TWI745169B - Servo type compliant mechanism - Google Patents

Abstract

A servo type compliant mechanism includes a holder, a polishing tool, a posture detector, a displacement detector, an inner frame, and a first servo motor. The polishing tool is clamped in the holder. The polishing tool has a first pivotal axle and a polish tool. The first pivotal axle is perpendicular to an axis direction of the polish tool. The posture detector is used to sense a posture of the polishing tool, and sends out a posture signal. A torque compensation value can be obtained by is decomposing and calculating the posture signal. The displacement detector is used to detect a displacement of the polishing tool along the first pivotal axle. The polishing tool is disposed in the inner frame. The first pivotal axle of the polishing tool is movably disposed in the inner frame. The first servo motor is disposed in the frame, and drives the polishing tool to rotate along the first pivotal axle according to the torque compensation value and the displacement. Therefore, the outputted torque of the polishing tool is not affected by the gravity in different postures.

Description

Servo-driven floating mechanism

The invention relates to a servo-driven floating mechanism, which belongs to the technical field of mechanical processing, in particular to a grinding and polishing device which is applied to remove the burrs of a workpiece and can be automatically compensated.

When the workpiece is initially manufactured, it needs to be processed to remove burrs, surface grinding, polishing and other post-processing processes. However, due to the different shapes of various workpieces, it is quite difficult to automate, relying on human hand-held pneumatic or electric tools for processing. This processing method has low efficiency and unstable quality.

With the development of industrial automation, for production efficiency, it has gradually developed to automatically remove the burrs of the workpiece. The key is how to automatically adjust the pressing force between the grinding tool and the workpiece.

Therefore, how to improve and enhance the effect of the floating mechanism of the grinding and polishing device to overcome the above-mentioned shortcomings has become a subject to be solved in this technical field.

The technical problem to be solved by the present invention is to provide a servo-driven floating mechanism, which can respond to various uneven surfaces or size changes, provide stable grinding power, and compensate for the influence of gravity on the output power under various posture changes to ensure grinding Quality.

In order to solve the above technical problems, one of the technical solutions adopted by the present invention Yes, a servo-driven floating mechanism is provided, which includes a holding seat, a first pivot fixedly connected to the holding seat, a grinding tool, an attitude sensor, a displacement sensor, an inner frame, and a The first servo motor. The grinding tool is fixed in the holding seat and has a first pivot and a grinding tool, and the first pivot is perpendicular to the axial direction of the grinding tool. The posture sensor is used to sense the posture of the grinding tool and send out a posture signal. The posture signal is calculated to obtain a torque compensation value for the influence of gravity. The displacement sensor is used for sensing the displacement of the grinding tool along the first pivot. The grinding tool is arranged in the inner frame, and the first pivot of the grinding tool is movably arranged in the inner frame. The first servo motor is arranged in the inner frame, and drives the grinding tool to rotate along the first pivot according to the torque compensation value and the displacement amount, so that the torque output by the grinding tool is not affected by various postures. Of gravity.

In order to solve the above technical problem, another technical solution adopted by the present invention is to further include an outer frame and a second servo motor, wherein the inner frame is disposed in the outer frame, and the inner frame has a first Two pivots, the second pivot is perpendicular to the first pivot; the second pivot of the inner frame is rotatably disposed on the outer frame; the second servo motor is disposed on the The outer frame drives the grinding tool to rotate along the second pivot axis according to the torque compensation value and the displacement amount, so that the torsion force output by the grinding tool is not affected by gravity in various postures.

One of the beneficial effects of the present invention is that the servo-driven floating mechanism of the present invention has at least one motor, an attitude sensor, and a displacement sensor. Wherein, the posture sensor cooperates with the motor to compensate the influence of gravity on the grinding tool at different angles. In addition, by cooperating with a displacement sensor and a motor, the grinding tool can achieve an offset of the zero point. Thereby, the servo-driven floating mechanism of the present invention can maintain the contact force between the grinding tool and the workpiece in various postures or angles.

In order to further understand the features and technical content of the present invention, please refer to the following Regarding the detailed description and drawings of the present invention, the provided drawings are only for reference and description, and are not used to limit the present invention.

1a, 1b: Servo-driven floating mechanism

10: Hold the seat

101: indicator

11: The first pivot

112: The first driven gear

12: Grinding tools

18: Attitude Sensor

19: Displacement sensor

20: inner frame

21: second pivot

212: second driven gear

22: The first bearing

30: Outer frame

32: The second bearing

40: The first servo motor

41: The first rotation axis

42: The first driving gear

43: The first drive

50: The second servo motor

51: second rotation axis

52: second driving gear

53: The second drive

60: display device

G1: The first gear set

G2: The second gear set

θ: tilt angle

Mg: floating mass

FN: contact force

C1: Rotation center

C2: Floating center of mass

L1, L2: distance

Tc: Torque command

H: shell

M: Servo motor

E: encoder

L: load

R: Servo computer

Fig. 1 is a schematic cross-sectional view of a servo-driven floating mechanism according to a first embodiment of the present invention.

Fig. 2 is a schematic diagram of gravity compensation of the grinding tool according to the first embodiment of the present invention.

Fig. 3 is a schematic diagram of displacement sensing of the grinding tool according to the first embodiment of the present invention.

Fig. 4 is a schematic diagram of a grinding tool configuration indicator according to the first embodiment of the present invention.

FIG. 5 is a schematic diagram of a grinding tool configuration display device according to the first embodiment of the present invention.

Fig. 6 is a schematic cross-sectional view of a servo-driven floating mechanism according to a second embodiment of the present invention.

Fig. 7 is a schematic diagram of the servo control of the servo-driven floating mechanism of the present invention.

The following are specific specific examples to illustrate the disclosed embodiments of the present invention, and those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various details in this specification can also be based on different viewpoints and applications, and various modifications and changes can be made without departing from the concept of the present invention. In addition, the drawings of the present invention are merely schematic illustrations, and are not drawn according to actual dimensions, and are stated in advance. The following embodiments will further describe the related technical content of the present invention in detail, but the disclosed content is not intended to limit the protection scope of the present invention.

It should be understood that although terms such as “first”, “second”, and “third” may be used herein to describe various elements, these elements should not be limited by these terms. These terms are mainly used to distinguish one element from another. In addition, the term "or" used in this document may include any one or a combination of more of the associated listed items depending on the actual situation.

[First Embodiment]

As shown in FIGS. 1 to 3, the present invention provides a servo-driven floating mechanism 1a, which includes a holding base 10, a grinding tool 12, an attitude sensor 18, a displacement sensor 19, an inner frame 20, An outer frame 30, a first servo motor 40 and a second servo motor 50.

The grinding tool 12 is fixed in the holding seat 10, the first pivot 11 is fixedly connected to the holding seat 10, and the first pivot 11 is perpendicular to the axial direction of the grinding tool 12. The grinding tool 12 may be a pneumatic type or an electric type. The speed of the electric grinding tool is adjustable.

In this embodiment, the holding seat 10 and the grinding tool 12 are arranged in the inner frame 20, and the first pivot 11 of the grinding tool 12 is movably arranged in the inner frame 20. In other words, the grinding tool 12 can rotate in the inner frame 20 along the first pivot 11 to adjust the angle of the grinding tool 12. The inner frame 20 may be provided with a pair of first bearings 22 to support the first pivot 11.

The posture sensor 18 is used to sense the posture of the grinding tool 12 and send out a posture signal. The posture signal is calculated to obtain a torque compensation value for the influence of gravity. The posture sensor 18 can be arranged at any position of the grinding tool 12 or the servo-driven floating mechanism 1a. The displacement sensor 19 is used to sense the displacement of the grinding tool 12 along the first pivot 11.

The first servo motor 40 is disposed on the inner frame 20, and drives the grinding tool 12 to rotate along the first pivot 11 according to the torque compensation value and the displacement amount, so that the torque output by the grinding tool 12 is not The influence of gravity in various postures.

The manner in which the first servo motor 40 drives the grinding tool 12 in this embodiment may be indirect drive. Specifically, a first gear set G1 is provided between the first servo motor 40 and the first pivot 11. The first gear set G1 transmits the power of the first servo motor 40 to the first pivot 11. Specifically, the first gear set G1 has a first driven gear 112 connected to the first pivot 11 and a first driving gear 42 connected to the first servo motor 40. Specifically, the first driving gear 42 is connected to the first rotating shaft 41 of the first servo motor 40. The first driven gear 112 meshes with the first main Moving gear 42. The first pivot 11 extends to the outer side of the inner frame 20, and the first servo motor 40 is disposed on the outer side of the inner frame 20 and adjacent to the first pivot 11. The first servo motor 40 may be a rotary servo motor, the direction of the rotation axis of which is parallel to the first pivot 11.

The inner frame 20 is disposed in the outer frame 30, the inner frame 20 has a second pivot 21, the second pivot 21 is perpendicular to the first pivot 11; the second pivot of the inner frame 20 21 is rotatably arranged on the outer frame 30. The second pivot 21 of the inner frame 20 is rotatably disposed on the outer frame 30. In other words, the inner frame 20 can rotate within the outer frame 30 along the second pivot shaft 21 to deflect the inner frame 20 to different angles. At the same time, the grinding tool 12 is deflected along the second pivot 21. The outer frame 30 may be provided with a pair of second bearings 32 to support the second pivot 21.

The second servo motor 50 is disposed on the outer frame 30. The second servo motor 50 in this embodiment drives the inner frame 20 in a manner in which a second gear set is provided between the second servo motor 50 and the second pivot 21 G2, the second gear set G2 transmits the power of the second servo motor 50 to the second pivot 21. Specifically, the second gear set G2 has a second driven gear 212 connected to the second pivot 21 and a second driving gear 52 connected to the second servo motor 50. Specifically, the second driving gear 52 is connected to the second rotating shaft 51 of the second servo motor 50. The second driven gear 212 meshes with the second driving gear 52. The second pivot 21 extends to the outer side of the outer frame 30, and the second servo motor 50 is disposed on the outer side of the outer frame 30 and adjacent to the second pivot 21. The second servo motor 50 may be a rotary servo motor, and the direction of its rotation axis is parallel to the second pivot 21.

The servo-driven floating mechanism of the present invention can drive the grinding tool 12 to rotate along the second pivot 21 according to the torque compensation value and the displacement amount, so that the torque output by the grinding tool 12 is not affected by various attitudes. Under the influence of gravity.

As shown in FIG. 2, the servo-driven floating mechanism may have a housing H, the above-mentioned elements are housed in the housing H, and an orientation sensor 18 (Orientation Sensor) may be provided in the housing H to sense the grinding tool 12 Stance. With the attitude sensor 18, this embodiment can perceive the research The posture of the grinding tool 12 is also compensated for the influence of gravity. The attitude sensor 18 may be, for example, a nine-axis module, including a three-axis gyroscope, a three-axis acceleration, and a three-axis magnetic field, so as to sense the heading angle (YAW), roll angle (ROLL), and pitch angle (PITCH). However, the present invention is not limited to this. In addition, the attitude sensor 18 can also be configured with a Bluetooth module to transmit the attitude signal in a wireless manner.

As shown in FIG. 2, the gravity compensation of this embodiment is illustrated as follows. It is assumed that the attitude sensor 18 detects that the inclination angle of the grinding tool 12 is θ. The contact force of the grinding tool 12 is FN, the distance along the axial direction from the point of application of the grinding tool 12 to the center of rotation C1 is L1; the floating mass of the grinding tool 12 is Mg, and the distance from the floating center of mass C2 to the center of rotation C1 is L2. This embodiment can provide the formula of Torque Command Tc as follows: Tc=FN* L1+Mg * cosθ* L2

As shown in FIG. 3, in this embodiment, the grinding tool 12 is provided with a displacement sensor 19 to sense the displacement of the grinding tool 12 along the pivot axis. The displacement sensor can be a rotary encoder mounted coaxially with the pivot, or it can be designed in many different forms, for example, it can be a laser displacement sensor, an ultrasonic displacement sensor, a light wave displacement sensor, or a three-axis Acceleration sensor. However, the present invention is not limited to this. In addition, the displacement sensor 19 can also be equipped with a Bluetooth module to transmit the displacement signal in a wireless manner. The displacement sensor 19 can provide compensation for the torque command Tc. The greater the angle, the greater the compensation amplitude.

As shown in FIG. 4, the servo-driven floating mechanism may further include an indicator 101, and the indicator 101 outputs an indicator signal according to a comparison value between the displacement signal and a preset displacement amount. For example, when the detected displacement of the grinding tool 12 is greater than a preset displacement, an indicator, such as an indicator light, can be sent to the indicator 101 to emit a red light. When the detected displacement of the grinding tool 12 is less than a preset displacement, an indicator, such as an indicator light, is sent to the indicator 101 to emit green light. Thereby, the present invention can be applied to set the interference amount of the grinding tool 12 or the workpiece when the grinding path is manually taught.

However, the present invention is not limited to the above. As shown in FIG. 5, the servo-driven floating mechanism further includes a display device 60 to receive the indication signal and display the current state of the grinding tool 12 according to the indication signal.

In addition, the above-mentioned servo-driven floating mechanism 1a of this embodiment is a dual-rotation shaft, but the present invention is not limited to this. For some applications, the servo-driven floating mechanism of the present invention can also be a single shaft. For example, only a grinding tool 12, a posture sensor 18, a displacement sensor 19, an inner frame 20, and a first servo motor 40 are included. That is, the outer frame and the second servo motor are omitted.

[Second Embodiment]

As shown in FIG. 6, it is a schematic cross-sectional view of the servo-driven floating mechanism 1b according to the second embodiment of the present invention. The difference between this embodiment and the above-mentioned embodiment is that this embodiment is a direct drive type, that is, the above-mentioned gear set can be omitted in this embodiment. In other words, the motor of the present invention can drive the grinding tool 12 in different ways. Specifically, the first servo motor 40 has a first driving member 43 that is connected to the grinding tool 12. The first servo motor 40 of this embodiment can be a linear motor, or a rotary motor combined with a linear transmission mechanism. For example, the driving part of the linear motor may be a ball screw shaft. The ball screw shaft is directly connected to the grinding tool 12, and the ball screw shaft can generate linear motion, which can drive the grinding tool 12 to generate relative to the inner frame 20 along the first pivot shaft 11. Rotation. Alternatively, the first driving member 43 may also be a linear transmission mechanism, and the rotation amount of the rotary motor is transmitted through the linear transmission mechanism to generate linear displacement, and may also drive the grinding tool 12 to rotate relative to the inner frame 20.

Similarly, the second gear set can also be omitted in the present invention. The second servo motor 50 has a second driving member 53, and the second driving member 53 is connected to the inner frame 20. The second servo motor 50 may be a linear motor, or a rotary motor combined with a linear transmission mechanism. The second driving member 53 may be a ball screw shaft or a linear transmission mechanism.

Please refer to Figure 7, which is a schematic diagram of the servo control of the servo-driven floating mechanism of the present invention picture. The displacement sensor 19 can be an encoder E. The encoder E can be built into the servo motor M or added to the servo motor M. The servo computer R receives its displacement, and the servo computer R integrates all the The torque compensation value and the displacement amount are transmitted to the servo motor M.

One of the beneficial effects of the present invention is that the servo-driven floating mechanism of the present invention has at least one motor, an attitude sensor, and a displacement sensor. Wherein, the posture sensor cooperates with the motor to compensate the influence of gravity on the grinding tool at different angles. In addition, by cooperating with a displacement sensor and a motor, the grinding tool can achieve an offset of the zero point. Thereby, the servo-driven floating mechanism of the present invention can adjust the grinding tool to output suitable rotation speed or power in various postures or angles.

The content disclosed above is only the preferred and feasible embodiments of the present invention, and does not limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made using the description and schematic content of the present invention are included in the application of the present invention. Within the scope of the patent.

1a: Servo-driven floating mechanism

10: Hold the seat

11: The first pivot

112: The first driven gear

12: Grinding tools

20: inner frame

21: second pivot

212: second driven gear

22: The first bearing

30: Outer frame

32: The second bearing

40: The first servo motor

41: The first rotation axis

42: The first driving gear

50: The second servo motor

51: second rotation axis

52: second driving gear

G1: The first gear set

G2: The second gear set

Claims (10)

A servo-driven floating mechanism includes: a holding seat; a first pivot shaft fixedly connected to the holding seat; a grinding tool fixed in the holding seat, and the first pivot shaft is perpendicular to the holding seat. The axis direction of the grinding tool; an attitude sensor for sensing the attitude of the grinding tool and sending out an attitude signal, the attitude signal is calculated to obtain a torque compensation value for the influence of gravity; a sense of displacement A sensor for sensing the displacement of the grinding tool along the first pivot; an inner frame, the grinding tool is arranged in the inner frame, and the first pivot of the grinding tool Movably disposed on the inner frame; and a first servo motor, disposed on the inner frame, drives the grinding tool to rotate along the first pivot according to the torque compensation value and the displacement amount, so that The torsion force output by the grinding tool is not affected by gravity in various postures. The servo-driven floating mechanism according to claim 1, wherein the grinding tool further includes an indicator, and the indicator outputs an indication signal according to a comparison value between the displacement signal and a preset displacement amount. The servo-driven floating mechanism according to claim 2, further comprising a display device to receive the indication signal and display the current state of the grinding tool according to the indication signal. The servo-driven floating mechanism according to claim 1, wherein a first gear set is provided between the first servo motor and the first pivot, and the first gear set transmits the power of the first servo motor Power to the first pivot. The servo-driven floating mechanism according to claim 4, wherein the first gear set There is a first driven gear connected to the first pivot and a first driving gear connected to the first servo motor, and the first driven gear is meshed with the first driving gear. The servo-driven floating mechanism according to claim 1, wherein the first servo motor has a first driving member, and the first driving member is connected to the grinding tool. The servo-driven floating mechanism according to claim 1, further comprising an outer frame and a second servo motor, wherein the inner frame is disposed in the outer frame, the inner frame has a second pivot, so The second pivot is perpendicular to the first pivot; the second pivot of the inner frame is rotatably arranged on the outer frame; the second servo motor is arranged on the outer frame, according to The torque compensation value and the displacement drive the grinding tool to rotate along the second pivot axis, so that the torsion force output by the grinding tool is not affected by gravity in various postures. The servo-driven floating mechanism according to claim 7, wherein a second gear set is provided between the second servo motor and the second pivot, and the second gear set transmits the power of the second servo motor Power to the second pivot. The servo-driven floating mechanism according to claim 8, wherein the second gear set has a second driven gear connected to the second pivot, and a second driving gear connected to the second servo motor Gear, the second driven gear meshes with the second driving gear. The servo-driven floating mechanism according to claim 7, wherein the second servo motor has a second driving member, and the second driving member is connected to the inner frame.

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