Floating force control device with automatic adjustment by force sensor

Abstract

The application discloses a floating force control device for automatic adjustment through a force sensor, and belongs to the technical field of polishing devices.The floating force control device comprises a sensor contact plate, a cylinder mounting seat, guide shafts, mini-cylinders, connecting plates, contact wheels, contact wheel mounting plates, flange type guide shaft supports, electrical proportional valves, flange linear bearings, floating joints and a force sensor.The mini-cylinders, the electrical proportional valves and the flange linear bearings are arranged on the cylinder mounting seat, and the force sensor is arranged on the sensor contact plate.Two guide shafts pass through the flange linear bearings, one end of each guide shaft is connected with a connecting plate, and the other end of each guide shaft is connected with the sensor contact plate.The distance between a workpiece to be polished and a sand belt can be adjusted by changing the compression amount or the extension amount of the mini-cylinders, so that the contact force between the floating force control module and the workpiece to be polished is maintained, and the polishing quality is controlled and guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to a force control device in the technical field of polishing devices, in particular to a floating force control device capable of adjusting the distance between a workpiece to be polished and a sand belt and automatically adjusting by a force sensor. BACKGROUND

[0002] Many parts of many industries involve polishing process during production. At present, many parts are polished by manual operation. However, the final polishing quality cannot be guaranteed by manual operation, and the production efficiency is relatively low. With the development of science and technology, the increase of labor cost, the difficulty of operation, the poor working environment and the safety hidden trouble, more and more automatic polishing equipment replaces the traditional manual polishing method. Using mechanical equipment to polish workpieces can greatly improve the polishing efficiency and quality, and effectively reduce the direct contact between workers and harsh polishing environment. However, the contact force between the workpiece and the sand belt changes with the relative position between the workpiece and the sand belt and the movement of the workpiece. If the contact force cannot be adjusted, the device can only polish one kind of workpiece. For the scene of polishing multiple parts or using multiple polishing processes, the production cost and process time will increase. SUMMARY

[0003] The present application is directed to the deficiencies of the prior art, and proposes a floating force control device capable of automatically adjusting by a force sensor. The distance between the polishing tool and the workpiece to be polished can be automatically adjusted according to the contact force between the workpiece and the polishing tool, so as to ensure the constancy of the contact force therebetween.

[0004] The present application is realized by the following technical scheme. The present application comprises a sensor contact plate, a cylinder mounting seat, a guide shaft, a mini cylinder, a connecting plate, a contact wheel, a contact wheel mounting plate, a first flange type guide shaft support, an electrical proportional valve, a flange type linear bearing, a floating joint, a force sensor, a second flange type guide shaft support, a third flange type guide shaft support, and a machine body connecting mounting hole. The mini cylinder, the electrical proportional valve and the flange type linear bearing are arranged on the cylinder mounting seat, the force sensor is arranged on the sensor contact plate, and the machine body connecting mounting hole is arranged on the side wall of the cylinder mounting seat. The contact wheel is arranged on the contact wheel mounting plate through the second flange type guide shaft support, and the contact wheel mounting plate is arranged on the connecting plate. One end of the floating joint is connected with the force sensor, and the other end of the floating joint is connected with the piston rod of the mini cylinder. The two guide shafts pass through the two flange type linear bearings on the cylinder mounting seat, one end of the guide shaft is connected with the connecting plate through the first flange type guide shaft support, and the other end of the guide shaft is connected with the sensor contact plate through the third flange type guide shaft support.

[0005] Further, in the application, the contact wheels are aluminum alloy processing rollers; the contact wheels are three, and the front contact wheel is the main polishing roller.

[0006] Further, in the application, the contact wheel mounting plate is processed from Q235 steel plate, the mini cylinder is a single-acting pressure type mini cylinder, and the force sensor is a micro tension and compression force sensor.

[0007] Compared with the prior art, the application has the following beneficial effects: when the external mechanical hand clamps the workpiece to be polished to reach the preset point, the force sensor collects the contact force between the contact wheel and the workpiece to be polished and feeds back the signal to the system, compares the signal with the set value of the system, calculates the signal through the force control system, and sends an instruction to control the flow of the mini cylinder through the electric proportional valve, so that the compression amount or the extension amount of the mini cylinder changes, thereby adjusting the distance between the workpiece to be polished and the abrasive belt to maintain the contact force between the floating force control module and the workpiece to be polished, and the polishing quality is controlled and guaranteed. BRIEF DESCRIPTION OF DRAWINGS

[0008] Figure 1 It is a front view of the embodiment of the application;

[0009] Figure 2 It is a rear view of the embodiment of the application;

[0010] Reference numerals in the drawing: 1, sensor contact plate, 2, cylinder mounting seat, 3, guide shaft, 4, mini cylinder, 5, connecting plate, 6, contact wheel, 7, contact wheel mounting plate, 8, first flange type guide shaft support, 9, electric proportional valve, 10, flange straight line bearing, 11, floating joint, 12, force sensor, 13, second flange type guide shaft support, 14, third flange type guide shaft support, 15, machine body connecting mounting hole. DETAILED DESCRIPTION

[0011] The embodiments of the application will be described in detail below with reference to the accompanying drawings. The embodiments are based on the technical scheme of the application, and give detailed implementation modes and specific operation processes, but the protection scope of the application is not limited to the following embodiments.

[0012] Embodiments

[0013] The application is as follows Figure 1 and Figure 2As shown, the present application comprises a sensor contact plate 1, a cylinder mounting seat 2, a guide shaft 3, a mini cylinder 4, a connecting plate 5, a contact wheel 6, a contact wheel mounting plate 7, a first flange type guide shaft support 8, an electric proportional valve 9, a flange linear bearing 10, a floating joint 11, a force sensor 12, a second flange type guide shaft support 13, a third flange type guide shaft support 14, a body connection mounting hole 15, the mini cylinder 4, the electric proportional valve 9, and the flange linear bearing 10 are arranged on the cylinder mounting seat 2, the force sensor 12 is arranged on the sensor contact plate 1, and the body connection mounting hole 15 is arranged on the side wall of the cylinder mounting seat 2; the contact wheel 6 is arranged on the contact wheel mounting plate 7 through the second flange type guide shaft support 13, and the contact wheel mounting plate 7 is arranged on the connecting plate 5; one end of the floating joint 11 is connected with the force sensor 12, and the other end of the floating joint 11 is connected with the piston rod of the mini cylinder 4; the two guide shafts 3 pass through the two flange linear bearings 10 on the cylinder mounting seat 2, one end of the guide shaft 3 is connected with the connecting plate 5 through the first flange type guide shaft support 8, and the other end of the guide shaft 3 is connected with the sensor contact plate 1 through the third flange type guide shaft support 14. The contact wheel 6 is a roller processed from aluminum alloy; the contact wheel 6 has three in total, and the contact wheel 6 at the front end is the main roller for polishing. The contact wheel mounting plate 7 is processed from a Q235 steel plate, the mini cylinder 4 is a single-acting extrusion type mini cylinder, and the force sensor 12 is a micro tensile force sensor.

[0014] In the implementation process of the present application, the automatic adjustment strategy refers to that when the external manipulator clamps the workpiece to be polished and moves to the set point, the whole composed of the contact wheel mounting plate 7, the guide shaft 3, and the sensor contact plate 1 will produce a slight displacement after the workpiece contacts the abrasive belt, after the workpiece reaches the set point, the force sensor 12 compares the actual measured contact force with the set force value corresponding to the workpiece, and feeds back the comparison result to the system, and the force control system sends out instructions to control the electric proportional valve 9 after calculation, and then adjusts the air volume of the two mini cylinders 4, so as to realize the adjustment of the extension amount of the cylinder, and adjust the relative distance between the contact wheel 6 and the workpiece to be polished to maintain a stable contact force.

[0015] In the implementation process of the present application, the contact wheel 6 refers to a roller processed from aluminum alloy, which needs to be surface treated to improve wear resistance, and the roller is connected with the rotating shaft through a bearing; the contact wheel 6 has three in total, and the contact wheel 6 at the front end is the main roller for polishing, and the other two rollers increase the wrapping angle of the main roller by winding the abrasive belt, so as to avoid the relative sliding of the abrasive belt during polishing.

[0016] In the implementation of the present application, the contact wheel mounting plate 7 is processed from a Q235 steel plate and is used to mount and fix the contact wheel 6. The guide shaft 3 is connected to the connecting plate 5 through the flange type guide shaft support 8 and is indirectly connected to the contact wheel mounting plate 7. Thus, the guide shaft 3 can be driven to move by the mini cylinder 4 so as to adjust the relative position between the abrasive belt and the workpiece. The parallelism tolerance between the roller shaft mounting surface and the guide shaft cooperation surface should be ensured. Thus, the position movement of the contact wheel 6 during the adjustment process is along the axial direction, which prevents the need for excessive adjustment to meet the requirements.

[0017] In the implementation of the present application, the cylinder mounting seat 2 is a part for mounting the mini cylinder 4 and the electric proportional valve 9 and is also a part for connecting the entire floating force control module to the external machine body. Because it needs to be connected to the machine body through the side mounting hole, the cylinder mounting seat adopts a box type structure, which can ensure the strength of the mounting seat. Two flange type linear bearings 10 are mounted on the cylinder mounting seat 2.

[0018] In the implementation of the present application, the guide shaft 3 is guided by the flange type linear bearing 10 mounted on the cylinder mounting seat 2. The guide shaft 3 is connected to the corresponding mounting plate through the flange type guide shaft support. The sensor contact plate 1 is indirectly connected to the cylinder piston rod through the floating joint 11. The connecting plate 5 is connected to the contact wheel mounting plate 7. Thus, the contact wheel 6 can be driven to move along the guide shaft 3 by the cylinder, thereby realizing the adjustment of the contact wheel 6.

[0019] In the implementation of the present application, the flange type linear bearing 10 is mounted on the cylinder mounting seat 2 and has a supporting and guiding effect on the guide shaft 3.

[0020] In the implementation of the present application, the mini cylinder 4 is a single-acting extrusion type mini cylinder. The cylinder diameter is 32 mm and the stroke is 40 mm. The single-acting extrusion type mini cylinder is better than the single-acting introduction type mini cylinder in terms of the arrangement of the structure of the floating force control module. The cylinder is mounted on the cylinder mounting seat 2 through the mounting flange. The cylinder piston rod is connected to the force sensor 12 through the floating joint 11 and the self-made floating adapter.

[0021] In the implementation of the present application, the force sensor 12 is a micro tensile and compressive force sensor. It adopts a high-precision resistance strain principle, has a high dynamic response frequency, is small in size and is convenient to install. The force measurement range is 50N-500N and it can detect the tensile force and the pushing force.

[0022] In the implementation of the present application, the electrical proportional valve 9 can adjust the cross-sectional area of the valve core according to the control signal, thereby realizing the adjustment of the flow size. Since the electrical proportional valve 9 controls the air pressure by using an electrical signal, it can realize continuous and stepless adjustment of the air pressure, and can also be remotely controlled and programmed, greatly facilitating the adjustment and control of the mini air cylinder 4.

[0023] The present application also includes an organ cover, and the number of organ covers needs to be two, but their lengths are not the same, and their two sides are respectively installed on the air cylinder mounting seat 2 and the sensor mounting plate 1 and the connecting plate 5, which can well prevent the dust generated when the abrasive belt polishes the workpiece or the external foreign matter from falling into the mini air cylinder 4, the electrical proportional valve 9, the flange linear bearing 10 and other parts, thereby shortening the service life of these parts.

[0024] The specific operation mode of the present application has been described above. It should be understood that the present application is not limited to the above specific operation mode, and various modifications or changes can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application.

Claims

1. A floating force control device automatically adjusted by a force sensor, comprising a sensor contact plate (1), a cylinder mounting seat (2), characterized in that, Also including guide shaft (3), mini cylinder (4), connecting plate (5), contact wheel (6), contact wheel mounting plate (7), first flange type guide shaft support (8), electric proportional valve (9), flange linear bearing (10), floating joint (11), force sensor (12), second flange type guide shaft support (13), third flange type guide shaft support (14), body connection mounting hole (15), mini cylinder (4), electric proportional valve (9), flange linear bearing (10) are arranged on the cylinder mounting seat (2), force sensor (12) is arranged on the sensor contact plate (1), body connection mounting hole (15) is arranged on the side wall of cylinder mounting seat (2); Contact wheel (6) is arranged on contact wheel mounting plate (7) through second flange type guide shaft support (13), contact wheel mounting plate (7) is arranged on connecting plate (5); One end of floating joint (11) is connected with force sensor (12), the other end of floating joint (11) is connected with the piston rod of mini cylinder (4); Two guide shafts (3) pass through two flange linear bearings (10) on cylinder mounting seat (2) respectively, one end of guide shaft (3) is connected with connecting plate (5) through first flange type guide shaft support (8), the other end of guide shaft (3) is connected with sensor contact plate (1) through third flange type guide shaft support (14); The contact wheel (6) is a roller made of aluminum alloy; The contact wheel (6) has three, wherein the front contact wheel (6) is the main polishing roller; The contact wheel mounting plate (7) is made of Q235 steel plate, the mini cylinder (4) is a single-acting extrusion type mini cylinder, and the force sensor (12) is a micro tension and compression force sensor.

Images