Mechanical compensation type constant force executing mechanism

Abstract

The invention relates to a mechanical compensation type constant force executing mechanism. The mechanical compensation type constant force executing mechanism comprises a main thrust mechanism, auxiliary thrust mechanisms, a constant force output mechanism and a base, wherein the constant force output mechanism is provided with a sliding table arranged on the base, the main thrust mechanism comprises a main thrust adjusting spring seat, a main thrust spring and a main thrust output spring seat, the main thrust adjusting spring seat is movably arranged on the base, the main thrust output spring seat is fixedly connected with the sliding table, the two auxiliary thrust mechanisms are symmetrically arranged on the two sides of the sliding table, the auxiliary thrust mechanisms comprise auxiliary adjusting spring seats, auxiliary thrust springs and auxiliary output spring seats, the auxiliary adjusting spring seats comprise upper seat bodies and lower seat bodies which are connected in arotating manner, the lower base bodies are movably arranged on the base, the auxiliary thrust springs are arranged between the upper seat bodies and the auxiliary output spring seats, and the auxiliary output spring seats are rotationally connected with the sliding table. According to the mechanical compensation type constant force executing mechanism, constant force output is guaranteed, moreover, the constant force value is adjustable, the cost is low, the precision is high, and the use is simple.

Description

technical field [0001] The invention relates to a mechanical compensation type constant force actuator. Background technique [0002] With the development of science and technology, robots have been widely used in the field of automatic processing, and the development of robots in the field of grinding and polishing is particularly rapid. In the field of grinding and polishing, robots are mainly used to replace the traditional manual grinding and polishing of workpieces, such as grinding the surface of workpieces, deburring edges and corners, grinding welds, deburring inner holes, and processing holes and threads. Robot grinding and polishing It is suitable for many industries such as bathroom hardware, IT, auto parts, industrial parts, medical equipment, wood building materials, furniture manufacturing, civil products, etc. The use of robot grinding has the characteristics of long-term grinding, high efficiency, high quality and high stability. [0003] However, in the exi...

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Problems solved by technology

[0003] However, in the existing technology, after the robot grinding and polishing equipment undergoes relatively complicated robot processing and trial teaching work, due to the influence of factors such as robot precision and workpiece differences, it is often difficult to ensure constant force output grinding and polishing, which in turn affects the quality of grinding and polishing

In view of the above problems, people have developed a constant force actuator with compensation function, but the constant force actuator with compensation function in the prior art is generally composed of low resistance cylinder, servo proportional valve, displacement sensor, acceleration sensor, guide device and other components Composition, although it has compensation function and can achieve constant force output, but the control algorithm is complicated, it needs power supply and compressed air, and the price is very expensive

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