36results about How to "Control contact force" patented technology

The invention belongs to the related technical field of intelligent machining, and discloses a device and a method for force controlling polishing a blade through dragging a teaching robot. The devicecomprises the robot, a six-dimensional force sensor, a polishing mechanism, a position changing machine, and a robot control system; the six-dimensional force sensor is connected with a tail end executor of the robot and the polishing mechanism; the position changing machine is used for bearing the to-be-machined blade; the robot, the six-dimensional force sensor and the polishing mechanism are connected to the robot control system; the six-dimensional force sensor is used for measuring the contact force between the blade and the polishing mechanism in the blade polishing process, and transmitting the detected data to the robot control system; the robot control system is further used for receiving the tail end position information data of the robot, processing the received data to obtainthe corresponding control quantity, and then controlling the robot to drive the polishing mechanism to carry out corresponding motion. According to the device and the method, the skill requirement foran operator is reduced, and the machining consistency and the machining precision are improved.

The invention discloses an efficient deburring system for a stainless steel strip. The efficient deburring system comprises a discharging mechanism and a deburring mechanism. The discharging mechanism comprises a discharging base, a winding shaft, a motor bracket, a first motor, a fixed bracket, a supporting baffle and a spacing baffle. The motor bracket and the fixed bracket are fixedly arranged on two sides of the discharging base. The winding shaft is rotatably erected on the fixed bracket and the motor bracket, is driven by the first motor erected on the motor bracket to rotate, and penetrates through the supporting baffle and the spacing baffle. A steel strip sleeves a part between the supporting baffle and the spacing baffle. The deburring mechanism comprises a worktable, guide rollers, tension pulley components, a guiding component and deburring components. The tension pulley components are used for adjusting the tension forces of the steel strip and the guide rollers. The guiding component is used for spacing the steel strip during the conveying process. The deburring components are used for deburring the steel strip. The efficient deburring system is reasonable in structure, the steel strip can be stably and accurately discharged quickly and efficiently, and the efficient deburring system can be conveniently adjusted according to the size of the steel strip, and is high in deburring efficiency.

The invention discloses a comprehensive detection device for geometric parameters of a conical ring. The device is applicable to comprehensively detecting various geometric parameters such as the conical degree, the conical height, the large-end (or small-end) diameter and the like of the conical ring (an inner cone), and mainly, functionally and structurally comprises a large movable measuring head, a small movable measuring head, a mandrel, a spring, a linear bearing, a positioning pin, a CCD ((charge coupled device), a displacement sensor and a contact detection sensor. The diameter difference of the two measuring heads is a fixed value, a detected part is movable while a measuring device is fixed in measurement so that measuring efficiency is greatly improved, and by the aid of the linear bearing and the spring, the detected part and the measuring heads can be placed in correct relative positions in measurement, so that measuring errors can be greatly decreased and the measuring efficiency is improved. The three geometric parameters including the conical degree, the conical height and the large-end (or small-end) diameter of the detected part can be detected by means of one-step operation, so that the measuring efficiency is equivalently improved by a few times. Besides, the device is simple in structure and convenient in operation, and the requirement on the technical level of operators is quite low.

The invention discloses a steel strip leveling device, which comprises: a discharging mechanism: the discharging mechanism comprises a discharging base, a reel, a motor bracket, a first motor, a fixing frame, a material bearing baffle and a limiter baffle, the motor bracket and the fixed bracket are fixed on both sides of the discharge base, the reel is rotatably erected on the fixed bracket and the motor bracket, and the reel is driven to rotate by the first motor erected on the motor bracket, The reel passes through the material-receiving baffle and the limit baffle, and the steel belt is sleeved between the material-receiving baffle and the limit baffle; a leveling mechanism: the leveling mechanism includes a worktable, a guide roller, Tensioner assembly for adjusting the tension between the steel belt and guide rollers, guide assembly for limiting the position of the steel belt in transit, and leveling assembly for leveling the steel belt. The invention has a reasonable structure design, can quickly and efficiently discharge the steel strip stably and accurately, can be conveniently adjusted according to the size and specification of the steel strip, and has high leveling efficiency.

The invention provides a pantograph dynamic operation performance control method and device. The pantograph dynamic operation performance control method comprises the steps that a pantograph line aerodynamic performance test is performed so that aerodynamic performance parameters of a pantograph in different open directions and speed levels are generated; a pantograph and catenary current collection performance test is performed so that the pantograph and catenary current collection performance parameters of the pantograph in different operation lines and different open directions and speed levels are generated; a catenary contact force trend regression curve under different speed levels and different open directions is drawn by utilizing a quadratic polynomial curve regression method according to the pantograph and catenary current collection performance parameters and the aerodynamic data; and dynamic operation performance of the pantograph is controlled according to the catenary contact force trend regression curve. With application of the pantograph dynamic operation performance control method and device, the pantograph dynamic operation performance parameters of the pantograph can be accurately controlled so that indirect contact force of the pantograph and the catenary can be accurately controlled, and great current collection of the catenary and the pantograph can be guaranteed.

The invention provides a tool edge sharpening method for a six-axis mechanical arm with a force control function based on machine vision. The tool edge sharpening method comprises the steps that preparing work is conducted; a camera is calibrated; a tool is fixed to the tail end of a six-axis robot, the calibrated camera is used for shooting a tool image and structure light projection information,point cloud data of the tool in a camera coordinate system are obtained, data of a point cloud subset is subjected to smoothing treatment, and the point cloud data obtained after smoothing treatmentare mapped into a tail end coordinate system of the six-axis robot; a grinding tool coordinate system is defined and calibrated, the relative posture relation when the point cloud data make contact with a grinding tool is determined, then, the posture relation is converted into the robot tail end coordinate system, the track of the six-axis robot is generated, the six-axis robot is used for starting force control and running the above generated track according to the set force control parameters, and tool edge sharpening is achieved. According to the tool edge sharpening method, the achievingcost is low, the error between the tool and a CAD file of the tool can be well offset, and a stable and good edge sharpening effect is achieved.

The invention discloses a tunnel adhered marine organism cleaning executing device which comprises a bracket, a sweeping disc, a laser ranging device and a self-adaptive adjustment device; and a contact state between the tunnel adhered marine organism cleaning executing device and the inner wall of a tunnel is judged according to measurement values, relative to the inner wall of the tunnel, measured by a first laser sensor, a second laser sensor and a third laser sensor, and the self-adaptive adjustment device adjusts a posture of the tunnel adhered marine organism cleaning executing device according to the contact state between the tunnel adhered marine organism cleaning executing device and the inner wall of the tunnel. With the implementation of the tunnel adhered marine organism cleaning executing device, the personal posture can be adjusted in a self-adaptive manner; the contact force between the tunnel adhered marine organism cleaning executing device and the inner wall of the tunnel is controlled precisely and an overload protection function is realized; and the structure is simplified, and safe, efficient and reliable cleaning can be realized.

The invention discloses a force feedback closed-loop control composite bonding device. A micro-moving device is driven by a macro-moving device to perform transverse translation and vertical translation; the micro-moving device comprises a giant magnetostrictive actuator, and the length of the giant magnetostrictive actuator is changed to drive a mounting rod to move, and the telescopic amplitudeof the giant magnetostrictive actuator is very small, so that the giant magnetostrictive actuator is used for driving the mounting rod to accurately move in a small range; a strain gauge is used for detecting the contact force between the mounting rod and a substrate; the strain gauge is used for providing feedback for the micro-moving device, and the telescopic amount of the giant magnetostrictive actuator is controlled according to detection signals; when a chip is relatively far away from the substrate, the macro-moving device moves quickly, the macro-moving device is stopped when reachinga relatively close distance from the substrate, the micro-moving device drives the chip to move, and when the chip contacts the substrate, a contact force is generated, and feedback is formed throughthe contact force, so that larger pressure is avoided on the chip; and the macro-moving device or the micro-moving device is used for driving in different stages of mounting, so that the contact force is accurately controlled on the basis of guaranteeing the mounting efficiency, and the chips are prevented from being crushed.

The invention relates to a four-line test probe device. The four-line test probe device comprises a traction mechanism, a body fixing base, two test probes and a photoelectric sensor. The two test probes are arranged on the two sides of the body fixing base respectively and respectively comprise an elastic support and a probe head arranged on the elastic support, and the elastic support of one test probe is provided with a protruding light-shielding block. The side, close to the test probe with the light-shielding block, of the photoelectric sensor is provided with a notch, and the photoelectric sensor has catadioptric light emitted from one side of the notch to the other side of the notch. The elastic supports deform in the testing process so that the amount of the catadioptric light shielded by the light-shielding block can be changed, and a changed output voltage is generated through the photoelectric sensor so as to control the pressure on a printed circuit board from the test probes. The four-line test probe device has the advantage that the contact force between the four-line test probe device and the printed circuit board can be effectively controlled. The invention further provides an application method of the four-line test probe device.

The invention discloses a method for preparing metal particles through continuous electrochemical deposition. The method comprises the main steps: firstly, by controlling electrodeposition parameters,evenly-dispersed metal particles are electrodeposited on a movable substrate; then the movable substrate carry the electrodeposited metal particles, and the substrate and materials on the substrate are cleaned or subjected to surface treatment; and finally, the particles on the surface of the substrate are stripped through methods such as physical stripping, and the particles are dispersed in a solution to be collected. The method has the advantages that the metal particles are prepared through an electrodeposition electronic reduction method, wherein the particle diameter of the metal particles is even, the metal particles are evenly dispersed, and the surfaces of the metal particles are free of active agents; and contact force between the particles and the substrate is small so that theparticles can be collected through simple physical stripping, in the whole synthesis process, the particle size is controllable, an electrolyte can be reutilized, compared with a traditional method for synthesizing the metal particles, the cost is low, and the size is controllable.

The invention discloses a voice coil motor control system for a chip mounter and a voice coil motor control method for a chip mounter, which are applied to the technical field of automatic control. The system comprises a controller, a motor driver and a motor module; the controller outputs a control signal to the motor driver, the motor driver outputs a driving current to the motor module, and themotor module feeds back a force signal and a position signal to the controller and the motor driver respectively and controls a chip mounting head on the chip mounter to reach and be far away from achip position; and a first switch and a selection switch are arranged in the controller and used for switching control modes. The controller is provided with an integrator, position control, speed control and compliance control of the voice coil motor are achieved by controlling a selection switch and a first switch in the controller, and the three control modes of the position control mode, the speed control mode and the compliance control mode can be switched in real time according to actual needs.

The invention relates to a method for realizing slip measurement of a thin film probe. The method is characterized in that an elastomer layer is arranged between a rigid acting surface in a thin film probe head and a thin film on which a probe is arranged; the elastic body layer is arranged on the axial plane of the probe, any axial line penetrating through the probe is taken as a boundary line, and the elastic force of one side of the elastic body layer is not equal to the elastic force of the other side of the elastic body layer, so that the probe can deflect during testing to generate measurement slippage so as to penetrate through or push away oxide on the surface layer of a tested chip, and more stable contact is realized.

The invention discloses a polishing machine. The polishing machine comprises a base; an abrasive belt grinding mechanism, a cloth wheel grinding mechanism and a cotton wheel grinding mechanism are arranged on one side of the base; a cup body fixing mechanism is arranged on the other side of base, the cup body fixing mechanism is driven by a four-axis linkage mechanism, and the four-axis linkage mechanism comprises a first guide rail arranged on the base in a driving mode; the first guide rail is slidably connected to a first platform, the first platform is driven by a first lead screw nut mechanism to move on the first guide rail, a second guide rail is arranged on the first platform, and a second platform is slidably connected to the second guide rail; and the second platform is driven bya second screw rod nut mechanism to move on the second guide rail, a driving mechanism is arranged on the second platform, and an output shaft of the driving mechanism is in a vertical position and is connected to the cup body fixing mechanism; and during use, the first platform drives the cup body fixing mechanism to move transversely, the second platform drives the cup body fixing mechanism tomove longitudinally, and the driving mechanism drives the cup body fixing mechanism to rotate.

The invention discloses a solar LED street lamp with a dust removal function and a dust removal method thereof, and relates to the technical field of solar street lamp cleaning devices. The solar LED street lamp with the dust removal function comprises a street lamp support, wherein an LED lamp and a sweeping mechanism are fixedly connected to the top end of the street lamp support; a solar panel is fixedly connected to the position, close to the back face, of the top end of the LED lamp and the sweeping mechanism; and the outer wall of the solar panel is fixedly connected with the outer wall of the street lamp support through the arranged LED lamp and the arranged sweeping mechanism. According to the solar LED street lamp with the dust removal function and the dust removal method of the solar LED street lamp, the LED lamp and the sweeping mechanism are controlled to operate through electric energy stored in the solar panel, the LED street lamp is cleaned, and therefore, the illumination work of the LED lamp is improved; and the LED street lamp can be cleaned in all directions through an arranged cleaning mechanism, so the situation that light of the LED street lamp is blocked due to too much dust is prevented, and the practicability of the solar LED street lamp is improved.

The invention relates to a burn and scald experiment device for an animal. The burn and scald experiment device comprises a scalding block, a driving rod, a limiting pair, a driving gear, a driving motor, a driver, a controller and a supporting plate, wherein the scalding block is used for burning or scalding the animal; the driving rod is in threaded connection with the scalding block, and is used for driving the scalding block to do reciprocating motion; a straight gear is arranged on the side surface of the driving rod; the limiting pair is used for limiting the driving rod; the driving gear is meshed with the straight gear on the side surface of the driving rod, and is used for driving the driving rod to move; the driving motor is used for driving the driving gear to move; the driver is used for controlling the driving motor to operate; the controller is used for controlling the driver, and receiving a signal of a weighing sensor; the supporting plate is used for placing the animal to be burnt or scalded; the weighing sensor is located below the supporting plate, and is used for detecting the change of force on the supporting plate. The burn and scald experiment device is animal burn and scald experiment equipment which can effectively control a contact area, record contact duration and control the contact force.