44 results about "Dynamic contact" patented technology

The utility model discloses a relay, a magnetic circuit part comprises an armature assembly, and the armature assembly rotates around a first axis; the contact part comprises a static contact piece and a movable contact piece, and further comprises an elastic piece; a driving part is arranged on one side of the armature assembly in the width direction, and the driving part is suitable for swinging in a first plane; the driving part drives the elastic part to drive the movable contact part to swing, and the elastic part is provided with a fixed part and an elastic part. The fixed part is fixedly connected with one of the driving part and the movable contact piece, the elastic part abuts against the other one of the driving part and the movable contact piece and is suitable for rotating around a second axis to deform when the driving part rotates so as to provide contact counter force towards the static contact piece for the movable contact piece, and the second axis is parallel to the first plane or forms a preset included angle with the first plane. According to the invention, when the moving contact and the static contact are closed, the required driving power of the coil assembly is relatively low, or the required coil assembly and the armature assembly are relatively small in size; and when the movable contact piece and the static contact piece are arranged, the coil assembly is good in anti-magnetic interference effect and reliable in breaking.

The utility model relates to the technical field of electronic control devices, in particular to a relay which comprises a movable contact assembly, a static contact assembly, a first elastic piece and a second elastic piece. The movable contact assembly can reciprocate along a first direction so as to be in contact with or separated from the static contact assembly; the movable contact assembly comprises a first movable contact piece and a second movable contact piece, and the first movable contact piece and the second movable contact piece are arranged along a first direction; the first elastic piece is connected with the first movable contact piece, and the second elastic piece is connected with the second movable contact piece; the first movable contact piece can move along a first direction relative to the static contact assembly so as to drive the second movable contact piece to move along the first direction relative to the static contact assembly; and the first elastic piece and the second elastic piece can generate elastic deformation when the movable contact assembly is in contact with the static contact assembly, so as to apply pressure towards the static contact assembly to the first movable contact piece and the second movable contact piece, thereby independently controlling the contact pressure between each movable contact piece and the static contact assembly.

The invention discloses a control method and device for cutting wires of a multi-wire cutting machine, and belongs to the technical field of stone cutting equipment.The control device comprises a rack, a take-up and pay-off assembly, four positioning rollers and an adjusting structure, and the adjusting structure comprises a plurality of adjusting rollers divided into a plurality of groups and a swing assembly arranged on the rack; a plurality of wire abutting blocks which are distributed on the different sets of adjusting rollers in a staggered mode at equal intervals are fixedly arranged on the surfaces of the adjusting rollers, and the swing assembly can guide the multiple sets of adjusting rollers to conduct synchronous reciprocating swing in a grouped mode. According to the control method and device for the cutting line of the multi-wire cutting machine, dynamic contact between the cutting line and the rough stone block is achieved by alternately abutting against the cutting sections, and the cutting load of the cutting line is effectively reduced while the high cutting efficiency of the multi-wire cutting machine is guaranteed.

The invention discloses a method and a system for calculating dynamic contact rigidity and damping of an assembly joint surface considering anisotropy, and belongs to the field of machine manufacturing. The method comprises the following steps: acquiring three-dimensional shape data of a joint surface, fitting micro-convex bodies with anisotropy, and acquiring characteristic parameters of all the micro-convex bodies; on the basis of the characteristic parameters of the micro-convex bodies and the static contact distance between the two surfaces of the joint surface, the micro-convex bodies capable of being contacted are judged, and static contact parameters of a contact pair formed by the micro-convex bodies capable of being contacted are calculated; based on the static contact parameters of the micro-convex body contact pairs, mechanical models of the micro-convex body contact pairs are established, and static contact loads of the micro-convex body contact pairs are calculated respectively; and calculating the contact rigidity and damping of the joint surface under dynamic disturbance based on the static contact load and disturbance displacement of all the micro-convex body contact pairs. The method provides a theoretical model and a scientific basis for predicting the contact characteristics of the assembly joint surface, and is of great significance in promoting the progress and application of digital design, manufacturing and assembly of the joint surface.

The application discloses a shaft-hole assembly insertion method based on a gating cycle unit. The method classifies and predicts dynamic contact force with time sequence information in the shaft-hole assembly process based on a gating cycle network, and realizes the shaft-hole assembly insertion task of a base in an uncertain posture in combination with speed-based admittance control. Different contact states are mainly divided into eight categories, which are located on the coordinate axes and between the coordinate axes of a Cartesian coordinate system. The change process of each category of contact state is from the existence of a certain inclination posture difference between the shaft and the hole to the smooth insertion of the shaft into the hole. Based on the gating cycle unit method, the contact state recognition of eight different dynamic contact force sequences can be quickly realized. The application can realize the shaft-hole assembly task of the base in the uncertain posture, the dynamic contact force with the time sequence information can improve the accuracy of the contact state recognition, and the data-driven method can make it quickly migrate to other shaft-hole assembly platforms.

The invention relates to the technical field of electrical equipment, and discloses a single-side outgoing line contact structure, which comprises a static contact piece and a moving contact piece, the static contact piece comprises a first supporting part, a plurality of groups of static contact units are fixed on one side of the static contact piece, each group comprises two static contacts, the moving contact piece comprises a second supporting part, and the moving contact piece is opened along the length direction to form a gap for inserting the static contacts. A plurality of groups of moving contact units are installed inside the moving contact, each group of moving contact units comprises two moving contact conducting bars and two symmetrically arranged moving contact supporting elastic sheets, the tops of the elastic sheets are linked with contacts, the two elastic sheets are located between the two conducting bars, contact pressure springs are linked between the opposite sides of the conducting bars and supporting parts, and the springs directly act on the contact occlusion positions. Contact resistance is reduced, and conductive reliability is improved; through the arrangement of the static contact, the moving contact, the conducting bar, the pressure spring and the supporting elastic piece, relative rolling of the moving contact is achieved in the movement process, abrasion is reduced, the driving torque is reduced, the width of the static contact is effectively reduced, and then the length size of the overall structure is reduced.

The utility model discloses a novel supporting structure which comprises a machine head. The supporting unit is arranged on the machine head, and the supporting unit is used for supporting and restraining the machine head; and the contact assembly and the bending assembly are both arranged on the supporting unit, and the contact assembly and the bending assembly are used for supporting the machine head in an auxiliary mode. The risk that the single-wheel machine head is prone to rollover during operation is reduced through the supporting units, the bottom end of the single-wheel machine head is in dynamic contact with the frame of the assembly in the operation process, when the machine body tends to incline, the contact force of the contact assembly and the frame can generate reverse torque, rollover acting force is rapidly counteracted, equipment is kept in a stable translation state all the time, and the service life of the single-wheel machine head is prolonged. Therefore, the walking wheels can normally run and roll, the rear seat of the machine head cannot rotate, the balance of the machine body is guaranteed, the machine body is not prone to rollover, and the posture change of the machine body is responded in real time.

The application relates to a compression-type arc-extinguishing chamber, which comprises a static contact mechanism, a dynamic contact mechanism, a cylinder mechanism and an elastic member. The dynamic contact mechanism is disconnectably matched with the static contact mechanism along a first direction. The cylinder mechanism comprises a fixed piston and a cylinder body, and the fixed piston is fixedly arranged relative to the static contact mechanism. The cylinder body is matched with the fixed piston along the first direction to form a piston cooperation. The elastic member is arranged between the dynamic contact mechanism and the cylinder body. The cylinder body and the dynamic contact mechanism are movably matched along the first direction and are driven through the elastic member. In the disconnecting process, due to the compression and blocking effect of the compression chamber, when the cylinder body is obviously resisted and the speed is sharply reduced, the dynamic contact mechanism can continuously deform through the elastic member to move relative to the cylinder body, and cannot be synchronously reduced with the cylinder body, so that the speed change is more stable in the disconnecting process, the dynamic contact mechanism can continuously move along the disconnecting direction, and the risk of disconnecting failure is reduced.

The present invention discloses an automatic gluing device for the bottom of a shoe last and upper combination. The device includes a gluing device for causing glue to adhere to the bottom of the combination, and a fixed base for fixing the bottom of the combination with the bottom facing upward on the fixed base. The fixed base or the gluing device can rotate, and a portion of the gluing device is in dynamic contact with the outer contour of the combination. In this way, the gluing device can move relative to the outer contour of the combination and cause glue to adhere to a target area of the bottom of the combination. The present invention can achieve automatic gluing of the bottom of a shoe last and upper combination.

A sealing arrangement is disclosed for sealing between a first component (200) and a second component (300), which are rotatable relative to each other. The sealing arrangement (100) comprises a frame (10) and a sealing body (20), the sealing body (20) being attached to an outer wall of the frame (10). The sealing body (20) is provided with sealing lips (21), the sealing lips (21) being dynamically in contact with the second component (300). The sealing lips (21) comprise a main lip (211) and dust lips (212), the main lip (211) and the dust lips (212) being axially spaced apart, and a first annular cavity (213) being formed between the main lip (211), the dust lips, and the second component (300).The dust lips (212) comprise at least a first dust lip (2121) and a second dust lip (2122), wherein the second dust lip (2122) is used for dynamic contact with the second component (300) and the second dust lip (2122) is provided with a vent hole (2123) that extends through the second dust lip (2122). The vent hole (2123) communicates with the first annular cavity (213), and the first dust lip (2121) is located on the side of the second dust lip (2122) away from the first annular cavity (213) and is used to cover the vent hole (2123) in the axial and radial directions.The problem of vacuum formation in the first annular cavity is solved by the ventilation hole, and by using the first dust lip to cover the ventilation hole, the problems of leakage and failure due to accelerated wear of the sealing lips 21, caused by the direct ingress of contaminating particles into the first annular cavity through the ventilation hole, are solved. A bearing utilizing the described sealing arrangement is also disclosed.

The invention discloses a contact system, which comprises a shell, and an electromagnet, a contact support, a static contact and a moving contact which are arranged in the shell, and is characterized in that the static contact is arranged on a static contact piece, the static contact piece is arranged on the left side of the shell in a penetrating manner, the moving contact is arranged at the left lower end of a moving contact bridge, the middle part of the moving contact bridge is hinged in the shell, and the middle part of the moving contact bridge is hinged in the shell. The movable contact bridge is provided with an elastic piece for driving the movable contact bridge to rotate anticlockwise, a movable iron core of the electromagnet can abut against the right end of the movable contact bridge, the contact support is arranged on the upper side of the shell in a penetrating mode, and the lower end of the contact support abuts against the upper end of the right side of the movable contact bridge. According to the contact system, the electromagnet, the contact support, the static contact, the static contact piece, the moving contact, the moving contact bridge and the contact support are all installed in the shell in advance to form an independent contact system, finally the independent contact system is inserted into the base of the switching device, contact structures do not need to be installed in the limited base space one by one, and the assembly process is more convenient.

The application discloses a contact system and relay with anti-sticking function, which comprises a static spring part and a dynamic spring part; the dynamic spring part comprises a dynamic spring sheet and a dynamic contact, the dynamic contact is connected to one end of the dynamic spring sheet; the static spring part is provided with a static spring sheet; characterized in that: a bending part is arranged between two ends of the dynamic spring sheet, the bending part has an included angle with the length direction of the static spring sheet to generate an inclined electric repulsion force when a short-circuit current passes, the electric repulsion force has a parallel component with the length direction of the static spring sheet to act on the dynamic contact to realize anti-sticking. The application can effectively avoid the sticking or explosion of the dynamic spring part caused by the rebound of the dynamic spring part due to the short-circuit current.

1. The name of the design product: silicon light contact force sensor (guide force spring type). 2. The use of the design product: the shell and tail cable for packaging silicon light pressure sensing chip, suitable for measuring contact force, such as the dynamic contact force value between the subway pantograph and the contact line. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view 1.

The application discloses a dynamic contact bridge holding structure, which comprises a holding frame, a fixing piece, a dynamic contact piece and an elastic piece, wherein the holding frame comprises a first contact part and two first deformation parts which are integrally connected to two opposite sides of the first contact part and enclose a mounting port, and the inner sides of the two first deformation parts form abutting surfaces respectively; the two ends of the fixing piece are connected with the two first deformation parts respectively and close one side of the mounting port away from the first contact part; the dynamic contact piece and the elastic piece are arranged in the mounting port, the elastic piece is connected with the dynamic contact piece to provide elastic force to abut the dynamic contact piece against the fixing piece, and the dynamic contact piece is limited by the fixing piece to prevent the dynamic contact piece from being taken out of the mounting port. In the application, since the two ends of the fixing piece are connected with the two first deformation parts respectively, the holding frame cannot shake, and thus the positioning of the dynamic contact bridge is not affected.

This invention relates to an installation structure for a brushless motor rotor, comprising a rotor with a through-hole at its center for axially mounting a steel shaft onto the rotor; a magnet, fitted around the outer periphery of the rotor; and an elastic limiting structure surrounding the shaft hole on the rotor. The elastic limiting structure includes a limiting side and an elastic side arranged circumferentially, which together form an elastic limiting channel coaxial with the shaft hole. The limiting side is formed on a limiting claw, limiting the steel shaft radially; the elastic side is formed on an elastic claw, which can bend and deform relative to the shaft hole to create a dynamic gap between the elastic side and the steel shaft. The advantages of this invention are: by providing an elastic limiting structure, while maintaining the coaxiality of the steel shaft and rotor, dynamic gap compensation eliminates the gap between the rotor and the steel shaft in real time, maintaining dynamic contact with the steel shaft, avoiding radial wobble of the rotor and rigid collision with the steel shaft, and reducing the mechanical noise of the motor.

The invention relates to a dynamic sealing system comprising a central portion (20) with an outer surface (20A) provided with a first annular groove (202) accommodating a sealing segment (210) made of a first material, and a peripheral portion (22) with an inner surface (22A) provided with a second annular groove (212) accommodating an O-ring seal (220), made of a second material, positioned between a bottom (216) of the second annular groove (212) and the sealing segment (210). The second material has a hardness less than that of the first material. The sealing segment (210) has a bending stiffness greater than that of the O-ring seal (220). The O-ring seal (220) ensures static contact of the sealing segment (210) with the peripheral portion (22). The sealing segment (210) has a dynamic sealing face (210D) with respect to a flank (204B) of the first annular groove (202). The use of different materials for respectively ensuring static contact and dynamic contact allows each of these contacts to be optimized.

The application discloses a neutral pole contact structure of a circuit breaker, which comprises a shell structure, a static contact, a dynamic contact, a driving component and a biasing component. The dynamic contact is provided with a driving groove. The driving component is provided with a driving part. The driving part and the biasing component are in transmission cooperation at the driving groove, so that the transmission of the resultant force between the driving component and the dynamic contact is realized. The thrust received by the driving component when the driving component is closed can be converted into the biasing force applied by the biasing component to the dynamic contact. The direction of the biasing force is consistent with the closing force direction of the dynamic contact. The dynamic contact is rapidly closed under the action of the resultant force, the stress is stable and uniform, the dynamic contact and the static contact are more stably connected, the problem of poor contact of the circuit breaker is avoided, and the contact structure is simple in structure, convenient to install, time-saving and labor-saving in production and assembly, and is favorable for mass production of the product.

The invention relates to a wafer anti-sticking transmission mechanism, which comprises a machine base, a driving motor, a first eccentric wheel, a sliding piece, a supporting assembly and a second eccentric wheel, and is characterized in that the supporting assembly comprises a swinging piece and a rod piece; the rod piece is inserted into the wafer loading frame to extract the wafer, the first eccentric wheel is driven by the driving motor to rotate so as to drive the sliding piece to reciprocate in the vertical direction, the second eccentric wheel is further driven by the sliding piece to rotate, and finally the swing pieces on the two sides and the rod piece are driven to swing synchronously. Continuous static contact between the surface of the rod piece and the surface of the wafer is effectively avoided, in the cooling stage after the wafer is subjected to chemical liquid treatment, the dynamic contact mode can remarkably break the solidification and crystallization process of a corrosive residual liquid film at a contact point, and therefore the adhesion problem between the rod piece and the wafer is fundamentally solved; along with the completion of the process, the temperature of the wafer is gradually reduced to room temperature or a preset safe temperature range in a controllable environment; at this time, since adhesion has been successfully prevented, the wafer can be extracted or transferred efficiently and without loss.

The utility model provides an unlocking in-place indication switch assembly, which comprises a switch body, a large shell, a mounting seat and a connector socket, the switch body is arranged in the large shell, the mounting seat is fixed on the large shell, the connector socket is fixed on the mounting seat, and a lead of the switch body penetrates through the mounting seat and is crimped on the connector socket; the switch body comprises a movable contact system, a static contact system, a small shell, a spring system, a fixing seat and a lead-out wire, the movable contact system is placed in an inner cavity of the small shell, and the lower end of the movable contact system penetrates through the spring system arranged in the inner cavity of the small shell; the static contact system is arranged at the lower part of the small shell inner cavity; the leading-out wire is fixed on a contact reed in the static contact system; a contact mechanism formed by connecting three pairs of contact reeds in parallel can bear strong vibration and strong impact from six degrees of freedom and keep contact of contacts all the time, so that the contact reliability and stability of the switch are improved.

The invention relates to the technical field of electrical connection, in particular to a change-over switch. The switch comprises a shell, a contact support, a rocker arm, a static contact and a moving contact. The contact support is in sliding connection with the shell and can reciprocate in the first direction. The rocker arm is rotationally connected with the shell, and the rotating plane of the rocker arm is parallel to the plane defined by the first direction and the second direction. The rocker arm is located between the first installation part and the second installation part of the contact support, the first end is in contact with the first installation part, and the second end is close to the second installation part and provided with the static contact. And the moving contact is mounted on the second mounting part. During opening, the moving contact moves away from the static contact, the static contact moves away along with rotation of the rocker arm, the moving contact and the static contact move in a staggered mode, the opening distance is increased, and arc extinguishing is promoted. And during closing, the moving contact and the static contact move in opposite directions, so that the closing speed can be increased.

The invention relates to a cylindrical roller bearing structure design method suitable for ultrahigh-temperature and heavy-load working conditions, and aims to solve the problem that in the prior art, a multi-physical field coupling effect under ultrahigh-temperature and heavy-load conditions is not fully considered in cylindrical roller bearing structure optimization design. The cylindrical roller bearing structure design method comprises the following steps that 1, an ultrahigh-temperature and heavy-load cylindrical roller bearing multi-physical field coupling model is constructed; 2, bearing key parameter sensitivity analysis is carried out; 3, establishing a multi-objective optimization function taking the maximum contact force and the contact force unevenness as objectives, and setting constraint conditions; 4, parameter optimization based on an improved particle swarm algorithm; and 5, verifying and correcting the optimization scheme. According to the method, the thermal-structure-dynamics coupling model is established, the material performance change, thermal deformation and dynamic contact behaviors in the ultra-high-temperature environment are brought into a unified optimization framework for the first time, the limitation of traditional separated design is overcome, and the design precision is improved. The invention relates to the technical field of bearing design and manufacturing.

The invention provides a push-type small travel switch resistant to high-speed impact. The push-type small travel switch comprises a shell, the movable contact system and the static contact system are installed in the shell, a base is arranged in the shell, and the base is arranged between the static contact system and the movable contact system; the static contact system comprises a base mounted at the bottom of the shell, and a fixed seat and an insulating seat are sequentially sleeved outside the base; a contact reed is arranged between the base and the fixed seat, and a wire is welded at the lower end of the contact reed; the movable contact system comprises a pressing handle mounted at the top of the shell, and one end of the pressing handle is sequentially sleeved with an inner insulating bush and an outer insulating bush; a movable contact ring is arranged between the inner insulating bush and the outer insulating bush, and a fixing nut is arranged at the lower end of the pressing handle; a pressure spring is sleeved outside the base, and one end of the pressure spring is contacted with the moving contact ring. According to the invention, the reset force of the pressure spring is increased, and the contact reed adopts a parallel shunting redundancy design, so that the contact reliability of the switch under a high-speed impact pressing working condition can be effectively improved; by adopting the circular shell design and the compact internal structure layout, on the premise of meeting various performance requirements, the volume and the size of the travel switch are reduced as much as possible, so that the travel switch can be conveniently mounted in various mechanisms with limited spaces, and the requirements of modern industry on miniaturization and integration of equipment are met.

The utility model discloses a movable spring part of a relay and an electromagnetic relay, the movable spring part comprises a movable spring leading-out sheet, a movable contact and a movable spring sheet, the movable contact is arranged on the movable spring sheet, one end of the movable spring leading-out sheet is connected with one end of the movable spring sheet, and the other end of the movable spring leading-out sheet and the other end of the movable spring sheet extend at the same side. The movable spring lead-out sheet is positioned on one side, deviating from the movable contact, of the movable spring sheet in the thickness direction, so that the direction of current flowing through the movable spring lead-out sheet is opposite to that of current flowing through the movable spring sheet; the other end, corresponding to the movable contact spring, of the movable contact spring leading-out piece is provided with a concave part, so that when the movable contact spring swings in place towards one side of the movable contact spring leading-out piece, at least part of the other end of the movable contact spring enters the concave part. Therefore, in order to satisfy the contact gap, the relay does not need to leave a large distance between the movable spring leading-out sheet and the movable spring sheet, so that the movable spring leading-out sheet is ensured to be closer to the movable spring sheet, the area surrounded by the movable spring sheet and the movable spring leading-out sheet is reduced, and the short-circuit current resistance can be improved.

The invention belongs to the technical field of circuit breakers, and particularly relates to a miniature circuit breaker with an anti-rebound structure. The circuit breaker comprises a shell, a static contact piece, a movable contact piece and an arc extinguish chamber, and further comprises a driving frame used for controlling closing or opening of the static contact piece and the movable contact piece, and an operating rod is arranged on the driving frame; a first connecting rod is rotationally connected between the torsion seat and the driving frame, a supporting plate is fixedly connected to the static contact piece, and a second connecting rod is rotationally connected between the torsion seat and the supporting plate; the torsion seat is provided with a jumping rod clamped with the lock frame, and the lock frame is connected with a first tension spring; an ejector rod is connected in the electromagnetic solenoid; the anti-bounce mechanism is used for preventing the moving contact from bouncing after opening, and the anti-bounce mechanism is connected with the driving frame; the anti-rebound mechanism is arranged, the anti-rebound mechanism is provided with the ratchet wheel and the pawl, the driving frame drives the ratchet wheel to rotate in the opening process, the ratchet wheel is limited through the pawl, reverse rotation of the ratchet wheel is avoided, and therefore rebound of the movable contact piece is avoided.

1. The name of the design product: high-speed rotating dynamic contact angle measuring instrument. 2. The use of the design product: for dynamic water drop angle calculation and testing of glass, wafer and other products. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view 1.

The invention provides a movable contact assembly, a contact system and a relay thereof, a movable contact spring is provided with a movable contact, the movable contact spring is provided with at least two movable contact spring shaft holes, a pressure spring is in elastic contact with the movable contact spring, the pressure spring is provided with at least two pressure spring shaft holes, the number of mandrels is configured to be at least two, and the number of the mandrels is configured to be at least two. And each core shaft is arranged in one movable spring shaft hole of the movable spring sheet and one pressure spring shaft hole of the pressure spring sheet in a penetrating manner. The number of the mandrels is at least two, and the pressure spring sheet and the movable spring sheet are relatively assembled by using only one mandrel. Therefore, the two or more mandrels between the movable reed and the pressure reed can prevent the movable contact assembly from generating fixed-axis rotation based on a fixed-axis rotation axis provided by one mandrel, and the two or more mandrels are utilized to resist the circumferential rotation of the movable contact assembly. Therefore, accurate counterpoint contact between the movable contact of the contact assembly and the static contact of the static contact assembly can be ensured, and the contact stability is improved.

The utility model discloses an environmental protection cabinet isolation switch, comprising a rack, a static contact fixedly installed on the rack, an operation shaft rotatably installed on the rack, and a plurality of moving contact mechanisms arranged on the operation shaft, each moving contact mechanism comprises two moving contact sheets installed on the operation shaft, and the two moving contact sheets can rotate along with the operation shaft. A bolt is arranged between the two movable contact pieces in a penetrating mode, one end of the bolt is in threaded connection with a nut, sheaths are symmetrically arranged on the outer side of the bolt, sleeves are arranged in the sheaths and installed on the outer side of the bolt in a sliding mode, and a plurality of limiting holes which are annularly distributed at equal intervals are formed in the sides, close to the penetrating holes, of the sleeves. According to the utility model, through the arrangement of the plurality of springs which are annularly distributed at equal intervals, when the movable contact piece is contacted with the static contact, each spring can contribute a certain pressure, so that the force applied to the movable contact piece is more uniform, the stable contact pressure is jointly maintained, the good contact between the movable contact piece and the static contact is ensured, and the contact stability is improved.

The application discloses a parallel force control end effector in the technical field of robot intelligent manufacturing, which comprises a moving platform, three supporting points arranged on the moving platform, and a single-degree-of-freedom driving unit connected with each supporting point through a supporting chain structure, wherein the distance from each supporting point to the center of the moving platform is equal, and the bottom of the single-degree-of-freedom driving unit is connected with a fixed base. The parallel force control end effector is composed of the moving platform, three single-degree-of-freedom driving units moving independently, the supporting chain structure and the fixed base. The fixed base is connected with a robot end flange, and the three-degree-of-freedom force control function of the end effector is utilized to complete the contact type operation of the robot, and the parallel force control end effector has the advantages of large force-to-mass ratio, high output force value, low system inertia and the like, and solves the high-frequency dynamic contact force control problem during grinding of large and complex components of the robot.