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Electromagnetic one-dimensional constant force device and its control method

A technology of constant force device and control method, which is applied to grinding automatic control devices, manufacturing tools, and parts of grinding machine tools, can solve the problems of high cost, inability to track fluctuations, and high working noise, and achieve production The effect of low cost, strong adjustability and fast response

Active Publication Date: 2017-03-01
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the remote center compliance device maintains a constant force when the device is in contact with the workpiece by adjusting the spring. This device cannot adjust the force in real time during the workpiece process, and the controllability is poor, and the force cannot be adjusted during work. fluctuations are tracked
However, the ACF pneumatic constant force device itself is expensive, and requires an external supply of constant pressure gas during work, requiring an air compressor to work, which not only results in louder working noise, but also further increases the application cost
In general, the current devices for providing constant force have problems such as poor real-time adjustment, poor controllability, or high cost, which greatly limits the popularization and application of industrial robots

Method used

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  • Electromagnetic one-dimensional constant force device and its control method
  • Electromagnetic one-dimensional constant force device and its control method
  • Electromagnetic one-dimensional constant force device and its control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0066] refer to figure 1 , an electromagnetic one-dimensional constant force device, including a base 1, a voice coil motor, a push rod 4, an end cover 5, a cover 6 and a controller, the push rod 4 is a cross-shaped structure, and the base 1 is a cylindrical structure with a sealed bottom , the voice coil motor is set in the base 1, the end cover 5 and the cover 6 are installed on the top of the base 1 in sequence, the end cover 5 is concave toward the bottom of the base 1 and forms a limiting space with the cover 6, One end of the push rod 4 passes through the end cover 5 and is connected to the voice coil motor. The other end of the push rod 4 protrudes from the cover 6 and a sensor module 7 is installed at the end. Driven by the voice coil motor, the push rod 4 moves in the limited space Inwardly moving, the end cover 5 plays a limiting role on the beam of the push rod 4;

[0067] The sensor module 7 is used to collect the force signal and attitude signal of the constant f...

Embodiment 2

[0075] The control method of the electromagnetic one-dimensional constant force device of Embodiment 1 includes:

[0076] S1. Obtain the constant force between the constant force device set by the user and the workpiece;

[0077] S2. Obtain the real-time force signal and attitude signal of the constant force device collected by the sensor module 7. The sensor module 7 includes a one-dimensional force sensor for collecting the force signal of the constant force device and an attitude signal for collecting the constant force device. The three-axis gyroscope;

[0078] S3. Calculate the target force signal of the sensor module 7 in combination with the set constant force and the acquired attitude signal, specifically:

[0079] According to the following formula, the target force signal of the one-dimensional force sensor is calculated by combining the set constant force and the acquired attitude signal:

[0080] f 目标 = f 接 +m 2 gsin(α)

[0081] Among them, f 目标 Represents t...

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Abstract

The invention discloses an electromagnetism one-dimensional constant force device and a control method thereof. The device comprises a base, a voice coil motor, a push rod, an end cover, a seal cover and a controller, the base is of a cylinder-shaped structure which is sealed in the bottom, the voice coil motor is sleeved with the base, the end cover and the seal cover are arranged on the top of the base in sequence, the end cover faces the bottom of the base and recessed inwards, limit space is defined by the end cover and the seal cover, one end of the push rod penetrates through the end cover and is connected with the voice coil motor, the other end of the push rod extends out of the seal end and the tail end of the push rod is provided with a sensor module, and the push rod is driven by the voice coil motor to move in the limit space; the sensor module is used for collecting stress signals and posture signals of the constant force device, the collecting stress signals and the posture signals are sent to the controller, coil current of the voice coil motor can be adjusted by the controller in real time according to the collecting stress signals and posture signals, and constant acting force between the constant force device and processing workpieces can be kept. The electromagnetism one-dimensional constant force device is simple in structure, low in cost, high in responding speed, good in controllability, high in adjustability, and can be suitable for industries using a robot polishing the workpieces widely.

Description

technical field [0001] The invention relates to the field of constant force control in industrial robot applications, in particular to an electromagnetic one-dimensional constant force device and a control method thereof. Background technique [0002] In the application of industrial robot processing, such as the polishing process, it is often required that the robot maintains a constant force on the workpiece during the processing so that the final processing effect of the workpiece can meet the requirements. At present, according to compliance, robots are mainly divided into two categories: passive compliance and active compliance. The most representative passive compliance device for passive compliance is a remote center compliance RCC designed by the American MIT Draper experiment. (Remote CenterCompliance) passive mechanism. The RCC device is usually a compliant mechanism composed of multiple springs that can comply with six degrees of freedom in space. It can be insta...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B24B41/00B24B51/00
CPCB24B41/00B24B51/00
Inventor 陈新度何伟崇吴磊杨煜俊
Owner GUANGDONG UNIV OF TECH
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