Compact high-precision constant-force actuator and application method

A high-precision, compact technology, applied in the direction of instruments, measuring inclination, force/torque/power measuring instruments, etc., can solve the problems of loss of compact structure and partial control quality, low precision of force control, poor effect, etc. Achieve the effect of beautiful and compact internal structure, reduce tracheal connection, and improve sensing accuracy

Inactive Publication Date: 2021-01-19
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Disadvantages of Chinese Patent Publication No. CN105234807A, a force-controlled flange for industrial robot polishing operations, and a polishing method, and CN105458857A, a constant force compensation device: (1) the force control accuracy is not high
It is precisely because the addition of a force sensor improves the perception accuracy of the force while losing the compactness of the structure and part of the control quality, the effect of the constant force actuator based on the force sensor is worse than that based on the air pressure sensor in practical applications.

Method used

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  • Compact high-precision constant-force actuator and application method
  • Compact high-precision constant-force actuator and application method
  • Compact high-precision constant-force actuator and application method

Examples

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Effect test

Embodiment 1

[0047] see Figure 1-3 , a compact high-precision constant force actuator, including a cylinder 13, a force sensor 11, a fixed flange 5, a sliding table 19 and a guide rail 110. Cylinder 13 is a low-friction cylinder.

[0048] combined with figure 1 , the constant force actuator is installed at the end of the industrial robot through the fixed flange 5, and the clean air compressed by the air compressor provides the air source for the cylinder through the air supply port 2. There are three connection ports on the surface of the shell 6, the pneumatic components inside the device exhaust the air through the exhaust port 3, and the cable connector 4 is responsible for the power supply of the internal components and the signal transmission of the sensor. The telescopic executive part 1 can be connected with the processing tool through threads, and a circle of telescopic dustproof cover 7 is arranged on its periphery.

[0049] combined with figure 2 And attached image 3 , t...

Embodiment 2

[0054] The invention also discloses an application method of the device, which includes: before starting the operation, connecting the end of the telescopic actuator 1 with the processing tool, keeping the constant force actuator vertical, and the force sensor 12 reflecting the gravity of the processing tool. During the grinding process, the inclination sensor 17 will reflect the posture information of the device, and obtain the component G of the gravity of the processing tool in this posture, and the actual size of the contact force Fa is the value Fp displayed by the force sensor 12 and the component of the gravity of the processing tool G difference. During the grinding process, the contact force Fa is constantly changing. The host computer compares the contact force Fa with the set force Fd, and calculates the difference ΔFd between the two. After dividing ΔFd by the cross-sectional area of ​​the cylinder cavity, the pressure to be adjusted ΔPd is obtained. ΔPd plus the e...

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Abstract

The invention relates to a compact high-precision constant-force actuator and an application method thereof. The compact high-precision constant-force actuator comprises a motive force assembly, a transmission assembly, a control system, a motive force control assembly and a sensor assembly; and the motive force assembly outputs motive force through the transmission assembly, the sensor assembly acquires information of output force and a posture of the transmission assembly, and sends the information of the output force and the posture of the transmission assembly to the control system, and the control system adjusts the output force of the motive force assembly according to the information of the output force through the motive force control assembly. The compact high-precision constant-force executor is provided, through extension and retraction of the device (compact high-precision constant-force executor), position errors of a robot are compensated, and contact force is precisely adjusted according to a set value so that the product quality of machined parts can be effectively improved, and the production cost is reduced.

Description

technical field [0001] The invention relates to a compact high-precision constant force actuator and an application method. Background technique [0002] With the continuous improvement of automation level, robots are widely used in contact operations such as grinding and polishing and assembly. In these occasions, robots are required to have certain force perception and force control capabilities, because in contact operations, the robot's own position error and The stiffness and shape changes of the workpiece will cause fluctuations in the contact force, which will affect the processing effect. [0003] Chinese Patent Publication No. CN105234807A is a force-controlled flange for industrial robot polishing operations and a polishing method, and Chinese Patent Publication No. CN105458857A is a constant force compensation device. The main structures of these inventions are connected by telescopic cylinders, contact force and When the shape of the contact surface changes, the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B24B41/04B24B47/22B24B49/00G01C9/00G01L5/00
CPCB24B41/04B24B49/00B24B47/22G01C9/00G01L5/00
Inventor 林慧裴国锦余明赖厚湖马翠
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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