A square aerodynamic force control

Abstract

The utility model is suitable for robot automation polishing technical field provides a square pneumatic force control, pneumatic force control main part includes lower casing and upper casing, the upper portion of lower casing is equipped with two straight line guides, every straight line guide is equipped with two sliders, the slider is equipped with moving plate, the moving plate is equipped with tool mounting plate and dust cover, the upper portion of lower casing is equipped with pneumatic cylinder, pneumatic cylinder and lower casing between be equipped with first support, and pneumatic cylinder telescopic push rod front -end is equipped with floating joint, the end of floating joint is equipped with impact block, the top surface of lower casing is located the below of floating joint and is equipped with second support, second support and moving plate fixed connection. The precision of the scheme force control can reach ± 2N, can carry 20kg's tool, and the force control can output stable, continuous, constant polishing force in various postures in space, and there is no collision phenomenon when contacting the workpiece.

Description

Technical Field

[0001] This utility model belongs to the field of robotic automated grinding technology, and particularly relates to a square pneumatic control system. Background Technology

[0002] Currently, in the grinding industry, automated robotic grinding is gradually replacing manual grinding. During the production process, burrs and weld seams are unavoidable. To prevent workpieces from failing quality inspection and becoming unusable, grinding is an essential step. However, robotic grinding can only follow a fixed trajectory and cannot adjust as needed like a human hand. When grinding workpieces in batches, the dimensions of each workpiece cannot be guaranteed to be exactly the same. Since the robot can only follow a fixed trajectory and cannot identify these dimensions, the grinding force is unstable, making it impossible to achieve consistent and stable grinding. Furthermore, at the moment of contact between the grinding tool and the workpiece, the lack of flexibility or force control in the grinding tool easily leads to over-grinding or even damage to the workpiece surface. Abrasive wear occurs during grinding, preventing it from fully contacting the workpiece surface. Even if the robot can deviate, it requires numerous tests to find a suitable deviation distance.

[0003] Currently, there are two types of pneumatic control systems on the market: square and cylindrical. Square pneumatic control systems mostly use a proportional valve and a solenoid valve to control the output force of a single cylinder. This type of square pneumatic control system can cause the cylinder piston to vibrate back and forth at the critical point of cylinder switching. Furthermore, it suffers from slow response speed, failure of the solenoid valve to switch direction when the air pressure is too low, and high friction within the control system itself.

[0004] Cylindrical pneumatic actuators have a relatively small torque capacity due to their structure, resulting in fewer compatible tools. They are generally suitable for applications where the force direction coincides with the actuator's axis, making many large and heavy tools unusable.

[0005] Based on the above technical problems, this application proposes a square aerodynamic control. Utility Model Content

[0006] The purpose of this invention is to provide a square aerodynamic control system to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a square pneumatic control unit, comprising a pneumatic control body, the pneumatic control body comprising a lower shell and an upper shell, two linear guide rails mounted on the upper part of the lower shell, two sliders mounted on each linear guide rail, a movable plate mounted on the slider, a tool mounting plate and a dust cover mounted on the movable plate; a cylinder is provided above the lower shell; a first bracket is provided between the cylinder and the lower shell, and a floating joint is provided at the front end of the cylinder's telescopic push rod, and a collision block is provided at the end of the floating joint; a second bracket is provided on the top surface of the lower shell below the floating joint, the second bracket being fixedly connected to the movable plate; a third bracket is mounted on one side of the movable plate, an attitude sensor is provided on the third bracket, and a laser sensor is provided on the top surface of the lower shell.

[0008] Preferably, the third bracket also serves as the rangefinder plate for the laser sensor.

[0009] Preferably, an electric proportional valve and a terminal block are installed on the top surface of the lower housing.

[0010] This utility model has at least the following beneficial effects:

[0011] This utility model provides a square pneumatic control unit with a force control accuracy of ±2N. It can carry a 20kg tool and output a stable, continuous, and constant grinding force when rotating in various postures in space. It will not cause collision when in contact with the workpiece. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the internal structure of the present invention;

[0013] Figure 2 This is a top view of the external structure of this utility model;

[0014] Figure 3 for Figure 2 Cross-sectional view along line AA.

[0015] In the attached diagram, the following are the reference numerals: 1. Linear guide rail; 2. Cylinder; 3. Terminal block; 4. Electro-proportional valve; 5. Attitude sensor; 6. Laser sensor; 7. Floating joint; 8. Collision block; 9. Lower housing; 10. Upper housing; 11. Tool mounting plate; 12. Moving plate. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.

[0017] Example

[0018] Please see Figure 1 , Figure 2 and Figure 3 This utility model provides a technical solution: a square pneumatic control system, including a pneumatic control body, which includes a lower housing 9 and an upper housing 10. Two linear guide rails 1 are installed on the upper part of the lower housing 9. Two sliders are installed on each linear guide rail 1. A movable plate 12 is installed on the slider. A tool mounting plate 11 and a dust cover are installed on the movable plate 12. A cylinder 2 is provided on the upper part of the lower housing 9. A first bracket is provided between the cylinder 2 and the lower housing 9. A floating joint 7 is provided at the front end of the telescopic push rod of the cylinder 2. A collision block 8 is provided at the end of the floating joint 7. A second bracket is provided on the top surface of the lower housing 9 below the floating joint 7. The second bracket is fixedly connected to the movable plate 12. A third bracket is installed on one side of the movable plate 12. An attitude sensor 5 is provided on the third bracket. A laser sensor 6 is provided on the top surface of the lower housing 9. The third bracket also serves as a ranging plate for the laser sensor 6. An electro-proportional valve 4 and a terminal block 3 are installed on the top surface of the lower housing 9.

[0019] In this embodiment, during grinding, the attitude sensor 5 feeds back the angle position of the square pneumatic actuator to the control system in real time. The control system automatically calculates the component of the grinding tool's gravity in the direction of force control movement through an algorithm. Based on the pre-set output force, the control system sends a signal to the electro-proportional valve 4 in real time through the force control algorithm. By controlling the pressure difference between the two chambers of the cylinder 2, the square pneumatic actuator achieves a fast and stable output constant power, thereby controlling the contact force and grinding force between the tool and the workpiece to be a precise and constant force.

[0020] When the grinding tool first comes into contact with the workpiece, the grinding force is relatively small to prevent the grinding tool from colliding with the workpiece; the distance attitude sensor 5 and the laser sensor 6 detect the displacement generated inside the force control and thus quickly apply the grinding force to the preset force.

[0021] This solution uses two electro-proportional valves 4 instead of one gas proportional valve and solenoid valve. One electro-proportional valve 4 controls one chamber of cylinder 2. By controlling the pressure difference between the two chambers of cylinder 2, the square pneumatic controller can achieve a fast and stable constant force. At the same time, it avoids the situation where the solenoid valve cannot switch due to insufficient air pressure, and the square pneumatic controller will shake when switching.

[0022] A laser sensor 6 is used instead of a tie rod ruler, which improves accuracy and reduces the impact of tie rod ruler position deviation on the accuracy of the square aerodynamic control.

[0023] Two low-friction cylinders 2 are used. Because the volume and diameter of the low-friction cylinders 2 are small, using two cylinders 2 can reduce the volume of the square pneumatic control while outputting the same force as a large-diameter cylinder.

[0024] The internal structure of this solution is simple, and while ensuring accuracy, it reduces the volume of the square aerodynamic control unit, thereby reducing interference during grinding caused by the excessive volume of the control unit.

[0025] Through the improvements of this solution, the accuracy of the force control can now reach ±2N, and it can carry a 20kg tool. The force control can output a stable, continuous, and constant grinding force when rotating in various postures in space, and there will be no collision when it comes into contact with the workpiece.

[0026] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description. Therefore, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this utility model, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A square aerodynamic control system, characterized in that, The system includes a pneumatic control body, which comprises a lower housing (9) and an upper housing (10). Two linear guide rails (1) are installed on the upper part of the lower housing (9). Two sliders are installed on each linear guide rail (1). A movable plate (12) is installed on the slider. A tool mounting plate (11) and a dust cover are installed on the movable plate (12). A cylinder (2) is provided on the upper part of the lower housing (9). A first bracket is provided between the cylinder (2) and the lower housing (9). A floating joint (7) is provided at the front end of the telescopic push rod of the cylinder (2). A collision block (8) is provided at the end of the floating joint (7). A second bracket is provided on the top surface of the lower housing (9) below the floating joint (7). The second bracket is fixedly connected to the movable plate (12). A third bracket is installed on one side of the movable plate (12). An attitude sensor (5) is provided on the third bracket. A laser sensor (6) is provided on the top surface of the lower housing (9).

2. The square aerodynamic control according to claim 1, characterized in that: The third bracket also serves as the ranging plate for the laser sensor (6).

3. A square aerodynamic control system according to claim 1, characterized in that: An electric proportional valve (4) and a terminal block (3) are installed on the top surface of the lower housing (9).

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