tools；The signal of the signal collecting element inputs control platform by data acquisition card；The pneumatic element is double-acting cylinder and proportional pressure valve, and the signal collecting element is force snesor and acceleration transducer；The control platform receives the data of signal collecting element, pass through intelligent control algorithm computing, output amendment voltage signal control proportional pressure valve, makes the piston-rod end power output of the double-acting cylinder keep constant, so that the normal grinding force of milling tools end keeps constant.The pneumatic compliance device that the utility model is provided realizes constant force output, improves the control accuracy in process, shortens the response time.
Description
Technical field
The utility model is related to aerodynamic force control field, more particularly to a kind of pneumatic compliance device
Background technology
The finished machineds such as the grinding-polishing of current parts mainly process two kinds using the manual polishing of experienced operator and grinding machine
Mode is completed, and not only efficiency is low the manual polishing of experienced operator, labor intensity big, requires high to operator's qualification, and
The problem of equilibrium that there is machining accuracy can not ensure with stability, and grinding machine is due to the factor such as its processing cost and lathe size
Limit its use.To obtain surface quality stable during part finished machined, thrown in milling tools feed speed and grinding
In the case that ray velocity is given, it is ensured that the normal grinding force in grinding-polishing process is constant necessary.Current machine
It is many in the processing of people's grinding-polishing that rigid contact is carried out with grinding-polishing surface using the mechanical structure with certain adjustment function, lead to
The mode that cylinder passively compensates axially abrasion is crossed, or using the side for force snesor composition closed loop of being connected in robot end
Formula realizes that robot assisted constant force griding is polished, but not open and control algolithm the complexity due to robot system in itself
Property, which response time is slow, and control accuracy is limited, realizes that constant force is exported using the submissive system of pneumatic constant force, by flange with
Robot is connected, and can effectively improve the control accuracy in process and response time.
Utility model content
The purpose of this utility model is to provide a kind of pneumatic compliance device, to solve the finished machined process such as grinding-polishing
In constant force control problem.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is：A kind of pneumatic compliance device is provided, including
Control platform, data acquisition card and hardware-in-the-loop；The hardware-in-the-loop includes pneumatic element, signal collecting element and polishing work
Tool；The signal of the signal collecting element inputs control platform by data acquisition card；The pneumatic element is double-acting cylinder
And proportional pressure valve, the signal collecting element is force snesor and acceleration transducer；The control platform receives signal
The data of acquisition elements, by intelligent control algorithm computing, output amendment voltage signal control proportional pressure valve makes the double cropping
Keep constant with the piston-rod end power output of cylinder, so that the normal grinding force of milling tools end keeps constant.
Further, the hardware-in-the-loop also includes mounting bracket, line slideway and instrument mounting bracket；The force snesor
One end is connected in double-acting cylinder end, and one end is connected by revolute pair with mounting bracket；The acceleration transducer is with installing
Support is connected；Described double-acting cylinder one end connects force snesor, and the other end is connected by revolute pair with instrument mounting bracket；It is described
Milling tools is connected on instrument mounting bracket.
Further, the hardware-in-the-loop also includes mounting flange, and the mounting flange is connected with mounting bracket, uses
It is connected in by the pneumatic compliance device with external device.
The pneumatic compliance device that the utility model is provided realizes constant force output, improves the control essence in process
Degree, shortens the response time.
Brief description of the drawings
Utility model is described further below in conjunction with the accompanying drawings：
The main hardware connection figure for the pneumatic compliance device that Fig. 1 provides for the utility model embodiment；
The control system schematic diagram of pedestal in the pneumatic compliance device that Fig. 2 provides for the utility model embodiment.
Embodiment
Below in conjunction with the drawings and specific embodiments to the utility model proposes pneumatic compliance device make further specifically
It is bright.It should be noted that, accompanying drawing is using very simplified form and uses non-accurately ratio, only to conveniently, lucidly
Aid in illustrating the purpose of the utility model embodiment.
Refer to Fig. 1 and Fig. 2, a kind of pneumatic submissive system with constant force control function, including：Control platform, signal
Acquisition elements, pneumatic element and moving guide rail, and the milling tools being arranged on moving guide rail.Wherein, hardware-in-the-loop is main
Have by double-acting cylinder 1, proportional pressure valve 2, acceleration transducer 3, force snesor 4, mounting bracket 5, mounting flange 6 and
The part such as line slideway 7, instrument mounting bracket 8, milling tools 9 is constituted.Control platform includes hardware capture card, Software Simulation Test
Interface and PC.Its connection between above-mentioned hardware-in-the-loop is as shown in Figure 2.In hardware-in-the-loop, force snesor 4 passes through screw
The end of double-acting cylinder 1 is connected in, while being connected between mounting bracket 5 by revolute pair.Acceleration transducer 3 is with installing branch
It is connected by screw between frame 5.Connected between double-acting cylinder 1 and instrument mounting bracket 8 by revolute pair.Power and acceleration transducer
Signal by data collecting card input control platform, so as to constitute closed loop feedback control loop.
The system realizes that the process of constant force control is as follows：According to the power experience database of foundation, current processing is preset
The system power output that region needs.At the same time, the gas passing ratio pressure valve 2 through filtering decompression, control platform is using electricity
Pressure signal controls its valve port opening, and then controls the gas pressure of the both sides air chamber of double-acting cylinder 1, by between 2 air chambers
Pressure difference causes piston rod to export a certain size power.At the same time, the reality output power of cylinder is gathered using force snesor 4, will
The signal of collection carries out LPF, inputs control platform by hardware capture card, enters in simulation testing software with expected force
Row is compared, and the error of generation is handled through Intelligent Control Strategy, and change turns to corresponding voltage signal, exports to proportional pressure valve 2
To adjust its valve port law.In whole process, it is considered to inertia force and the gravitational vectors of itself that whole system motion is produced
Influence, therefore by the acquisition system motional inertia amount of acceleration transducer 3, it is obtained by space angle conversion cylinder is exported
The influence of power, the link that expected force and reality output power compare is loaded into by the information, so as to be used to during compensation campaign
Influence of the property vector for control accuracy.
Obviously, those skilled in the art can carry out various changes to the utility model and deform without departing from this practicality
New spirit and scope.So, if these modifications and variations of the present utility model belong to the utility model claim and
Within the scope of its equivalent technologies, then the utility model is also intended to comprising including these changes and modification.
Claims (3)
1. a kind of pneumatic compliance device, it is characterised in that including control platform, data acquisition card and hardware-in-the-loop；
The hardware-in-the-loop includes pneumatic element, signal collecting element and milling tools；The signal of the signal collecting element leads to
Cross data acquisition card input control platform；
The pneumatic element is double-acting cylinder and proportional pressure valve, and the signal collecting element is that force snesor and acceleration are passed
Sensor；
The control platform receives the data of signal collecting element, passes through intelligent control algorithm computing, output amendment voltage letter
Number control proportional pressure valve, make the double-acting cylinder piston-rod end power output keep it is constant so that milling tools is last
The normal grinding force at end keeps constant.
2. pneumatic compliance device as claimed in claim 1, it is characterised in that the hardware-in-the-loop also includes mounting bracket, straight
Line guide rail and instrument mounting bracket；Described force snesor one end is connected in double-acting cylinder end, and one end is by revolute pair with installing
Support is connected；The acceleration transducer is connected with mounting bracket；Described double-acting cylinder one end connects force snesor, the other end
It is connected by revolute pair with instrument mounting bracket；The milling tools is connected on instrument mounting bracket.
3. pneumatic compliance device as claimed in claim 2, it is characterised in that the hardware-in-the-loop also includes mounting flange,
The mounting flange is connected with mounting bracket, for the pneumatic compliance device to be connected with external device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621363939.5U CN206405909U (en) | 2016-12-13 | 2016-12-13 | A kind of pneumatic compliance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621363939.5U CN206405909U (en) | 2016-12-13 | 2016-12-13 | A kind of pneumatic compliance device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206405909U true CN206405909U (en) | 2017-08-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621363939.5U Active CN206405909U (en) | 2016-12-13 | 2016-12-13 | A kind of pneumatic compliance device |
Country Status (1)
| Country | Link |
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| CN (1) | CN206405909U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108747809A (en) * | 2018-08-28 | 2018-11-06 | 艾尔发智能科技股份有限公司 | Sander polishing pressure control device and polishing compress control method |
| CN108747715A (en) * | 2018-08-28 | 2018-11-06 | 艾尔发智能科技股份有限公司 | A kind of wet type automatically grinding polishing machine |
| CN108908117A (en) * | 2018-05-30 | 2018-11-30 | 中国航空制造技术研究院 | It is a kind of for installing the constant force actuator of grinding head |
| CN111216162A (en) * | 2018-11-26 | 2020-06-02 | 中国科学院沈阳自动化研究所 | Constant force floating device applied to industrial robot end |
| CN114019892A (en) * | 2021-10-22 | 2022-02-08 | 上海电机学院 | Pneumatic compliance device control system and method based on PLC |
-
2016
- 2016-12-13 CN CN201621363939.5U patent/CN206405909U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908117A (en) * | 2018-05-30 | 2018-11-30 | 中国航空制造技术研究院 | It is a kind of for installing the constant force actuator of grinding head |
| CN108908117B (en) * | 2018-05-30 | 2024-03-22 | 中国航空制造技术研究院 | Constant force actuator for installing polishing head |
| CN108747809A (en) * | 2018-08-28 | 2018-11-06 | 艾尔发智能科技股份有限公司 | Sander polishing pressure control device and polishing compress control method |
| CN108747715A (en) * | 2018-08-28 | 2018-11-06 | 艾尔发智能科技股份有限公司 | A kind of wet type automatically grinding polishing machine |
| CN108747715B (en) * | 2018-08-28 | 2024-03-26 | 艾尔发智能科技股份有限公司 | Wet-type automatic polishing machine |
| CN111216162A (en) * | 2018-11-26 | 2020-06-02 | 中国科学院沈阳自动化研究所 | Constant force floating device applied to industrial robot end |
| CN111216162B (en) * | 2018-11-26 | 2022-11-01 | 中国科学院沈阳自动化研究所 | Constant force floating device applied to tail end of industrial robot |
| CN114019892A (en) * | 2021-10-22 | 2022-02-08 | 上海电机学院 | Pneumatic compliance device control system and method based on PLC |
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