CN206703065U - Integrated active constant-force compensation device - Google Patents
Integrated active constant-force compensation device Download PDFInfo
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- CN206703065U CN206703065U CN201720351077.2U CN201720351077U CN206703065U CN 206703065 U CN206703065 U CN 206703065U CN 201720351077 U CN201720351077 U CN 201720351077U CN 206703065 U CN206703065 U CN 206703065U
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Abstract
Integrated active constant-force compensation device, mainly including upper flange, telescopic, main casing, main shaft, main shaft slideway, cylinder assembly, PCB, air pressure regulator, magnetic valve and inclination angle sensor device into.Main casing is connected and composed by closure head, shell and bottom end cover.Telescopic is connected with upper flange and closure head respectively.Bottom end cover is provided with electrical apparatus interface, muffler and air inlet pipe.Air pressure regulator is connected through magnetic valve with cylinder.Main shaft bottom is installed in main shaft slideway, and bottom is equiped with the magnet ring seat with magnet ring in main shaft slideway, and magnet ring seat is connected with main shaft lower end.Displacement transducer is fixed with outside main shaft sliding sleeve.Air pressure regulator, magnetic valve, obliquity sensor and displacement transducer are connected by wire with PCB corresponding interface respectively.The utility model allows machining tool to touch work piece surface in the case of being impacted zero, while constant compensation can be carried out to contact force in whole process or is compensated according to the real-time dynamic of power instruction progress.
Description
Technical field
A kind of integrated active constant-force compensation device is the utility model is related to, belongs to technical field of automation.
Background technology
Artificial automation surface operation processing, such as Surface Machining (polishing, polishing) and workpiece are replaced for machine
Processing, for ensure the crudy of whole technical process, it is necessary to constant force be processed or by along machining locus carry out expected force
Tracking.For traditional manual type, skilled worker ensures quality by rule of thumb, while has human cost height, working environment
Harm to the human body is big, the shortcomings such as crudy uniformity difference and efficiency are low.
For the output Force control system in modern times, the machining tool being installed on robot arm is connect with work piece
A kind of contact force with shock wave character can be produced when tactile.Processed for low side, this problem can be neglected.But for machining accuracy
It is required that in the case of the more sensitivity of higher or work piece surface, work piece surface can be caused the feelings of flaw or breakage occur
Condition.Therefore impulsive force caused by this contact is naturally eliminated.
In addition, existing output Force control system often lacks high dynamic response ability in the case where high-frequency is disturbed,
Because its adjustable mechanism has certain inertia, it is necessary to the corresponding reaction time.For the industrial robot of standard, belong to
Rigid system, even if producing small error during the adjustment of track, the huge deviation of contact force is will also result in, is produced not by the phase
The consequence of prestige.
Utility model content
The purpose of this utility model is to provide a kind of active power for mechanical arm or other possible automation equipments and mend
Device is repaid, machining tool is touched work piece surface in the case of being impacted zero, while in whole process
Constant compensation can be carried out to contact force or dynamic in real time is carried out according to power instruction compensating.
The technical scheme of use is：
Integrated active constant-force compensation device, including upper flange, telescopic, main casing, main shaft, main shaft slideway, cylinder
Assembly, PCB, air pressure regulator, magnetic valve and obliquity sensor.
Main casing is connected and composed by closure head, shell and bottom end cover.Flexible set upper side is fixedly connected with upper flange, is stretched
Set lower end is fixedly connected with closure head, is equiped with five core interfaces, four core interfaces in the side wall of bottom end cover respectively, muffler, is entered
Tracheae and indicator lamp.The outlet side of air inlet pipe is connected with three airways being arranged in bottom end cover, and three airways are by being fixed on down
Threeway support support in end cap.Cylinder assembly includes cylinder and transmission connection piece, and piston rod upper end and the transmission of cylinder are transferred
The lower end of part is fixedly connected, and transmission adaptor is connected by drive screw with upper flange.It is driven adaptor and drive screw gap
Coordinate.
Main shaft bottom is installed in main shaft slideway, and main shaft is slidably matched with main shaft sliding sleeve.The upper end of main shaft by ringfeder with
The lower surface of upper flange is fixedly connected.Main shaft slideway lower end is fixed on the bottom wall of bottom end cover.
Air pressure regulator is connected by pipeline with cylinder, and magnetic valve is equiped with the connecting line.Air pressure regulator and electricity
Magnet valve is separately fixed on valve plate, and a plurality of gas circuit is offered on valve plate, and valve plate lower end is connected with valve plate adaptor, valve plate adaptor
It is fixed at one jiao in bottom end cover.Valve plate fixed plate is vertically arranged, and valve plate fixed plate is turned by screw and valve plate, valve plate respectively
Fitting and bottom end cover are fixedly connected.
Angular transducer is fixed by screws in dip angle device fixed plate, and dip angle device fixed plate passes through screw and valve plate respectively
It is fixedly connected with valve plate adaptor.
PCB is installed in the groove slideway that inner walls open up, and PCB lower end is fixed on valve plate adaptor
On, the upper end of PCB is compressed by buffering spacer and closure head.
Magnetic support is equiped with slideway inner chamber, magnet ring is equiped with magnetic support, magnetic support is connected by screw with main shaft lower end.
See Fig. 1, the arm 1 of the six-shaft industrial robot in Fig. 1 passes through in flange 2 and Fig. 2 under the utility model device
The fastening of flange 12 is connected, and utility model device is connected by upper flange 7 with the fastening of tool flange 5 again.Robot by compiling in advance
Journey, mechanical arm is set to be moved along predetermined track on workpiece to be machined 6, the change of pitch angle caused by moving process, and
Contact force change caused by the concavo-convex change on the surface of workpiece to be machined 6, the constant force proposed by the utility model compensate dress
3 are put to be compensated by.The surface that the working contents of the utility model device are to maintain machining tool 4 and workpiece to be machined 6 has
There is constant contact force, this contact force can be pre-set.For example in polishing field, it is necessary to which the execution instrument 4 that ensures to polish is in high speed rotation
Still constant contact force can be kept in the case of turning with workpiece to be machined surface.
For rigid system as mechanical arm 1, when the rigid connection of execution instrument 4 of polishing contacts the surface of workpiece to be machined 6
Wait, certain impact power can be produced with can not avoiding, if only this action is performed by robot, then caused impulsive force
Hardly result in good control.It can be very good solve this problem.
In the case of complicated processing technique, the utility model device 3 can be carried out to polishing execution instrument 4 after the power-up
Automatically weigh, it is ensured that have accurate gravity compensation to polishing execution instrument 4.In processing gap, if polishing execution instrument 4 is by work
People replaces, and it is maximum to the utility model device 3 manually to pull polishing execution instrument 4 in the case of not power down for the present apparatus
At stroke, can retriggered weighing process, this method can effectively save user time, improve operating efficiency.
Brief description of the drawings
Fig. 1 is of the present utility model to use schematic diagram.
Fig. 2 is a kind of external structure of embodiment of the present utility model.
Executing agency's arrangement schematic diagram inside Fig. 3.
Fig. 4 PCB scheme of installations.
Schematic layout pattern in Fig. 5 bottom end covers.
Fig. 6 circuits and gas circuit device arrangements schematic diagram.
Executing agency's displacement detecting schematic diagram inside Fig. 7.
Fig. 8 is ringfeder structural representation.
Fig. 9 is transmission adaptor schematic diagram.
Figure 10 control principle schematic diagrames.
Embodiment
Integrated active constant-force compensation device, including upper flange 7, telescopic 8, main shaft 17, main shaft slideway 20, main casing
Body, cylinder assembly, PCB 23, air pressure regulator 30, magnetic valve 32, obliquity sensor 31, it is characterised in that：
Main casing is connected and composed by shell 10, closure head 9 and bottom end cover 11.The upper end of telescopic 8 is fixed with upper flange 7 to be connected
Connect, its lower end is fixedly connected with closure head 9.Five core interfaces 13, four core interfaces 39 are equiped with the side wall of bottom end cover respectively, are entered
Tracheae 16, muffler 15 and indicator lamp 14.Air inlet pipe 16 is connected with the air inlet of three airways 26, and three airways 26 are located at lower end
In lid 11, supported by the threeway supporting plate 27 being fixed on bottom end cover inwall.The gas outlet of three airways 26 and air pressure regulator
30 air inlet is corresponding to be connected.
Cylinder assembly, including cylinder 21 and transmission adaptor 19, the piston rod upper end of cylinder 21 is with being driven under adaptor 19
End connection, transmission adaptor 19 is connected by drive screw 22 with upper flange 7, and gap coordinates.The bottom of main shaft 17 is installed in master
Upper and lower to be slidably matched in axle slideway 20, the upper end of main shaft 17 is connected by ringfeder 18 with upper flange 7.The lower end of main shaft slideway 20 is consolidated
It is scheduled on the bottom wall of bottom end cover 11.
Air pressure regulator 30 is connected by pipeline with cylinder 21, and air pressure regulator 30 on the connecting line of cylinder 21 with installing
There is magnetic valve 32.Air pressure regulator 30 is separately fixed on valve plate 33 with magnetic valve 32, and a plurality of gas circuit is offered on valve plate 33.Valve
The lower end of plate 33 is fixedly connected with valve plate adaptor 25, and valve plate adaptor 25 is fixed on the bottom wall of bottom end cover 11.Valve plate fixed plate
29 are fixedly connected by screw with valve plate 33, valve plate adaptor 25 and bottom end cover 11 respectively.Obliquity sensor 31 is fixed on inclination angle
On sensor support plate 28, sensor support plate 28 is fixed by screws in valve plate fixed plate 29.
PCB 23 is installed in the groove slideway opened up on shell 10, and the lower end of PCB 23 is fixed on valve plate and turned
On fitting 25, PCB upper end is compressed by buffering spacer 24 and closure head 9.
Magnet ring seat 35 is equiped with the lower lumen 38 of main shaft slideway 20, magnet ring 37, magnet ring are equiped with magnet ring seat 35
Seat 35 is connected by magnet ring screw 36 with the lower end of main shaft 17.Displacement transducer 34 is fixed with the outer wall of main shaft slideway 20.
Displacement transducer 34, obliquity sensor 31, magnetic valve 32 and air pressure regulator 30 pass through wire and PCB circuits respectively
The corresponding interface connection of plate 23.
The utility model is described in further detail below in conjunction with the accompanying drawings, in order to understand.
Fig. 2 shows the claimed surface structure of the utility model device, and telescopic 8 selects soft materials (to be not limited to
Rubber), shell 10, closure head 9 and bottom end cover 11 select rigid material (being not limited to plastics, metal), and this combination ensure that
Device possesses IP65 degree of protection.Simultaneous retractable set 8 is also equipped with certain flexible ability on mechanical arm axial direction, this
Outside elastic construction design, it is ensured that during operation, internal executing agency is in stroke range of motion for the utility model
During good protection can be obtained by external structure, without having exposed phenomenon.When the utility model is employed
When polishing, polishing field, it can effectively prevent that caused dust, chip enter inside device in process, really
The reliability that the utility model that breaks even device uses.
Electric interfaces are studded with the surface of bottom end cover 11, wherein five core interfaces include power supply and relay access terminal, four cores
Interface is the Ethernet interface to be communicated for internal circuit board 23 and outside human-computer interaction interface.Also have one in the avris of electric interfaces 13
Three-color LED indicator lamp 14.Tri-colour LED is closed by monochromatic, double-colored, three colour cells and can intuitively passed to operating personnel are convenient
Up to information, system current state can be understood quickly by referring to user's manual in operating personnel.
In the air inlet pipe 16 that the opposite side of bottom end cover is inlayed, the compressed air in external pressure source can be delivered to internal gas
Pressure control device.Internal gas is mainly emitted among outside atmosphere by Pneumatic controller by muffler 15.Meanwhile noise reduction
Device 15 also acts good sound-deadening and noise-reducing effect in the process, can effectively reduce the utility model device and surrounding enviroment are made
Into noise pollution.
Fig. 3 shows the inside executing agency layout of the utility model device, passes through the control of air pressure regulator 30, cylinder
Piston rod in 21 drives upper flange to be pumped.In this course, main shaft 17 is used as slave unit,
Effect that is spacing and bearing external load is served along main shaft slideway 20.The structure design of ringfeder 18 is shown in detail in Fig. 9, figure
10 set forth in detail the structure design of transmission adaptor 19.
There is small gap between transmission adaptor 19 and drive screw 22, transmission adaptor 19 can be made in the horizontal direction
The slip with 7 relatively small distance of upper flange is produced, is passed with this to compensate the error introduced in processing and installation process and upper flange 7
Pass the load of cylinder 21.
Fig. 4 shows that internal PCB 23 includes a microprocessor.Answered in view of the utility model device some
Pneumatic milling tools can be connected with upper flange in scene 7, milling tools can inevitably produce vibration during aerating is polished,
This prolonged conduct vibrations can make loosened screw to constant force actuator, so for PCB 23, the utility model dress
Put the internal fixed form for employing non-bolt.Open a groove slideway inside the side of shell 10, and by circuit board 23
It is placed in groove slideway, the lower end of circuit board 23 is fixed on valve plate adaptor 25, and upper end passes through closure head 9 and buffering spacer
24 compress.It can effectively alleviate in bruting process the PCB electricity as caused by pneumatic machining tool using the deformation of buffering spacer 24
Road panel vibration.
Fig. 6 shows the layout of circuit main inside the utility model device and gas circuit device.In order that this practicality is new
Type device can realize that constant force compensates, and air pressure regulator 30 and magnetic valve 32 are fixed on valve plate 33, be provided with valve plate 33 more
Bar gas circuit, it can be ensured that gas can also be expelled to outside atmosphere by air pressure regulator 30 from external air source air-breathing；By integrating gas
The air pressure regulator 30 of body pressure control function exports the air pressure specified, and reaches the function of constant force control；Pass through electromagnetism again afterwards
Valve 32 exchanges both sides airflow direction, the connecting rod of cylinder 21 is both pushed out upper flange 7, can also tense upper flange 7 inwards,
The utility model device both exportable thrust specified and pulling force function are realized with this.
During the utility model device use, mechanical arm 1 is likely to be at different angle, and the change of angle can influence to hold
Row instrument 4 acts on the weight component change on the surface of workpiece 6, directly affects contact force change.Device has been internally integrated inclination angle
Sensor 31, can be by current inclination information real-time delivery to the microcontroller on circuit board 23, microcontroller collection obliquity information
Carry out gravity compensation, it is ensured that during the utility model device use, the angle change of mechanical arm 1 or because of the surface of workpiece 6
Weight component caused by bending change changes, and will not change and perform the contact force that workpiece 4 is acted on the surface of workpiece 6.
Fig. 6 shows that the utility model device needs the fastening means of obliquity sensor 31 to be protected.Obliquity sensor 31 is logical
Cross and be bolted in obliquity sensor fixed plate 28, obliquity sensor fixed plate 28 is further through being bolted to valve plate fixed plate
On 29, valve plate fixed plate 29 is connected with valve plate adaptor 25, valve plate 33 and bottom end cover 11 respectively by bolt, to stablizing valve plate
33 play a good role.Its object is to be applied when the utility model device in pneumatic polishing field, because milling tools shakes
The caused output error of obliquity sensor 31 is moved, by above-mentioned fastening means, error can be effectively reduced.
Fig. 6 shows a critical elements in the utility model device, air pressure regulator 30.The conduct of air pressure regulator 30
One controllable Pneumatic controller, the analog signal sent by receiving microcontroller, control and export in analog quantity ratio
Air pressure at port.The fixed form of air pressure regulator 30 and magnetic valve 32 is shown in figure.Both are each attached on valve plate 33, and
And gas circuit is provided with valve plate 33 makes both gas circuit be connected, and the advantage is that, has both solved both fastening problems, ensure two again
Person is connected with extremely short distance, saves tracheae use.
Fig. 7 shows the piston displacement Cleaning Principle of cylinder 21, and magnet ring 37 is fixed on magnet ring seat 35, and passes through magnet ring spiral shell
Nail 36 makes it be fixed together with main shaft 17.When main shaft 17 moves up and down along main shaft slideway 20, magnet ring 37 can therewith together
It is mobile.Displacement transducer 34 is located at main shaft slideway outer surface, and magnet ring is determined by detecting magnetic line of force change caused by magnet ring 37
37 position, so as to detect the displacement of executing agency inside device.Displacement detecting scheme used by the utility model device
Design structure is compact, and displacement detecting is accurate.
Fig. 8 shows the control principle of the utility model device, and microcontroller is the ARM being welded in PCB 23
Chip, power command information issue by robot controller or by host computer user interface, and microcontroller reads displacement transducer
34 obliquity informations for gathering the piston displacement information collected and obliquity sensor 31.Constant pressure source of the gas is installed in building ring
The gas pressure storage device at border scene, it can continuously export the compressed good and compressed air by filtering.It is logical
The air pressure regulator 30 that tracheae is connected to inside the utility model device is crossed, air pressure regulator 30 is by magnetic valve 32 and tracheae 21
Side is connected, and microcontroller adjusts the outlet pressure of air pressure regulator 30 by adjusting analog output, both the side pressure of cylinder one
Power, cylinder opposite side connect external pressure all the time, realize that Newton force exports with cylinder both sides draught head, reach control output
The purpose of power.Its purpose of design is, by the use of compressed air as power resources, has that cost is cheap, safe and reliable, may be used also
To reach very high power/weight ratio.
Claims (5)
1. integrated active constant-force compensation device, including upper flange（7）, telescopic（8）, main shaft（17）, main shaft slideway（20）、
Main casing, cylinder assembly, PCB（23）, air pressure regulator（30）, magnetic valve（32）, obliquity sensor（31）, main casing
By shell（10）, closure head（9）And bottom end cover（11）Connect and compose, it is characterised in that：Telescopic（8）Upper end and upper flange
（7）It is fixedly connected, its lower end and closure head（9）It is fixedly connected；Five core interfaces are equiped with the side wall of bottom end cover respectively（13）、
Four core interfaces（39）, air inlet pipe（16）And muffler（15）；
Air inlet pipe（16）With three airways（26）Air inlet connection, three airways（26）Positioned at bottom end cover（11）It is interior, by fixing
Threeway supporting plate on bottom end cover inwall（27）Support, three airways（26）Gas outlet and air pressure regulator（30）Air inlet
The corresponding connection of mouth；
Cylinder assembly, including cylinder（21）With transmission adaptor（19）, cylinder（21）Piston rod upper end with transmission adaptor
（19）Lower end connects, and is driven adaptor（19）Pass through drive screw（22）With upper flange（7）Connection, and gap coordinates；Main shaft
（17）Bottom is installed in main shaft slideway（20）It is interior, upper and lower to be slidably matched, main shaft（17）Upper end pass through ringfeder（18）With upper flange
（7）Connection；Main shaft slideway（20）Lower end is fixed on bottom end cover（11）Bottom wall on；
Air pressure regulator（30）Pass through pipeline and cylinder（21）The connection of side blow vent, cylinder（21）Opposite side blow vent connect
Air, air pressure regulator（30）With cylinder（21）Connecting line on be equiped with magnetic valve（32）；
Magnetic valve（32）, air pressure regulator（30）, obliquity sensor（31）Shell is respectively installed in PCB（10）Inside set
Positioning is put；
Air pressure regulator（30）, obliquity sensor（31）, magnetic valve（32）Pass through wire and PCB respectively（23）Correspondence
Interface connects.
2. integrated active constant-force compensation device according to claim 1, it is characterised in that：
PCB（23）It is installed in shell（10）On in the groove slideway that opens up, PCB（23）Lower end is fixed on valve plate
Adaptor（25）On, PCB upper end is by buffering spacer（24）And closure head（9）Compress.
3. integrated active constant-force compensation device according to claim 1, it is characterised in that：
Air pressure regulator（30）With magnetic valve（32）It is separately fixed at valve plate（33）On, valve plate（33）On offer a plurality of gas circuit,
Valve plate（33）Lower end and valve plate adaptor（25）It is fixedly connected, valve plate adaptor（25）It is fixed on bottom end cover（11）Bottom wall on；
Valve plate fixed plate（29）Pass through screw and valve plate respectively（33）With valve plate adaptor（25）It is fixedly connected；Obliquity sensor（31）Gu
It is scheduled on obliquity sensor fixed plate（28）On, sensor fixation plate（28）It is fixed by screws in valve plate fixed plate（29）And valve plate
（33）On.
4. integrated active constant-force compensation device according to claim 1 or 2, it is characterised in that：
The main shaft slideway（20）Lower lumen（38）In be equiped with magnet ring seat（35）, magnet ring seat（35）On be equiped with magnet ring
（37）, magnet ring seat（35）Pass through magnet ring screw（36）With main shaft（17）Lower end connects；Main shaft slideway（20）Outer wall on be fixed with
Displacement transducer（34）；Displacement transducer（34）It is connected by wire with PCB corresponding interface.
5. integrated active constant-force compensation device according to claim 1, it is characterised in that：
Bottom end cover（11）On be equiped with indicator lamp（14）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720351077.2U CN206703065U (en) | 2017-04-06 | 2017-04-06 | Integrated active constant-force compensation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720351077.2U CN206703065U (en) | 2017-04-06 | 2017-04-06 | Integrated active constant-force compensation device |
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| Publication Number | Publication Date |
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| CN206703065U true CN206703065U (en) | 2017-12-05 |
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ID=60468654
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720351077.2U Active CN206703065U (en) | 2017-04-06 | 2017-04-06 | Integrated active constant-force compensation device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009389A (en) * | 2017-04-06 | 2017-08-04 | 沈阳埃克斯邦科技有限公司 | Integrated active constant-force compensation device |
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2017
- 2017-04-06 CN CN201720351077.2U patent/CN206703065U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107009389A (en) * | 2017-04-06 | 2017-08-04 | 沈阳埃克斯邦科技有限公司 | Integrated active constant-force compensation device |
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