CN211741935U - Electromagnetic type active force control device - Google Patents
Electromagnetic type active force control device Download PDFInfo
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- CN211741935U CN211741935U CN202020382511.5U CN202020382511U CN211741935U CN 211741935 U CN211741935 U CN 211741935U CN 202020382511 U CN202020382511 U CN 202020382511U CN 211741935 U CN211741935 U CN 211741935U
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Abstract
The utility model provides an electromagnetic type initiative power control device, include: the device comprises a lower connecting plate, a force sensor, an electromagnetic actuator, a linear motion maintaining assembly and an upper connecting plate; the electromagnetic actuator comprises an electromagnetic actuator stator and an electromagnetic actuator rotor; the upper connecting plate is connected with the lower connecting plate through a linear motion maintaining assembly; the force sensor is connected to the lower connecting plate; the electromagnetic actuator stator is connected with the force sensor; one end of the electromagnetic actuator rotor is connected with the upper connecting plate, and the other end of the electromagnetic actuator rotor is a free end; when the electromagnetic actuator is electrified, an electromagnetic actuator rotor can do linear motion relative to an electromagnetic actuator stator, so that the upper connecting plate is driven to do linear motion relative to the lower connecting plate; the linear motion maintaining assembly is disposed inside the force sensor. The utility model discloses compact structure, control accuracy is high, and response speed is fast.
Description
Technical Field
The utility model relates to a power control device, especially an electromagnetic type power control device.
Background
In the modern industrial field, with the increasing requirements for the manufacturing quality of parts and the automation of the process, there is an urgent need for precise control of the contact force in the manufacturing process. At present, actuators of most force control devices are one-way or two-way cylinders, and force control is realized by adjusting gas pressure in the cylinders through closed-loop control, but the force control precision is poor, the response speed is slow, the force control device cannot be suitable for a quick movement working condition, and cannot meet an operating environment with high requirements on the force control precision and the response speed; the product size is bigger, and space utilization is low, is unfavorable for system integration scheduling problem.
Disclosure of Invention
To exist not enough among the prior art, the utility model provides an electromagnetic type initiative power control device, compact structure, control accuracy is high, and response speed is fast. The embodiment of the utility model provides a technical scheme who adopts is:
an electromagnetic active force control device, comprising: the device comprises a lower connecting plate, a force sensor, an electromagnetic actuator, a linear motion maintaining assembly and an upper connecting plate;
the electromagnetic actuator comprises an electromagnetic actuator stator and an electromagnetic actuator rotor;
the upper connecting plate is connected with the lower connecting plate through a linear motion maintaining assembly;
the force sensor is connected to the lower connecting plate; the electromagnetic actuator stator is connected with the force sensor;
one end of the electromagnetic actuator rotor is connected with the upper connecting plate, and the other end of the electromagnetic actuator rotor is a free end; when the electromagnetic actuator is electrified, an electromagnetic actuator rotor can do linear motion relative to an electromagnetic actuator stator, so that the upper connecting plate is driven to do linear motion relative to the lower connecting plate;
the linear motion maintaining assembly is disposed inside the force sensor.
Further, both the force sensor and the electromagnetic actuator adopt annular structures.
Further, the electromagnetic type active force control device further comprises a displacement sensor; the displacement sensor is arranged on the lower connecting plate and is positioned on the inner side of the force sensor.
Further, the linear motion maintaining assembly employs a ball spline bearing assembly, or a linear guide assembly.
Furthermore, a protective cover is connected between the outer edge of the upper connecting plate and the stator of the electromagnetic actuator.
Further, the protective cover adopts a corrugated cover.
Furthermore, the electromagnetic type active force control device further comprises an attitude sensor, wherein the attitude sensor is installed on the lower connecting plate and is positioned on the inner side of the force sensor.
Furthermore, the attitude sensor adopts a three-axis acceleration sensor, and the direction of one axis of the three-axis acceleration sensor is the same as the moving direction of the mover of the electromagnetic actuator.
Further, an electromagnetic actuator mover is assembled inside the electromagnetic actuator stator.
The utility model has the advantages that:
1) the electromagnetic actuator is used as a driving element, so that the linearization degree of the output acting force of the electromagnetic type active force control device and the force control response speed are improved.
2) The force sensor can measure the output of the electromagnetic force of the electromagnetic actuator according to the principle of acting force and reacting force, so that the problem of cable follow-up caused by the fact that the force sensor is installed on the rotor is avoided; the force measurement accuracy is improved.
3) The force sensor, the displacement sensor and the like can form a closed-loop control structure with the controller, so that the control precision is improved.
4) The linear motion maintaining assembly, the displacement sensor, the attitude sensor and the like are positioned inside the force sensor and the electromagnetic actuator, so that the compactness of the whole structure is ensured.
Drawings
Fig. 1 is a schematic view of the structure of the present invention.
Detailed Description
The invention is further described with reference to the following specific drawings and examples.
As shown in fig. 1, an embodiment of the present invention provides an electromagnetic active force control device, including: the device comprises a lower connecting plate 1, a force sensor 2, an electromagnetic actuator 3, a linear motion holding component 4, an upper connecting plate 5 and a displacement sensor 6; the device can further comprise a protective cover 7 and an attitude sensor 8;
the electromagnetic actuator 3 comprises an electromagnetic actuator stator 301 and an electromagnetic actuator rotor 302;
the upper connecting plate 5 is connected with the lower connecting plate 1 through a linear motion maintaining assembly 4;
the force sensor 2 is connected to the lower connecting plate 1; the electromagnetic actuator stator 301 is connected with the force sensor 2;
the electromagnetic actuator rotor 302 is preferably assembled on the inner side of the electromagnetic actuator stator 301, so that the force control device has a more compact structure and is beneficial to reducing the whole volume; the electromagnetic actuator 3 can adopt a linear moving magnet or moving iron core type structure electromagnetic actuator;
one end of the electromagnetic actuator mover 302 is connected with the upper connecting plate 5, and the other end is a free end; when the electromagnetic actuator 3 is electrified, the electromagnetic actuator rotor 302 can do linear motion relative to the electromagnetic actuator stator 301, so that the upper connecting plate 5 is driven to do linear motion relative to the lower connecting plate 1; the acting force is output outwards;
the force sensor 2 and the electromagnetic actuator 3 are preferably both in an annular structure, and can also be in the shape of a rectangular frame and the like; the linear motion holding member 4 and the displacement sensor 6 are disposed inside the force sensor 2; the displacement sensor 6 is arranged on the lower connecting plate 1;
in some embodiments, linear motion retaining assembly 4 may employ a ball spline bearing assembly, or a linear guide assembly;
in some embodiments, a protective cover 7 is further connected between the outer edge of the upper connecting plate 5 and the electromagnetic actuator stator 301, so that the dustproof and waterproof effects can be achieved; the protective cover 7 can adopt a corrugated cover;
in some embodiments, a posture sensor 8 is further provided, and the posture sensor 8 is mounted on the lower connecting plate 1 and positioned on the inner side of the force sensor 2; the attitude sensor 8 can adopt a three-axis acceleration sensor;
when the electromagnetic type active force control device is used, the electromagnetic type active force control device is generally controlled by a corresponding controller; the controller outputs corresponding driving current according to the magnitude of acting force which needs to be output externally by the electromagnetic type active force control device, the electromagnetic actuator 3 is electrically operated, the force sensor 2 detects the reaction force due to the interaction of the force between the electromagnetic actuator stator 301 and the electromagnetic actuator rotor 302 and feeds the reaction force back to the controller, and the controller adjusts the driving current according to the magnitude of the reaction force and the expected output acting force to form closed-loop control; the precision of the control force can be obtained;
the linear motion holding assembly 4 can enable the upper connecting plate 5 and the electromagnetic actuator rotor 302 to keep moving on a straight line; the displacement sensor 6 is used for detecting the linear movement distance of the electromagnetic actuator rotor 302 relative to the electromagnetic actuator stator 301 and feeding back the linear movement distance to the controller, so that the controller can also perform control based on the action distance;
the attitude sensor 8 adopts a three-axis acceleration sensor, and the direction of one axis of the three-axis acceleration sensor is the same as the movement direction of the active cell 302 of the electromagnetic actuator; the attitude sensor 8 can detect the angle of the moving direction of the electromagnetic actuator rotor 302 relative to the gravity direction and feed back the angle to the controller, so that gravity compensation can be performed when the controller is controlled conveniently, and better control precision is achieved.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the examples, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the scope of the claims of the present invention.
Claims (9)
1. An electromagnetic active force control device, comprising: the device comprises a lower connecting plate (1), a force sensor (2), an electromagnetic actuator (3), a linear motion maintaining assembly (4) and an upper connecting plate (5);
the electromagnetic actuator (3) comprises an electromagnetic actuator stator (301) and an electromagnetic actuator rotor (302);
the upper connecting plate (5) is connected with the lower connecting plate (1) through a linear motion maintaining assembly (4);
the force sensor (2) is connected to the lower connecting plate (1); the electromagnetic actuator stator (301) is connected with the force sensor (2);
one end of the electromagnetic actuator rotor (302) is connected with the upper connecting plate (5), and the other end is a free end; when the electromagnetic actuator (3) is electrified, the electromagnetic actuator rotor (302) can do linear motion relative to the electromagnetic actuator stator (301), so that the upper connecting plate (5) is driven to do linear motion relative to the lower connecting plate (1);
the linear motion holding member (4) is disposed inside the force sensor (2).
2. The electromagnetic active force control device of claim 1,
the force sensor (2) and the electromagnetic actuator (3) both adopt annular structures.
3. The electromagnetic active force control device of claim 1,
also comprises a displacement sensor (6); and the displacement sensor (6) is arranged on the lower connecting plate (1) and is positioned on the inner side of the force sensor (2).
4. The electromagnetic active force control device of claim 1,
the linear motion maintaining assembly (4) adopts a ball spline bearing assembly or a linear guide rail assembly.
5. The electromagnetic active force control device of claim 1,
and a protective cover (7) is also connected between the outer edge of the upper connecting plate (5) and the electromagnetic actuator stator (301).
6. The electromagnetic active force control device of claim 5,
the protective cover (7) adopts a corrugated cover.
7. The electromagnetic active force control device of claim 1,
the device is characterized by further comprising an attitude sensor (8), wherein the attitude sensor (8) is installed on the lower connecting plate (1) and is located on the inner side of the force sensor (2).
8. The electromagnetic active force control device of claim 7,
the attitude sensor (8) adopts a three-axis acceleration sensor, and the direction of one axis of the three-axis acceleration sensor is the same as the moving direction of the electromagnetic actuator rotor (302).
9. The electromagnetic active force control device of claim 1,
the electromagnetic actuator active cell (302) is assembled inside the electromagnetic actuator stator (301).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020382511.5U CN211741935U (en) | 2020-03-23 | 2020-03-23 | Electromagnetic type active force control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020382511.5U CN211741935U (en) | 2020-03-23 | 2020-03-23 | Electromagnetic type active force control device |
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| CN211741935U true CN211741935U (en) | 2020-10-23 |
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| CN202020382511.5U Active CN211741935U (en) | 2020-03-23 | 2020-03-23 | Electromagnetic type active force control device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113263398A (en) * | 2021-06-30 | 2021-08-17 | 华中科技大学无锡研究院 | Active force control servo grinding device |
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2020
- 2020-03-23 CN CN202020382511.5U patent/CN211741935U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113263398A (en) * | 2021-06-30 | 2021-08-17 | 华中科技大学无锡研究院 | Active force control servo grinding device |
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