CN212471103U - Axial active floating constant force control device - Google Patents
Axial active floating constant force control device Download PDFInfo
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- CN212471103U CN212471103U CN202020740486.3U CN202020740486U CN212471103U CN 212471103 U CN212471103 U CN 212471103U CN 202020740486 U CN202020740486 U CN 202020740486U CN 212471103 U CN212471103 U CN 212471103U
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Abstract
An axial active floating constant force control device belongs to the technical field of grinding and polishing of robots and comprises a connecting seat plate, a low-friction cylinder, an electromagnetic directional valve, an electric proportional valve, a transfer block, a force sensor, a shaft seat adjusting block, a guide mechanism, a gyroscope, a tool connecting plate, an amplifier and a buffer. The utility model can compensate the deviation of the appearance of the workpiece and the abrasion of the workpiece and the grinding material by pneumatically controlling the compensation of the axial floating, ensure the effective contact between the processing medium and the workpiece, and complete the procedures which are difficult or impossible to complete before; the device has the capability of fast feedback and response to the position change and the track change of the robot, not only greatly reduces the programming time of the robot, but also provides stable surface contact force through high-efficiency and stable dynamic response performance, so that the surface of a workpiece product has higher precision, keeps higher grinding and polishing quality, reduces the rework rate and the rejection rate of the workpiece, and has strong practicability.
Description
Technical Field
The utility model relates to a controlling means in robot burnishing and polishing technical field, especially an axial initiative floating constant force controlling means that can realize axial constant force control.
Background
In the application of grinding and polishing technologies, a robot is required to keep a constant acting force on a grinding and polishing workpiece in the process so as to ensure higher grinding and polishing quality of the surface of the workpiece, particularly the workpiece with a complicated surface shape and a three-dimensional curvature change curved surface in space, such as a seat, a bathtub and the like. Traditional seat and bathtub are ground and polished by manpower, but the quality of manual polishing is general, the phenomenon of uneven grinding and polishing exists, the rework rate and the rejection rate are high, and dust generated during polishing gradually damages the bodies of polishing workers, so that the polishing workers are difficult to attract.
Most of end effectors of automatic polishing robots in the market currently adopt single active or passive compliance control to polish, for example, patent CN201810889342.1 discloses a robot polishing device and a polishing method based on six-dimensional force sensors and binocular vision, and an active compliance control scheme is adopted, so that the forces and torques of three shafts are collected by the six-dimensional force sensors, thereby facilitating the accurate control of polishing force, and the whole mechanism is simple and has good universality. However, the six-dimensional force sensor is high in price and complex in control algorithm, so that the polishing cost of the industrial robot is high.
Patent CN201810769480.6 discloses a constant force actuator for installing a polishing head, which adopts a constant force controller based on an air cylinder to realize passive compliance control, and the pressure of the air cylinder is output by controlling a pneumatic proportional valve, so that the polishing pressure is constant in the polishing process. The scheme has the advantages of simple and portable structure, simple installation and maintenance, air as a medium, difficult combustion, safety and reliability. However, the actuator is a passive constant force controller, which cannot realize quick response and adjust the contact force between the tool and the workpiece, and particularly has a prominent defect in constant force control of a curved surface with large curvature, resulting in uneven polishing.
Patent CN201910448875.0 discloses a steel pipe surface rust cleaning device that polishing uniformity is good, adopts the gentle and agreeable control scheme of passive based on spring, and this scheme price is low, and the control strategy is simple, easily realizes. However, the accuracy is not high and the control of the grinding force is not stable.
The common defect of the constant force control structures is that the influence of the self weight of the tool on the control force is not eliminated, such as the posture of the tool during operation is horizontal and vertical, and the like, and the self weight has great influence on the contact force of the tool and a workpiece. The device has the independent characteristics that some sensors and controllers such as a six-dimensional force sensor, a constant force controller and the like need to be configured, and some sensors and controllers adopt passive constant force control, so that the constant control of contact force cannot respond and adjust in time after a workpiece is worn and abrasive materials are worn; some springs are adopted to realize flexible control, and the force control precision is low, the stability is poor, and the universality is poor.
Disclosure of Invention
The utility model provides an axial active floating constant force control device, aiming at the defects of the prior art, through the compensation of pneumatic control axial floating, the tool end can compensate the deviation of the appearance of the workpiece and the abrasion of the workpiece and the grinding material, ensure the effective contact of the processing medium and the workpiece, and complete the procedures which are difficult or impossible to complete in the past; the device has the capability of fast feedback and response to the position change and the track change of the robot, not only greatly reduces the programming time of the robot, but also provides stable surface contact force through high-efficiency and stable dynamic response performance, so that the surface of a workpiece product has higher precision, keeps higher grinding and polishing quality, reduces the rework rate and the rejection rate of the workpiece, and has strong practicability.
The utility model is realized by the following technical proposal, the utility model comprises a connecting seat plate, a low friction cylinder, an electromagnetic directional valve, an electric proportional valve, a transfer block, a force sensor, an axle seat adjusting block, a guiding mechanism, a gyroscope, a tool connecting plate, an amplifier and a buffer, wherein the connecting seat plate is connected with a robot flange; the low-friction cylinder is connected to the connecting seat plate through a low-friction cylinder seat plate; the electromagnetic directional valve is arranged on the connecting seat plate through an electromagnetic directional valve seat plate, changes the direction of the gas path according to signals and is used for controlling the extension and retraction of the low-friction cylinder; the electric proportional valve is arranged on the connecting seat plate through an electric proportional valve seat plate; the transfer block is fixedly connected to the tail end of a piston rod of the low-friction cylinder and smoothly slides on the guide mechanism through four shaft holes; one end of the force sensor is fixed on the adapter block, and the other end of the force sensor is fixedly connected with the tool connecting plate through threads; the shaft seat adjusting block is fixedly connected with the connecting seat plate; one end of the guide mechanism is fixedly arranged on the shaft seat adjusting block, and the other end of the guide mechanism is inserted into the low-friction cylinder base plate of the low-friction cylinder; the guide mechanism is provided with four shafts in total, and the four shafts are uniformly distributed relative to the circumference of the piston of the low-friction cylinder; the gyroscope is arranged on the shaft seat adjusting block; the tool connecting plate slides on the guide mechanism through a linear bearing and is fixedly connected with one end of the force sensor; the amplifier is arranged on the connecting seat plate through an amplifier connecting plate; the buffer is arranged on the low-friction cylinder seat plate through a transition plate.
Furthermore, the flatness of the installation base plate of the low-friction cylinder, the electromagnetic directional valve and the electric proportional valve and the installation surface of the connection base plate are less than or equal to 0.04 μm, and the roughness value is less than or equal to 1.6 μm.
Furthermore, in the utility model, the axis of the piston rod of the low-friction cylinder is parallel to the lower surface of the connecting seat plate, and the axis of the guiding mechanism is consistent with the axis of the piston rod of the low-friction cylinder and is parallel to the lower surface of the connecting seat plate; when the parallelism deviation appears between the axis and the lower surface, the left and right sliding of the tool connecting plate is caused to generate the blocking phenomenon, and the installation precision is realized by grinding the shaft seat adjusting block.
Further, the utility model discloses in, burnishing and polishing adopts power closed-loop control, and force sensor one end couples with the instrument, and the size of instrument and work piece contact force during real-time detection burnishing and polishing through stretch out and withdrawal of electromagnetic directional valve control regulation low friction cylinder piston rod, and the electric proportional valve passes through the pressure of gyroscope and corresponding closed-loop control algorithm control low friction cylinder, eliminates the influence of the dead weight to burnishing and polishing under the different gestures in space of the initiative constant force control device that floats. When the grinding and polishing force of the tool exceeds a preset range, the system controls the air inlet and outlet direction of the low-friction cylinder and the pressure of the air inlet and outlet ends, so that the tool end recovers the grinding and polishing force to the preset force range in a short time, and further constant-force grinding and polishing are realized.
Further, the utility model discloses in, low friction cylinder, switching-over valve, proportional valve, force sensor and amplifier work of mutually supporting according to predetermineeing the power value, can the quick adjustment polishing and the power of polishing through corresponding algorithm, realize the constant force and grind and throw.
The utility model discloses an in the implementation, can have two kinds of schemes:
the first scheme is as follows: the scheme comprises a connecting seat plate, a low-friction cylinder, an electromagnetic directional valve, an electric proportional valve, a transfer block, a force sensor, a shaft seat adjusting block, a guide mechanism, a gyroscope, a tool connecting plate, an amplifier and a buffer. The connecting seat plate fixes the axial active floating constant force control device on a six-axis flange of the robot through a robot flange; the tool connecting plate is used for connecting a robot clamping object, and comprises a grinding tool, a polishing tool, a clamped workpiece and the like, so that the tool and the workpiece can be quickly replaced. The electromagnetic directional valve can change direction according to the current actual contact force in constant force control, and further controls the pressure difference on two sides of the cylinder, so that the purpose of constant force output is achieved. The component force of the gravity in the axial direction can be decomposed through the tail end load attitude monitored by the gyroscope in real time, so that the influence of the gravity on the grinding force is eliminated, the component force is used for algorithm feedforward, and the response of axial active constant force control is improved.
Scheme II: the scheme replaces the electromagnetic directional valve in the first scheme with a precise pressure regulating valve. The output end of the electric proportional valve is connected with the inlet side of the cylinder. The precision pressure regulating valve sets a constant pressure and is connected to the outlet side of the cylinder. The pressure difference of the two sides of the cylinder can be realized only by setting the pressure of the electric proportional valve without reversing through the electromagnetic valve.
The existing device is difficult to output constant force in real time, and response speed is slow, poor stability, shortcoming such as commonality is poor, the utility model provides a through electromagnetic directional valve, accurate air-vent valve, electric proportional valve, force transducer, amplifier, gyroscope and corresponding adaptive algorithm etc. realize the closed loop of elimination, feedforward and the power information of the dead weight of operation in-process to reach the constant force controlling means that the instrument of throwing grinds and keep invariable contact force with the work piece contact surface.
The utility model has the advantages that:
firstly, the utility model actively eliminates the influence of the dead weight of the tool or the workpiece on the constant contact force through the gyroscope and the corresponding algorithm, if the tool posture is vertical in the operation, the gyroscope detects that the angle value is 90 degrees, and the self-G is completely eliminated according to the algorithm; when the tool posture is horizontal, the influence of the self weight on the contact force is 0; when the attitude is 45 degrees, the tool is eliminated according to the algorithm
The dead weight, the robot gesture changes variously, and practicality and the commonality of using are strong in many occasions.
Second, the utility model discloses an adopt force sensor information closed loop feedback principle, the size of real-time active detection grinding and polishing instrument and work piece contact surface power, the rethread proportional valve, the switching-over valve, amplifier and corresponding algorithm, can calculate in real time and the regulation of control contact force, when the contact force surpassed predetermined scope in the grinding and polishing of operation, the system reduces the reduction of compressed air in the low friction cylinder in order to realize the contact force through control switching-over valve and proportional valve, make the head of polishing resume predetermined power within range with the grinding force in the instantaneous, and then realize constant force and polish control, the working process is reliable.
Third, the utility model discloses a control method precision of constant force device is high, and sensitivity is high, bears great moment of torsion, just can stably export required constant force through relevant machinery and electrical components.
Drawings
Fig. 1 is a schematic diagram of an overall system according to an embodiment of the present invention;
FIG. 2 is a schematic view of a seat structure requiring polishing according to an embodiment of the present invention;
fig. 3 is a schematic structural view of the seat polishing robot in the embodiment of the present invention, which adopts an axial active floating constant force control device to polish the seat;
the reference numbers in the drawings are respectively: 1. the device comprises a connecting seat plate, 2, a low-friction cylinder, 3, a reversing valve, 4, a proportional valve, 5, a switching block, 6, a force sensor, 7, a shaft seat adjusting block, 8, a guide mechanism, 9, a gyroscope, 10, a tool connecting plate, 11, an amplifier, 12 and a buffer.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the embodiments of the present invention are based on the technical solution of the present invention and provide detailed embodiments and specific operation processes, but the scope of the present invention is not limited to the following embodiments.
Examples
The embodiment of the utility model is shown in figure 1, the utility model comprises a connecting seat plate 1, a low friction cylinder 2, an electromagnetic directional valve 3, an electric proportional valve 4, a transfer block 5, a force sensor 6, an axle seat adjusting block 7, a guide mechanism 8, a gyroscope 9, a tool connecting plate 10, an amplifier 11 and a buffer 12, wherein the connecting seat plate 1 is connected with a robot flange plate; the low-friction cylinder 2 is connected to the connecting seat plate 1 through a low-friction cylinder seat plate; the electromagnetic directional valve 3 is arranged on the connecting seat plate 1 through an electromagnetic directional valve seat plate, changes the direction of the gas path according to signals and is used for controlling the extension and retraction of the low-friction cylinder 2; the electric proportional valve 4 is arranged on the connecting seat plate 1 through an electric proportional valve seat plate; the transfer block 5 is fixedly connected to the tail end of a piston rod of the low-friction cylinder 2 and slides smoothly on the guide mechanism 8 through four shaft holes; one end of the force sensor 6 is fixed on the adapter block 5, and the other end is fixedly connected with the tool connecting plate 10 through threads; the shaft seat adjusting block 7 is fixedly connected with the connecting seat plate 1; one end of the guide mechanism 8 is fixedly arranged on the shaft seat adjusting block 7, and the other end of the guide mechanism is inserted into the low-friction cylinder base plate of the low-friction cylinder; the guide mechanism 8 has four shafts in total, and is uniformly distributed relative to the circumference of the piston of the low-friction cylinder 2; the gyroscope 9 is arranged on the shaft seat adjusting block 7; the tool connecting plate 10 slides in the guide mechanism 8 through a linear bearing and is fixedly connected with one end of the force sensor 6; the amplifier 11 is arranged on the connecting seat plate 1 through an amplifier connecting plate; the buffer 12 is arranged on the low-friction cylinder seat plate through a transition plate; the axis of the guide mechanism 8 is consistent with the axis of the piston rod of the low-friction cylinder 2 and is parallel to the lower surface of the connecting seat plate 1, and the tool connecting plate 10 is connected with a grinding and polishing tool.
In this embodiment, the utility model provides a subway seat uses the partial process of the floating constant force control device of axial initiative to polish and polish, as shown in fig. 2 and 3:
the robot and the seat table are placed on a bottom plane in the working space and fixed to the bottom plane by screws. When the signal detection mechanism detects that the seat is placed on the seat workbench, the robot starts to move, carries the axial active floating constant-force control device and the corresponding tool which are placed on the six-axis flange plate, and starts to execute a pre-edited grinding and polishing program for the seat. And (5) grinding and polishing the seat. And after the program is executed, returning the robot to the Home point for resetting, and repeatedly executing the grinding and polishing program after the next seat is placed and receiving a signal.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (4)
1. The axial active floating constant force control device is characterized by comprising a connecting seat plate (1), a low-friction cylinder (2), an electromagnetic directional valve (3), an electric proportional valve (4), a transfer block (5), a force sensor (6), an axle seat adjusting block (7), a guide mechanism (8), a gyroscope (9), a tool connecting plate (10), an amplifier (11) and a buffer (12), wherein the connecting seat plate (1) is connected with a robot flange plate; the low-friction cylinder (2) is connected to the connecting seat plate (1) through a low-friction cylinder seat plate; the electromagnetic directional valve (3) is arranged on the connecting seat plate (1) through an electromagnetic directional valve seat plate, changes the direction of the gas path according to signals and is used for controlling the extension and retraction of the low-friction cylinder (2); the electric proportional valve (4) is arranged on the connecting seat plate (1) through an electric proportional valve seat plate; the transfer block (5) is fixedly connected to the tail end of a piston rod of the low-friction cylinder (2) and smoothly slides on the guide mechanism (8) through four shaft holes; one end of the force sensor (6) is fixed on the adapter block (5), and the other end is fixedly connected with the tool connecting plate (10) through threads; the shaft seat adjusting block (7) is fixedly connected with the connecting seat plate (1); one end of the guide mechanism (8) is tightly fixed on the shaft seat adjusting block (7), and the other end is inserted into the low-friction cylinder base plate of the low-friction cylinder; the guide mechanism (8) is provided with four shafts in total, and the four shafts are uniformly distributed relative to the circumference of the piston of the low-friction cylinder (2); the gyroscope (9) is arranged on the shaft seat adjusting block (7); the tool connecting plate (10) slides in the guide mechanism (8) through a linear bearing and is fixedly connected with one end of the force sensor (6); the amplifier (11) is arranged on the connecting seat plate (1) through an amplifier connecting plate; the buffer (12) is arranged on the low-friction cylinder seat plate through a transition plate.
2. The axial active floating constant force control device according to claim 1, characterized in that the flatness of the installation seat plates of the low friction cylinder (2), the electromagnetic directional valve (3) and the electric proportional valve (4) and the installation surface of the connection seat plate (1) is less than or equal to 0.04 μm, and the roughness value is less than or equal to 1.6 μm.
3. The axial active floating constant force control device according to claim 1, characterized in that the axis of the guiding mechanism (8) is consistent with the axis of the piston rod of the low friction cylinder (2) and is parallel to the lower surface of the connecting seat plate (1).
4. The axial active floating constant force control device according to claim 1, characterized in that the tool connecting plate (10) is connected with a polishing tool, the force sensor (6) detects the magnitude of the contact force between the tool and a workpiece during polishing in real time, the extension and retraction of the piston rod of the low friction cylinder (2) is controlled and adjusted through the electromagnetic directional valve (3), the electric proportional valve (4) controls the pressure of the low friction cylinder (2) through the gyroscope (9), and the influence of the dead weight of the axial active floating constant force control device on polishing under different spatial postures is eliminated.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020740486.3U CN212471103U (en) | 2020-05-08 | 2020-05-08 | Axial active floating constant force control device |
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| CN202020740486.3U CN212471103U (en) | 2020-05-08 | 2020-05-08 | Axial active floating constant force control device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113290473A (en) * | 2021-04-27 | 2021-08-24 | 北京理工大学 | Grinding and polishing composite integrated workstation suitable for robot machining |
| CN113649946A (en) * | 2021-08-06 | 2021-11-16 | 重庆智能机器人研究院 | Active force position compensator and control method thereof |
| CN113714820A (en) * | 2021-09-09 | 2021-11-30 | 孚坤智能科技(上海)有限公司 | Force-controlled floating milling and polishing integrated device and operation method thereof |
| CN113732781A (en) * | 2021-09-09 | 2021-12-03 | 孚坤智能科技(上海)有限公司 | Force-controlled floating device |
| CN114408063A (en) * | 2021-12-22 | 2022-04-29 | 上海智能制造功能平台有限公司 | Automatic rolling system for automobile door sealing strip and control method |
| CN114952536A (en) * | 2022-06-21 | 2022-08-30 | 伯朗特机器人股份有限公司 | Two-dimensional constant force platform with replaceable grinding machine |
-
2020
- 2020-05-08 CN CN202020740486.3U patent/CN212471103U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113290473A (en) * | 2021-04-27 | 2021-08-24 | 北京理工大学 | Grinding and polishing composite integrated workstation suitable for robot machining |
| CN113649946A (en) * | 2021-08-06 | 2021-11-16 | 重庆智能机器人研究院 | Active force position compensator and control method thereof |
| CN113714820A (en) * | 2021-09-09 | 2021-11-30 | 孚坤智能科技(上海)有限公司 | Force-controlled floating milling and polishing integrated device and operation method thereof |
| CN113732781A (en) * | 2021-09-09 | 2021-12-03 | 孚坤智能科技(上海)有限公司 | Force-controlled floating device |
| CN114408063A (en) * | 2021-12-22 | 2022-04-29 | 上海智能制造功能平台有限公司 | Automatic rolling system for automobile door sealing strip and control method |
| CN114952536A (en) * | 2022-06-21 | 2022-08-30 | 伯朗特机器人股份有限公司 | Two-dimensional constant force platform with replaceable grinding machine |
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