Force-controlled hydraulic floating device for outputting axial power

Abstract

The utility model relates to a force-controlled hydraulic floating device for outputting axial power. The force-controlled hydraulic floating device comprises a shell; the mounting plate is arranged in the shell; the sliding table module is arranged on one side face of the mounting plate, and the sliding table module can slide relative to the mounting plate; the floating piece is arranged at the end of the sliding table module, and the sliding table module drives the floating piece to slide in a reciprocating mode in the axial direction below the mounting plate; and the EHA electro-hydraulic linear driving device is arranged on the other side face of the mounting plate corresponding to the sliding table assembly, the output end of the EHA electro-hydraulic linear driving device is connected with the floating part, and the EHA electro-hydraulic linear driving device applies floating force for controlling the axial reciprocating sliding of the floating part to the floating part. The EHA electro-hydraulic linear driving device is used for replacing a pneumatic control floating device, the EHA electro-hydraulic linear driving device has the advantages of being small in size, good in rigidity and high in response speed, and the pneumatic control floating device can be limited to output power in the axial direction.

Description

Technical Field

[0001] The utility model relates to the technical field of rolling, in particular to a force-controlled hydraulic floating device for outputting axial power. Background Art

[0002] At present, in the robot hemming process, a hemming tool with valve + cylinder is generally used. For example, in the Chinese utility model patent with publication number: CN220921992U, a pneumatic floating device is disclosed, including a fixed cover body, a floating cover body, a pneumatic drive device and a control valve group, the fixed cover body is connected with a mounting plate; the floating cover body is slidably connected to the mounting plate; the pneumatic drive device includes a cylinder, the cylinder includes a cylinder body and a piston rod, the piston rod includes a piston body, the piston body is connected with a rod body, the rod body and the floating cover body are connected, and the piston body divides the inside of the cylinder body into a rod chamber and a rodless chamber; the control valve group includes a main valve block, an electrical proportional valve and a reversing valve, and the main valve block is connected between the electrical proportional valve and the reversing valve. This type of hemming tool usually sets the pressure of the cylinder through a valve to achieve the purpose of adjusting the rolling pressure of the hemming tool.

[0003] However, existing pneumatic hemming tools generally use a connection structure of multiple connecting rods. This structure is not only complex, large in size and takes up space, but also has poor pneumatic floating rigidity, resulting in unsatisfactory floating control effect. In addition, an additional air source is required for the cylinder. Utility Model Content

[0004] To this end, the technical problem to be solved by the utility model is to overcome the defects of the pneumatically controlled floating device in the prior art, and to provide a force-controlled hydraulic floating device that outputs axial power. The EHA electro-hydraulic linear drive device is used to replace the pneumatically controlled floating device, which has the advantages of small size, good rigidity and high response speed, and a mechanical limiter is used to limit the EHA electro-hydraulic linear drive device to be able to output power in the axial direction.

[0005] In order to solve the above technical problems, the utility model provides a force-controlled hydraulic floating device for outputting axial power, comprising:

[0006] case;

[0007] A mounting plate, disposed in the housing;

[0008] A slide module is arranged on one side of the mounting plate, and the slide module can slide relative to the mounting plate;

[0009] A floating member is arranged at the end of the slide module, and the slide module drives the floating member to slide back and forth along the axial direction under the mounting plate;

[0010] An EHA electro-hydraulic linear drive device is arranged on the other side of the mounting plate corresponding to the slide module. The output end of the EHA electro-hydraulic linear drive device is connected to the floating member. The EHA electro-hydraulic linear drive device applies a floating force to the floating member to control its axial reciprocating sliding.

[0011] In one embodiment of the present invention, the shell is a cylindrical structure, the mounting plate is arranged in the shell, and the floating member passes through one end of the shell.

[0012] In one embodiment of the present invention, a drive member connecting flange is provided on the housing.

[0013] In one embodiment of the present invention, an actuator connecting flange is provided on the floating member.

[0014] In one embodiment of the present invention, a zero adjustment scale is provided on the actuator connecting flange.

[0015] In one embodiment of the present invention, the slide module comprises:

[0016] A slide rail is arranged on the mounting plate, and two sets of slide rails are arranged on the mounting plate;

[0017] A slider is slidably arranged on the slide rails, and a plurality of sliders are slidably arranged on each set of the slide rails;

[0018] A slide table, a plurality of sliders jointly support the slide table, and the slide table is connected to the floating member.

[0019] In one embodiment of the present invention, the EHA electro-hydraulic linear drive device has two control modes: a force control mode and a position control mode.

[0020] In one embodiment of the present invention, the output end of the EHA electro-hydraulic linear drive device is connected to the floating member through an adapter.

[0021] In one embodiment of the utility model, a display screen electrically connected to the EHA electro-hydraulic linear drive device is also provided on the housing.

[0022] In one embodiment of the utility model, the housing is also provided with a power supply interface electrically connected to the EHA electro-hydraulic linear drive device.

[0023] The above technical solution of the utility model has the following advantages compared with the prior art:

[0024] The utility model provides a force-controlled hydraulic floating device for outputting axial power, which adopts an EHA electro-hydraulic linear drive device to replace the pneumatically controlled floating device in the prior art. It has the advantages of small size, good rigidity and high response speed, and limits the coordination between the slide module and the floating part, limiting the EHA electro-hydraulic linear drive device to only output control force in the axial direction, and can prevent lateral force from interfering with the EHA electro-hydraulic linear drive device, thereby ensuring that the floating force output by the EHA electro-hydraulic linear drive device can control the actuator to output stable execution force. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein:

[0026] Figure 1 It is a schematic diagram of the internal structure of the force-controlled hydraulic floating device for outputting axial power of the utility model;

[0027] Figure 2 It is a schematic diagram of the external structure of the force-controlled hydraulic floating device for outputting axial power of the utility model.

[0028] Explanation of the reference numerals in the drawings in the specification: 1. Housing; 2. Mounting plate; 3. Slide module; 4. Floating part; 5. EHA electro-hydraulic linear drive device; 6. Driving part connecting flange; 7. Actuator connecting flange; 8. Zero adjustment scale; 9. Adapter; 10. Power interface; 11. Display screen. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0030] Reference Figure 1 and Figure 2 As shown, the utility model discloses a force-controlled hydraulic floating device for outputting axial power, comprising: a shell 1, in which a mounting plate 2, a slide module 3, a floating member 4 and an EHA electro-hydraulic linear drive device 5 may be arranged, wherein: the mounting plate 2 is fixedly arranged in the shell 1, the slide module 3 and the EHA electro-hydraulic linear drive device 5 are respectively arranged on two side surfaces of the mounting plate 2, and the end of the slide module 3 and the output end of the EHA electro-hydraulic linear drive device 5 are both connected to the floating member 4, wherein: the slide module 3 can slide relative to the mounting plate 2, the slide module 3 drives the floating member 4 to slide back and forth axially under the mounting plate 2, and the EHA electro-hydraulic linear drive device 5 applies a floating force to the floating member 4 to control its axial reciprocating sliding;

[0031] The force-controlled hydraulic floating device for outputting axial power described in this embodiment can be applied to rolling equipment. The rolling device is installed on the floating member 4 described in this embodiment. The force-controlled hydraulic floating device for outputting axial power described in this embodiment can be controlled to apply a constant rolling force. For example, when the rolling surface is uneven, the EHA electro-hydraulic linear drive device 5 actively controls the magnitude of the force applied to the rolling surface so that the rolling surface is given equal (or close) rolling pressure to achieve the purpose of adjusting the rolling pressure of the hemming tool. The EHA electro-hydraulic linear drive device 5 is used to replace the pneumatically controlled floating device of the prior art, which has the advantages of small size, good rigidity and high response speed.

[0032] Moreover, in the present embodiment, by limiting the cooperation between the slide module 3 and the floating part 4, the EHA electro-hydraulic linear drive device 5 is limited to output control force only in the axial direction. When the floating part 4 is subjected to lateral force, it will not push the floating part 4 to slide, thereby preventing the lateral force from interfering with the EHA electro-hydraulic linear drive device 5 and ensuring that the floating force output by the EHA electro-hydraulic linear drive device 5 can control the actuator to output a stable execution force.

[0033] Specifically, in this embodiment, the housing 1 is set to a cylindrical structure, so that the mounting plate 2, the slide module 3, the floating member 4 and the EHA electro-hydraulic linear drive device 5 can be arranged inside the housing 1, and the housing 1 can play a certain protective role for the mounting plate 2, the slide module 3, the floating member 4 and the EHA electro-hydraulic linear drive device 5, and the housing 1 of the cylindrical structure has openings at both ends, which can allow the floating member 4 to pass through one end of the housing 1;

[0034] Preferably, in order to improve the applicability and flexibility of the force-controlled hydraulic floating device for outputting axial power of the utility model, the housing 1 is configured as a cylindrical structure, which can move more flexibly in space compared to a polygonal structure.

[0035] As mentioned above, in the present embodiment, the force-controlled hydraulic floating device serves as an intermediate transfer device, and needs to transfer the force of the driving member to the actuator. A driving member connecting flange 6 is provided on the shell 1, and the driving member connecting flange 6 is used to close the opening of the shell 1 of the cylindrical structure, and the mounting plate 2 is fixed on the driving member connecting flange 6. The force-controlled hydraulic floating device of the present embodiment can be connected to a driving source through the driving member connecting flange 6, for example: a driving source such as a multi-axis driven robotic arm or a multi-axis transfer module; at the same time, an actuator connecting flange 7 is provided on the floating member 4. Taking the rolling action as an example, the connecting flange can be connected to a rolling head, and the rolling head can perform rolling forming processing on the target edge portion of the sheet metal.

[0036] Specifically, a zeroing scale 8 is provided on the actuator connecting flange 7. The zeroing scale 8 can, on the one hand, be used to perform zeroing calibration on the force-controlled hydraulic floating device before use to ensure that when the force-controlled hydraulic floating device is not subjected to force, the end of the shell 1 is at the zero point position of the zeroing scale 8; on the other hand, the adjustment position of the floating member 4 in the force-controlled hydraulic floating device can be recorded at all times during use, thereby determining the use status of the force-controlled hydraulic floating device.

[0037] In this embodiment, in order to limit the sliding direction of the slide module 3, the slide module 3 includes: a slide rail arranged on the mounting plate 2, a slider slidably arranged on the slide rail, and a slide supported by the slider, wherein: in order to ensure the sliding stability of the slide, two groups of slide rails are arranged on the mounting plate 2, and a plurality of sliders are slidably arranged on each group of the slide rails, and the plurality of sliders jointly support the slide, and the slide is connected to the floating member 4.

[0038] In other embodiments, different forms of slide modules 3 may also be used, for example: a limited slide module 3 or a roller slide module 3, as long as it can slide relative to the mounting plate 2. Similar slide modules 3 are all prior art, and other forms of slide modules 3 are not described here.

[0039] It should be noted that the EHA electro-hydraulic linear drive device 5 used in the present application is an electro-hydraulic actuator developed by our company, wherein EHA (Electro-Hydrostatic Actuators) is a standard power unit formed by integrating a motor, a pump, a fuel tank, a hydraulic cylinder and a control valve group in one device. The hydraulic cylinder includes a piston rod that can be extended and retracted along the cylinder body. The EHA electro-hydraulic linear drive device 5 drives the floating part 4 to move by controlling the extension and retraction of the piston rod. The use of the EHA electro-hydraulic linear drive device 5 can better realize the precise control of the displacement of the floating part 4, thereby realizing the precise floating of the grinding head.

[0040] Specifically, the EHA electro-hydraulic linear drive device 5 includes: a force control mode and a position control mode, and its use mode can be determined according to different use scenarios.

[0041] In this embodiment, the output end of the EHA electro-hydraulic linear drive device 5 is connected to the floating member 4 through an adapter 9. The adapter 9 can further increase the connection area between the output end of the EHA electro-hydraulic linear drive device 5 and the floating member 4. On the one hand, the stability of the connection between the EHA electro-hydraulic linear drive device 5 and the floating member 4 can be ensured. On the other hand, the accuracy of the control force provided by the EHA electro-hydraulic linear drive device 5 can also be ensured.

[0042] Reference Figure 2As shown, the EHA electro-hydraulic linear drive device 5 described in this embodiment, as an electric device, needs to be connected to a separate control power supply. Therefore, a power interface 10 electrically connected to the EHA electro-hydraulic linear drive device 5 is also provided on the housing 1, and the power interface 10 is connected to an external power supply device to provide the required electrical energy for use.

[0043] At the same time, the EHA electro-hydraulic linear drive device 5 described in this embodiment also has the function of real-time detection of the control force output by it. Therefore, the shell 1 is also provided with a display screen 11 electrically connected to the EHA electro-hydraulic linear drive device 5, and the use of the EHA electro-hydraulic linear drive device 5 can be visually monitored through the display screen 11.

[0044] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A force-controlled hydraulic floating device for outputting axial power, characterized in that: include: case; A mounting plate, disposed in the housing; A slide module is arranged on one side of the mounting plate, and the slide module can slide relative to the mounting plate; A floating member is arranged at the end of the slide module, and the slide module drives the floating member to slide back and forth along the axial direction under the mounting plate; An EHA electro-hydraulic linear drive device is arranged on the other side of the mounting plate corresponding to the slide module. The output end of the EHA electro-hydraulic linear drive device is connected to the floating member. The EHA electro-hydraulic linear drive device applies a floating force to the floating member to control its axial reciprocating sliding.

2. The force-controlled hydraulic floating device for outputting axial power according to claim 1 is characterized in that: The shell is a cylindrical structure, the mounting plate is arranged in the shell, and the floating member passes through one end of the shell.

3. The force-controlled hydraulic floating device for outputting axial power according to claim 1 is characterized in that: A drive member connecting flange is arranged on the housing.

4. The force-controlled hydraulic floating device for outputting axial power according to claim 1 is characterized in that: An actuator connecting flange is arranged on the floating member.

5. The force-controlled hydraulic floating device for outputting axial power according to claim 4 is characterized in that: A zero adjustment scale is arranged on the actuator connecting flange.

6. The force-controlled hydraulic floating device for outputting axial power according to claim 1 is characterized in that: The slide module comprises: A slide rail is arranged on the mounting plate, and two sets of slide rails are arranged on the mounting plate; A slider is slidably arranged on the slide rails, and a plurality of sliders are slidably arranged on each set of the slide rails; A slide table, a plurality of sliders jointly support the slide table, and the slide table is connected to the floating member.

7. The force-controlled hydraulic floating device for outputting axial power according to claim 1 is characterized in that: The EHA electro-hydraulic linear drive device has two control modes: a force control mode and a position control mode.

8. The force-controlled hydraulic floating device for outputting axial power according to claim 1 is characterized in that: The output end of the EHA electro-hydraulic linear drive device is connected to the floating member through an adapter.

9. The force-controlled hydraulic floating device for outputting axial power according to claim 1, characterized in that: The housing is also provided with a display screen electrically connected to the EHA electro-hydraulic linear drive device.

10. The force-controlled hydraulic floating device for outputting axial power according to claim 1, characterized in that: The housing is also provided with a power supply interface electrically connected to the EHA electro-hydraulic linear drive device.

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