CN210173321U - Compact active high-precision force and position compensation device - Google Patents
Compact active high-precision force and position compensation device Download PDFInfo
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- CN210173321U CN210173321U CN201921139810.XU CN201921139810U CN210173321U CN 210173321 U CN210173321 U CN 210173321U CN 201921139810 U CN201921139810 U CN 201921139810U CN 210173321 U CN210173321 U CN 210173321U
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/02—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent
- B24B49/04—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation according to the instantaneous size and required size of the workpiece acted upon, the measuring or gauging being continuous or intermittent involving measurement of the workpiece at the place of grinding during grinding operation
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- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The utility model discloses an active high accuracy power position compensation arrangement of compact, including the arm, the control box is installed to the bottom of arm, the below fixed mounting of control box has power position compensation arrangement body, and the junction of control box and power position compensation arrangement body installs the wire, the bottom of power position compensation arrangement body is installed and is ground the throwing instrument, the below of grinding the throwing instrument is provided with the grinding and throws the work piece. The utility model has the advantages of being scientific and reasonable in structure, convenient operation gathers the displacement signal of the upper cover plate that cylinder displacement sensor gave through PCB circuit board, and the upper cover plate pressure that pressure sensor gave receives and the angular signal of the compensation arrangement that angular transducer gave and the cylinder air inlet atmospheric pressure signal that gaseous pressure sensor gave calculate atmospheric pressure proportional valve and drive voltage and solenoid valve level to carry out real-time dynamic's record and compensation to contact force and displacement in the course of working, form the processing technology database.
Description
Technical Field
The utility model relates to a work piece processing technology field specifically is an active high accuracy power position compensation arrangement of compact.
Background
For surface finishing processing (such as grinding and polishing) of industrial components, the traditional manual mode has high technical requirements on workers, high labor intensity and low efficiency, the processing capability does not depend on the technical level of operators seriously, the product quality and the consistency are difficult to guarantee, the manual grinding and polishing mode generally needs a plurality of workers wearing professional protectors to continuously operate at high intensity in extremely severe environments with dense dust, serious noise and the like, the physical and mental health of the operators is greatly influenced, meanwhile, the processing quality is influenced by the subjective factors and the proficiency of the operators, the consistency of the surface processing precision and the product quality is difficult to guarantee, in order to improve the processing consistency and the efficiency, robots are increasingly adopted to replace manual work to automatically process the surface operation in industry, but for the surface processing of key parts in the manufacturing industries of automobiles, ships, aerospace, energy power, water conservancy and hydropower and the like, high precision and quality requirements are required, in order to ensure the processing quality of a complex component process, real-time monitoring of contact force during the processing process and expected force tracking along a processing track need to be ensured, and in addition, deformation is easy to generate in the case of processing a workpiece with weak rigidity, so that synchronous control of displacement is required in addition to force control during processing. The surface curved surfaces of some components are complex, the curvature change is large, the processing tool is required to be compact in structure, the complex curved surfaces, particularly the concave curved surfaces, can be flexibly subjected to surface processing, and on the other hand, the force control actuating mechanism has more or less friction force during movement, so that the control precision is greatly influenced, and the actuating mechanism needs to correspondingly compensate the friction force, so that the force control precision can be really improved.
However, the polishing and grinding device in the market at present does not have a force and position compensation device, has poor processing precision, cannot meet the polishing work of a workpiece with a complex surface and large curvature change, cannot perform corresponding force and position compensation according to the friction force required by an actuating mechanism, and has poor practicability, so that a person skilled in the art provides a compact active high-precision force and position compensation device to solve the problems in the background art.
Disclosure of Invention
An object of the utility model is to provide an active high accuracy power position compensation arrangement of compact to solve the not power position compensation arrangement that does not provide among the above-mentioned background art, its machining precision is relatively poor, can't satisfy the polishing work of the complicated, the big work piece of camber change of surface curved surface, and can not carry out corresponding power position compensation, the relatively poor problem of practicality to it according to the frictional force of actuating mechanism needs.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an active high accuracy power position compensation arrangement of compact, includes the arm, the control box is installed to the bottom of arm, the below fixed mounting of control box has power position compensation arrangement body, and the junction of control box and power position compensation arrangement body installs the wire, the bottom of power position compensation arrangement body is installed and is ground the instrument of throwing, the below of the instrument of throwing of grinding is provided with to grind and throws the work piece.
As a further aspect of the present invention: a shell is installed on the outer side of the force position compensation device body, a tool flange end is installed at the top end of the force position compensation device body, a lower cover plate is installed at the bottom end of the force position compensation device body, a first air inlet and outlet hole is formed in one side of the lower cover plate, a first twelve-core aerial plug connector is formed in the other side of the lower cover plate, a robot flange end is fixedly installed at the bottom end of the lower cover plate through bolts, a pressure sensor is installed at the bottom end of the tool flange end, an upper cover plate is installed below the pressure sensor, the pressure sensor is fixedly connected with the tool flange end through bolts, a measuring surface of the pressure sensor is fixedly connected with the upper cover plate through bolts, a linear motion shaft is fixedly installed at the bottom end of the upper cover plate through bolts and positioning pins, a guide flange is installed at the lower end of the linear motion shaft through spline fit, and a, the guide sleeve is fixedly connected with the lower cover plate through a bolt.
As a further aspect of the present invention: one side fixed mounting of uide bushing has the cylinder fixed plate, nut fixed mounting is passed through to the bottom of cylinder fixed plate has the cylinder, the thrust shaft of cylinder runs through cylinder fixed plate and upper cover plate fixed connection, and one side fixed mounting of cylinder has cylinder displacement sensor, and opposite side fixed mounting has gas pressure sensor, gas pressure sensor's top has gas pressure sensor fixed plate through screw fixed mounting, inclination sensor is installed to one side of cylinder displacement sensor, inclination sensor's one side installs the inclination sensor fixed plate, and inclination sensor passes through screw and buffer pad to be fixed on inclination sensor fixed plate, inclination sensor fixed plate passes through screw fixed mounting with the lower cover plate.
As a further aspect of the present invention: the cylinder displacement sensor and the cylinder are fixed in a binding mode by a metal binding belt or are embedded into the cylinder in a groove type fixing mode or an external fixing mode.
As a further aspect of the present invention: a control box shell is arranged on the outer side of the control box, a second air inlet and outlet hole is formed in one side of the control box shell, a twenty-second core aerial plug is formed in the other side of the control box shell, an Ethernet port is formed in one side of the control box shell and positioned below the second air inlet and outlet hole, an air vent is formed in one side of the control box shell and positioned at one side of the twenty-second core aerial plug, an air compressor is connected to one side of the air vent, a PCB is arranged in the control box shell, a circuit board bracket is arranged at the joint of the PCB and the control box shell and fixedly connected with the PCB bracket through screws, a solenoid valve fixing plate is arranged below the PCB, a solenoid valve is fixedly arranged above the solenoid valve fixing plate through screws, and a proportional valve fixing plate is fixedly arranged at one side of the solenoid valve fixing plate, and an air pressure proportional valve is fixedly arranged above the proportional valve fixing plate through a screw.
As a further aspect of the present invention: the air cylinder, the electromagnetic valve, the air pressure proportional valve and the air compressor are all connected in a through mode through air pipes.
As a further aspect of the present invention: the output ends of the pressure sensor, the gas pressure sensor, the inclination angle sensor and the cylinder displacement sensor are electrically connected with the input end of the PCB, and the input end of the PCB is electrically connected with the output ends of the air pressure proportional valve and the electromagnetic valve.
Compared with the prior art, the beneficial effects of the utility model are that:
1. in the design, the electromagnetic valve and the air pressure proportional valve are arranged in the control box, so that the force position compensation device is more compact, the grinding and polishing processing of complex curved surfaces and concave curved surfaces is more convenient, and the practicability is improved.
2. The utility model discloses a gaseous pressure sensor who sets up can measure cylinder air inlet baroceptor for air inlet pressure receives the control in real time, because the cylinder air inlet passes through the trachea with solenoid valve and atmospheric pressure proportional valve and links to each other, there are velocity of flow loss and pressure change, solenoid valve output atmospheric pressure is not unanimous with cylinder air inlet atmospheric pressure, gaseous pressure sensor conveys the baroceptor to the PCB circuit board, the PCB circuit board gives corresponding atmospheric pressure output compensation through controlling atmospheric pressure proportional valve, the control accuracy of improvement contact force.
3. The utility model discloses a pressure that the upper cover plate received that the pressure sensor who sets up given, through the power of monitoring application at the upper cover plate, linear motion axle, flange and guide sleeve and cylinder, cylinder displacement sensor and pressure sensor frictional force in the motion are surveyed out by the newton mechanics relation to export atmospheric pressure compensation in the control signal to atmospheric pressure proportional valve of PCB circuit board output, thereby further improved the precision of power accuse.
4. The utility model discloses a displacement signal of the upper cover plate that cylinder displacement sensor gave is gathered to the PCB circuit board, the upper cover plate pressure that pressure sensor gave receives and the angular signal of the compensation arrangement that inclination sensor given and the cylinder air inlet atmospheric pressure signal that gas pressure sensor gave, signal conditioning and accurate algorithm operation through complicacy, calculate out air pressure proportional valve drive voltage and solenoid valve level, and carry out real-time dynamic's record and compensation to contact force and displacement in whole course of working, transmit the processing data to the host computer by the ethernet mouth, form the processing technology database.
Drawings
FIG. 1 is a schematic diagram of a compact active high-precision force-level compensation device;
FIG. 2 is a schematic diagram of an installation structure of a control box in a compact active high-precision force position compensating device;
FIG. 3 is a schematic structural diagram of a force level compensating device body of a compact active high-precision force level compensating device;
FIG. 4 is a schematic diagram of an installation structure of a pressure sensor and a gas pressure sensor in a compact active high-precision force position compensation device;
FIG. 5 is a schematic diagram of an installation structure of a tilt sensor and a cylinder displacement sensor in a compact active high-precision force position compensation device;
FIG. 6 is a schematic diagram of a control box of a compact active high-precision force position compensating device;
fig. 7 is a schematic view of an installation structure of an air press in a compact active high-precision force position compensating device.
In the figure: 1. a mechanical arm; 2. a control box; 3. a wire; 4. a force position compensation device body; 5. grinding and polishing tools; 6. grinding and polishing the workpiece; 10. a tool flange end; 11. a housing; 12. a first twelve-core aerial plug; 13. a robot flange end; 14. a first inlet and outlet hole; 20. a pressure sensor; 21. an upper cover plate; 22. a cylinder fixing plate; 23. a gas pressure sensor; 25. a lower cover plate; 26. a gas pressure sensor fixing plate; 30. a linear motion shaft; 31. a guide flange; 32. a guide sleeve; 33. a tilt sensor; 34. a tilt sensor fixing plate; 40. a cylinder; 42. a cylinder displacement sensor; 50. a circuit board holder; 51. a second air inlet and outlet hole; 52. an electromagnetic valve; 53. a solenoid valve fixing plate; 60. a control box housing; 61. a PCB circuit board; 62. a twenty-second core aerial joint; 64. a pneumatic proportional valve; 65. a proportional valve fixing plate; 67. an Ethernet port; 70. an air compressor.
Detailed Description
Referring to fig. 1 to 7, in an embodiment of the present invention, a compact active high-precision force position compensating device includes a mechanical arm 1, a control box 2 is installed at a bottom end of the mechanical arm 1, a force position compensating device body 4 is fixedly installed below the control box 2, a lead 3 is installed at a connection portion of the control box 2 and the force position compensating device body 4, a polishing tool 5 is installed at a bottom end of the force position compensating device body 4, a polishing workpiece 6 is disposed below the polishing tool 5, a housing 11 is installed at an outer side of the force position compensating device body 4, a tool flange end 10 is installed at a top end of the force position compensating device body 4, a lower cover plate 25 is installed at a bottom end of the force position compensating device body 4, a first air inlet and outlet 14 is formed at one side of the lower cover plate 25, a first twelve-core plug-in connector 12 is formed at the other side of the lower cover plate 25, and a robot flange end 13 is fixedly installed at a, the bottom end of tool flange end 10 is installed pressure sensor 20 (model is EE-SX770A), and upper cover plate 21 is installed to the below of pressure sensor 20, and pressure sensor 20 passes through bolt fixed connection with tool flange end 10, and the face of measuring of pressure sensor 20 passes through bolt fixed connection with upper cover plate 21, can monitor the power of exerting on upper cover plate 21 through the pressure sensor 20 who sets up.
The bottom end of the upper cover plate 21 is fixedly provided with a linear motion shaft 30 through bolts and positioning pins, the lower end of the linear motion shaft 30 is provided with a guide flange 31 through spline fit, a guide sleeve 32 is fixedly arranged below the guide flange 31, the guide sleeve 32 is fixedly connected with the lower cover plate 25 through bolts, the linear motion shaft 30 moves up and down along with the upper cover plate 21, the linear motion shaft 30, the guide flange 31 and the guide sleeve 32 ensure that only relative up-and-down linear motion is generated between the upper cover plate 21 and the lower cover plate 25 without relative rotation motion, one side of the guide sleeve 32 is fixedly provided with a cylinder fixing plate 22, the bottom end of the cylinder fixing plate 22 is fixedly provided with a cylinder 40 through nuts, a thrust shaft of the cylinder 40 penetrates through the cylinder fixing plate 22 to be fixedly connected with the upper cover plate 21, and one side of the cylinder 40 is fixedly provided with a cylinder displacement sensor 42, the other side is fixedly provided with a gas pressure sensor 23 (model is MD-W300), the gas cylinder displacement sensor 42 and the gas cylinder 40 are bound and fixed by a metal binding belt or are embedded into any one of cylinder groove type fixing and external fixing modes, the gas cylinder displacement sensor 42 is used for measuring the motion displacement of a pushing shaft of the gas cylinder 40, the top of the gas pressure sensor 23 is fixedly provided with a gas pressure sensor fixing plate 26 by a screw, two or one gas cylinders 40 can be selected and arranged, when a double-cylinder 40 is adopted, the gas pressure sensors 23 are arranged, when a single-acting gas cylinder 40 is adopted, only one gas pressure sensor 23 is required to be arranged, one side of the gas cylinder displacement sensor 42 is provided with an inclination angle sensor 33 (model is GUC360), one side of the inclination angle sensor 33 is provided with an inclination angle sensor fixing plate 34, and the inclination angle sensor 33 is fixed on the inclination, the tilt angle sensor fixing plate 34 and the lower cover plate 25 are fixedly mounted through screws, the force position compensation device body 4 still can provide stable and reliable tilt angle measurement data under the external vibration condition due to the buffering effect of the buffer gasket, and the tilt angle sensor 33 is used for measuring the included angle between the force position compensation device body 4 and a vertical surface.
A control box shell 60 is arranged on the outer side of the control box 2, a second air inlet and outlet hole 51 is arranged on one side of the control box shell 60, a twenty-second core aerial connector 62 is arranged on the other side of the control box shell 60, an Ethernet port 67 is arranged on one side of the control box shell 60 below the second air inlet and outlet hole 51, an air vent is arranged on one side of the control box shell 60 below the twenty-second core aerial connector 62, an air compressor 70 is connected to one side of the air vent, a PCB 61 is arranged in the control box shell 60, a circuit board bracket 50 is arranged at the connection position of the PCB 61 and the control box shell 60, the PCB 61 and the circuit board bracket 50 are fixedly connected through screws, a solenoid valve fixing plate 53 is arranged below the PCB 61, a solenoid valve 52 is fixedly arranged above the solenoid valve fixing plate 53 through screws, and a proportional valve fixing plate 65 is fixedly arranged on one side of the solenoid valve fixing plate, an air pressure proportional valve 64 is fixedly arranged above the proportional valve fixing plate 65 through screws, and the electromagnetic valve 52 and the air pressure proportional valve 64 are arranged in the control box 2 in the design, so that the force position compensation device body 4 is more compact, and is more convenient for grinding and polishing complex curved surfaces and concave curved surfaces.
The second air inlet and outlet 51 is connected with the first air inlet and outlet on the side wall of the lower cover plate 25 of the force position compensation device through air pipes, the twenty-second core aviation plug 62 is connected with the first twelve core aviation plug 12, the Ethernet port 67 is connected with the Ethernet port of the upper computer, the air cylinder 40, the electromagnetic valve 52, the air pressure proportional valve 64 and the air compressor 70 are all connected through air pipes, the output ends of the pressure sensor 20, the gas pressure sensor 23, the inclination angle sensor 33 and the air cylinder displacement sensor 42 are all electrically connected with the input end of the PCB circuit board 61, the input end of the PCB circuit board 61 is electrically connected with the air pressure proportional valve 64 and the output end of the electromagnetic valve 52, an embedded micro-processing chip is welded inside the PCB circuit board 61, the micro-processing collects the displacement signal of the upper cover plate 21 given by the air cylinder displacement sensor 42, the pressure on the upper cover plate 21 given by the pressure sensor 20 is monitored by the force, the frictional force of the linear motion shaft 30, the guide flange 31, the guide sleeve 32, the air cylinder 40, the air cylinder displacement sensor 42 and the pressure sensor 20 in motion is measured and calculated according to the Newton's mechanical relationship, and the output air pressure compensation is carried out in a control signal which is output by the PCB 61 and is used for the air pressure proportional valve 64, so that the force control precision is further improved.
The inclination angle sensor 33 measures the inclination angle signal of the compensating device, the air pressure sensor 23 is arranged at a position close to the air inlet of the air cylinder 40 by measuring the air pressure signal of the air inlet of the air cylinder 40 given by the air pressure sensor 23, so that the air inlet pressure is monitored in real time, the flow rate loss and the pressure loss of the friction force and the compressed air in the air pipe are compensated, so as to achieve the compensation of more precisely regulating and controlling the pressure and the displacement, the input signal is conditioned by the signal of the microprocessor, the input voltage of the air pressure proportional valve 64 is calculated and adjusted according to the contact force and the displacement set value sent by a robot controller or a host computer user program through a precisely designed feedback control algorithm, so as to control the output air pressure of the air pressure proportional valve 64, the compressed air passes through the electromagnetic valve 52 from the air pressure proportional valve 64 to the air cylinder 40, when the double-acting air cylinder, compressed air is input to one side of the air cylinder 40, the other side of the air cylinder is connected with the external atmosphere, control force and displacement output is achieved through pressure difference of the two sides of the air cylinder 40, output of given control force and displacement is achieved, in the machining process, the PCB 61 records machining force and machining displacement according to real-time timestamp, after machining is completed, machining data are transmitted to an upper computer through the Ethernet port 67, and a machining process database is formed.
The utility model discloses a theory of operation is: in the using process, a grinding and polishing workpiece 6 is placed on a processing table and is ground by a grinding and polishing tool 5, in the polishing process, a gas pressure sensor 23 is arranged, so that a gas pressure signal of a gas inlet of a cylinder 40 can be measured, the pressure of the gas inlet is monitored in real time, as the gas inlet of the cylinder 40 is connected with an electromagnetic valve 52 and a gas pressure proportional valve 64 through gas pipes, the flow rate loss and the pressure change exist, the output gas pressure of the electromagnetic valve 52 is not necessarily consistent with the gas pressure of the gas inlet of the cylinder 40, the gas pressure sensor 23 transmits the gas pressure signal to a PCB (printed circuit board) 61, the PCB 61 gives corresponding gas pressure output compensation by controlling the gas pressure proportional valve 64, the control precision of contact force is improved, meanwhile, the force applied to an upper cover plate 21 can be monitored by the arranged pressure sensor 20, and the linear motion shaft 30, the guide flange 31, the, The friction force of the cylinder displacement sensor 42 and the pressure sensor 20 in motion is added to the control signal of the air pressure proportional valve 64 output by the PCB 61 to output air pressure compensation, thereby further improving the precision of force control, during the polishing process, the PCB circuit board 61 collects the displacement signal of the upper cover plate 21 given by the cylinder displacement sensor 42, the pressure born by the upper cover plate 21 given by the pressure sensor 20, the inclination angle signal of the compensating device given by the inclination angle sensor 33 and the air pressure signal of the air inlet of the cylinder 40 given by the air pressure sensor 23, and the driving voltage of the air pressure proportional valve 64 and the level of the electromagnetic valve 52 are calculated through complex signal conditioning and precise algorithm operation, and the real-time dynamic recording and compensation are carried out on the contact force and the displacement in the whole processing process, and the processing data are transmitted to an upper computer through the Ethernet port 67 to form a processing technology database.
The above-mentioned, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (6)
1. The utility model provides an active high accuracy power position compensation arrangement of compact, includes arm (1), its characterized in that, control box (2) are installed to the bottom of arm (1), the below fixed mounting of control box (2) has power position compensation arrangement body (4), and control box (2) and the junction of power position compensation arrangement body (4) install wire (3), the bottom of power position compensation arrangement body (4) is installed and is polished instrument (5), the below of polishing instrument (5) is provided with grinds and throw work piece (6), casing (11) are installed in the outside of power position compensation arrangement body (4), and the top of power position compensation arrangement body (4) installs instrument flange end (10), lower apron (25) are installed to the bottom of power position compensation arrangement body (4), one side of lower apron (25) is seted up first and is advanced, A vent hole (14), a first twelve-core aviation plug connector (12) is arranged on the other side of the vent hole, a robot flange end (13) is fixedly arranged at the bottom end of the lower cover plate (25) through bolts, the bottom end of the tool flange end (10) is provided with a pressure sensor (20), an upper cover plate (21) is arranged below the pressure sensor (20), the pressure sensor (20) is fixedly connected with the tool flange end (10) through bolts, and the measuring surface of the pressure sensor (20) is fixedly connected with the upper cover plate (21) through bolts, the bottom end of the upper cover plate (21) is fixedly provided with a linear motion shaft (30) through a bolt and a positioning pin, the lower end of the linear motion shaft (30) is provided with a guide flange (31) in a spline fit way, a guide sleeve (32) is fixedly arranged below the guide flange (31), the guide sleeve (32) is fixedly connected with the lower cover plate (25) through bolts.
2. The compact active high-precision force level compensation device according to claim 1, wherein a cylinder fixing plate (22) is fixedly mounted on one side of the guide sleeve (32), a cylinder (40) is fixedly mounted at the bottom end of the cylinder fixing plate (22) through a nut, a thrust shaft of the cylinder (40) penetrates through the cylinder fixing plate (22) and is fixedly connected with the upper cover plate (21), a cylinder displacement sensor (42) is fixedly mounted on one side of the cylinder (40), a gas pressure sensor (23) is fixedly mounted on the other side of the cylinder, a gas pressure sensor fixing plate (26) is fixedly mounted at the top of the gas pressure sensor (23) through a screw, an inclination angle sensor (33) is mounted on one side of the cylinder displacement sensor (42), and an inclination angle sensor fixing plate (34) is mounted on one side of the inclination angle sensor (33), and the tilt angle sensor (33) is fixed on a tilt angle sensor fixing plate (34) through a screw and a buffer gasket, and the tilt angle sensor fixing plate (34) and the lower cover plate (25) are fixedly installed through screws.
3. The active compact force level compensator of claim 2, wherein the cylinder displacement sensor (42) and the cylinder (40) are fixed by a metal tie or embedded in any one of a cylinder slot type and an external fixing manner.
4. The compact active high-precision force position compensating device according to claim 1, wherein a control box housing (60) is installed on the outer side of the control box (2), one side of the control box housing (60) is provided with a second air inlet and outlet hole (51), the other side of the control box housing is provided with a twenty-second core aviation plug connector (62), one side of the control box housing (60) is provided with an Ethernet port (67) at a position below the second air inlet and outlet hole (51), a vent hole is arranged at a position on one side of the twenty-second core aviation plug connector (62), one side of the vent hole is connected with an air compressor (70), a PCB circuit board (61) is installed inside the control box housing (60), and a circuit board bracket (50) is installed at a connection position of the PCB circuit board (61) and the control box housing (60), and PCB circuit board (61) and circuit board support (50) pass through screw fixed connection, the below of PCB circuit board (61) is provided with solenoid valve fixed plate (53), there is solenoid valve (52) above solenoid valve fixed plate (53) through screw fixed mounting, and one side fixed mounting of solenoid valve fixed plate (53) has proportional valve fixed plate (65), there is atmospheric pressure proportional valve (64) above proportional valve fixed plate (65) through screw fixed mounting.
5. The compact active high-precision force level compensation device according to claim 2, wherein the cylinder (40), the solenoid valve (52), the air pressure proportional valve (64) and the air compressor (70) are all connected through an air pipe.
6. The compact active high precision force level compensation device according to claim 1, wherein the output terminals of the pressure sensor (20), the gas pressure sensor (23), the tilt sensor (33) and the cylinder displacement sensor (42) are electrically connected to the input terminal of a PCB circuit board (61), and the input terminal of the PCB circuit board (61) is electrically connected to the output terminals of the gas pressure proportional valve (64) and the solenoid valve (52).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018217231736 | 2018-10-23 | ||
| CN201821723173 | 2018-10-23 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210173321U true CN210173321U (en) | 2020-03-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910654507.1A Pending CN110328577A (en) | 2018-10-23 | 2019-07-19 | A kind of compact active high-precision force position compensation device |
| CN201921139810.XU Active CN210173321U (en) | 2018-10-23 | 2019-07-19 | Compact active high-precision force and position compensation device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910654507.1A Pending CN110328577A (en) | 2018-10-23 | 2019-07-19 | A kind of compact active high-precision force position compensation device |
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| CN (2) | CN110328577A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210268649A1 (en) * | 2020-02-28 | 2021-09-02 | Ati Industrial Automation, Inc. | Controlling Contact Force in a Machine Tool |
| CN111843766B (en) * | 2020-07-17 | 2022-05-27 | 大连理工大学 | High-precision force and position hybrid control device for grinding and polishing of robot |
| 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 |
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2019
- 2019-07-19 CN CN201910654507.1A patent/CN110328577A/en active Pending
- 2019-07-19 CN CN201921139810.XU patent/CN210173321U/en active Active
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| CN110328577A (en) | 2019-10-15 |
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