阅读说明：本技术 一种气动自适应恒力装置的控制方法、装置及系统 (Control method, device and system of pneumatic self-adaptive constant force device ) 是由 严思杰 郑志伟 杨光发 于 2020-06-05 设计创作，主要内容包括：本发明涉及恒力控制技术领域,具体公开了一种气动自适应恒力装置的控制方法,其中,包括：根据预设的目标恒力控制参数输出对应的目标恒力控制参数控制信号；获取与当前的目标恒力控制参数控制信号对应的实时实际恒力控制参数；判断目标恒力控制参数与实时实际恒力控制参数的差值是否在预设误差范围内；若不在,则根据预设的目标恒力控制参数与实时实际恒力控制参数的差值输出对应的力控制信号；若在,则将当前的实时实际恒力控制参数确定为目标恒力控制参数。本发明还公开了一种气动自适应恒力装置的控制装置及气动自适应恒力系统。本发明提供的气动自适应恒力装置的控制方法能够实现高质量机械加工。(The invention relates to the technical field of constant force control, and particularly discloses a control method of a pneumatic self-adaptive constant force device, wherein the control method comprises the following steps: outputting a corresponding target constant force control parameter control signal according to a preset target constant force control parameter; acquiring real-time actual constant force control parameters corresponding to the current target constant force control parameter control signals; judging whether the difference value of the target constant force control parameter and the real-time actual constant force control parameter is within a preset error range; if not, outputting a corresponding force control signal according to the difference value of the preset target constant force control parameter and the real-time actual constant force control parameter; and if so, determining the current real-time actual constant force control parameter as a target constant force control parameter. The invention also discloses a control device of the pneumatic self-adaptive constant force device and a pneumatic self-adaptive constant force system. The control method of the pneumatic self-adaptive constant force device can realize high-quality machining.)

1. A control method of a pneumatic adaptive constant force device is characterized by comprising the following steps:

outputting a corresponding target constant force control parameter control signal according to a preset target constant force control parameter;

acquiring real-time actual constant force control parameters corresponding to the current target constant force control parameter control signals;

judging whether the difference value of a preset target constant force control parameter and the real-time actual constant force control parameter is within a preset error range;

if the target constant force control parameter is not within the preset error range, outputting a corresponding force control signal according to the difference value of the preset target constant force control parameter and the real-time actual constant force control parameter, and returning to the step of acquiring the real-time actual constant force control parameter corresponding to the current target constant force control parameter control signal;

and if the current real-time actual constant force control parameter is within the preset error range, determining the current real-time actual constant force control parameter as a target constant force control parameter.

2. The method of controlling a pneumatic adaptive constant force device according to claim 1, wherein when adaptive control of a contact force is realized, the method of controlling a pneumatic adaptive constant force device includes:

outputting a corresponding voltage regulating signal according to a preset target contact force;

acquiring real-time actual contact force corresponding to the current voltage regulating signal;

acquiring air pressure corresponding to the real-time actual contact force;

calculating a first difference value between the preset target contact force and the real-time actual contact force;

if the first difference value is not within the preset error range, calculating corresponding first air pressure according to the first difference value, generating a pressure regulating signal according to the first air pressure, and returning to the step of acquiring the real-time actual contact force corresponding to the current pressure regulating signal;

and if the first difference value is within a preset error range, determining the current real-time actual contact force as the target contact force.

3. The control method of a pneumatic adaptive constant force device according to claim 1, when adaptive recognition control of a load is implemented, the control method of a pneumatic adaptive constant force device comprising:

outputting a corresponding target displacement control signal according to the preset target relative displacement;

acquiring real-time actual relative displacement corresponding to a current target displacement control signal;

calculating a second difference value between the preset target relative displacement and the real-time actual relative displacement;

if the second difference value is not within the preset error range, calculating corresponding second air pressure according to the second difference value, generating a pressure regulating signal according to the second air pressure, and returning to the step of acquiring real-time actual relative displacement corresponding to the current target displacement control signal;

and if the second difference value is within a preset error range, determining the current real-time actual relative displacement as the target relative displacement.

4. A control device for a pneumatic adaptive constant force device, comprising a memory and a processor, wherein the memory is in communication connection with the processor, the memory is used for storing computer instructions, and the processor is used for loading and executing the computer instructions to realize the control method for the pneumatic adaptive constant force device according to any one of claims 1 to 3.

5. A pneumatic adaptive constant force system, comprising: a housing, wherein a sensor assembly, a proportional valve assembly, a cylinder and the control device of the pneumatic adaptive constant force device according to claim 4 are arranged in the housing, a first flange is arranged at one end of the housing, a second flange is arranged at the other end of the housing and is used for connecting a processing tool, the sensor assembly and the proportional valve assembly are both in communication connection with the control device of the pneumatic adaptive constant force device, the cylinder is connected with the proportional valve assembly, and the second flange is connected with the cylinder,

the sensor assembly is used for acquiring real-time actual constant force control parameters;

the control device of the pneumatic self-adaptive constant force device is used for generating a force control signal according to a preset target constant force control parameter and the real-time actual constant force control parameter;

the proportional valve assembly is used for outputting corresponding air pressure to the air cylinder according to the force control signal;

the air cylinder is used for driving the second flange to generate relative displacement relative to the first flange under corresponding air pressure.

6. The pneumatic adaptive constant force system according to claim 5, further comprising a mounting plate, wherein the first flange is connected to one end of the housing through the mounting plate, a mounting support and a proportional valve assembly mounting plate are further arranged in the housing, and the mounting support and the proportional valve assembly mounting plate are both connected to the mounting plate and are located on the inner side of the mounting plate; an air cylinder mounting plate is arranged at one end, away from the mounting disc, of the mounting support, the output end of the air cylinder and the body of the air cylinder are respectively positioned at two sides of the air cylinder mounting plate, and the proportional valve assembly is mounted on the proportional valve assembly mounting plate; an electromagnetic valve mounting plate is arranged above the mounting support, and the electromagnetic valve is mounted on the electromagnetic valve mounting plate; the electromagnetic valve is respectively connected with the proportional valve assembly and the control device of the pneumatic self-adaptive constant force device; the output end of the air cylinder is connected with one end of the floating joint, and the other end of the floating joint is connected with the second flange.

7. The pneumatic adaptive constant force system according to claim 6, further comprising a guide mechanism, the guide mechanism being connected to the mounting seat and the second flange, respectively.

8. The pneumatic adaptive constant force system according to claim 6, wherein the housing comprises a first outer cover, a second outer cover and a telescopic cover, one end of the first outer cover and one end of the second outer cover are both connected with the mounting plate, the other end of the first outer cover and the other end of the second outer cover are both connected with one end of the telescopic cover, the other end of the telescopic cover is connected with the second flange, the first outer cover and the second outer cover are connected, the first outer cover is connected with the cylinder mounting plate, a touch display screen is arranged on the second outer cover, and the touch display screen is in communication connection with the control device of the pneumatic adaptive constant force device.

9. The pneumatic adaptive constant force system according to claim 6, wherein the mounting plate is provided with a pneumatic elbow joint and a communication interface, the pneumatic elbow joint is connected with the proportional valve assembly, and the communication interface is connected with a control device of the pneumatic adaptive constant force device.

10. The pneumatic adaptive constant force system of claim 5, wherein the sensor assembly comprises a displacement sensor, a tilt sensor, and a pull pressure sensor assembly, the displacement sensor, the inclination angle sensor and the pull pressure sensor assembly are all in communication connection with the control device of the pneumatic adaptive constant force device, the displacement sensor is fixedly connected with the cylinder, the inclination angle sensor is arranged adjacent to the control device of the pneumatic self-adaptive constant force device, the tension and pressure sensor assembly is connected with the second flange through a tension and pressure sensor mounting bracket, the displacement sensor is used for acquiring the extending or retracting distance of the air cylinder, the tilt angle sensor is used for acquiring the included angle between the pneumatic self-adaptive constant-force system and the horizontal direction, the pull pressure sensor assembly is used for acquiring the contact force between the tail end machining tool of the second flange and the workpiece to be machined.

Technical Field

The invention relates to the technical field of constant force control, in particular to a control method of a pneumatic self-adaptive constant force device, a control device of the pneumatic self-adaptive constant force device and a pneumatic self-adaptive constant force system.

Background

With the increasing requirements of people on the living matter level and the environmental improvement, the operation of enterprises on the machining process is gradually developed from manual operation to mechanical automation and even to intellectualization. The machining surface quality of a workpiece is also required to be higher, the machining equipment is also required to be higher in precision and control and regulation capacity, for example, grinding machining is carried out, the machining equipment in China mostly belongs to rigid machining when machining is carried out, the machining contact force between a machining tool and the machining tool cannot be automatically regulated, controllability is poor, the contact force cannot be fed back and controlled in real time, and therefore high-quality machining cannot be achieved.

Disclosure of Invention

The invention provides a control method of a pneumatic self-adaptive constant force device, a control device of the pneumatic self-adaptive constant force device and a pneumatic self-adaptive constant force system, which solve the problem that high-quality machining cannot be carried out on a workpiece to be machined in the related technology.

As a first aspect of the present invention, there is provided a control method of a pneumatic adaptive constant force device, including:

outputting a corresponding target constant force control parameter control signal according to a preset target constant force control parameter;

acquiring real-time actual constant force control parameters corresponding to the current target constant force control parameter control signals;

judging whether the difference value of a preset target constant force control parameter and the real-time actual constant force control parameter is within a preset error range;

if the target constant force control parameter is not within the preset error range, outputting a corresponding force control signal according to the difference value of the preset target constant force control parameter and the real-time actual constant force control parameter, and returning to the step of acquiring the real-time actual constant force control parameter corresponding to the current target constant force control parameter control signal;

and if the current real-time actual constant force control parameter is within the preset error range, determining the current real-time actual constant force control parameter as a target constant force control parameter.

Further, when the adaptive control of the contact force is realized, the control method of the pneumatic adaptive constant force device comprises the following steps:

outputting a corresponding voltage regulating signal according to a preset target contact force;

acquiring real-time actual contact force corresponding to the current voltage regulating signal;

acquiring air pressure corresponding to the real-time actual contact force;

calculating a first difference value between the preset target contact force and the real-time actual contact force;

if the first difference value is not within the preset error range, calculating corresponding first air pressure according to the first difference value, generating a pressure regulating signal according to the first air pressure, and returning to the step of acquiring the real-time actual contact force corresponding to the current pressure regulating signal;

and if the first difference value is within a preset error range, determining the current real-time actual contact force as the target contact force.

Further, when the adaptive identification control of the load is implemented, the control method of the pneumatic adaptive constant force device includes:

outputting a corresponding target displacement control signal according to the preset target relative displacement;

acquiring real-time actual relative displacement corresponding to a current target displacement control signal;

calculating a second difference value between the preset target relative displacement and the real-time actual relative displacement;

if the second difference value is not within the preset error range, calculating corresponding second air pressure according to the second difference value, generating a pressure regulating signal according to the second air pressure, and returning to the step of acquiring real-time actual relative displacement corresponding to the current target displacement control signal;

and if the second difference value is within a preset error range, determining the current real-time actual relative displacement as the target relative displacement.

As another aspect of the present invention, a control device of a pneumatic adaptive constant force device is provided, which includes a memory and a processor, wherein the memory is connected to the processor in a communication manner, the memory is used for storing computer instructions, and the processor is used for loading and executing the computer instructions to implement the control method of the pneumatic adaptive constant force device described above.

As another aspect of the present invention, there is provided a pneumatic adaptive constant force system, comprising: a housing, wherein a sensor assembly, a proportional valve assembly, a cylinder and the control device of the pneumatic adaptive constant force device are arranged in the housing, one end of the housing is provided with a first flange, the other end of the housing is provided with a second flange, the second flange is used for connecting a processing tool, the sensor assembly and the proportional valve assembly are both in communication connection with the control device of the pneumatic adaptive constant force device, the cylinder is connected with the proportional valve assembly, and the second flange is connected with the cylinder,

the sensor assembly is used for acquiring real-time actual constant force control parameters;

the control device of the pneumatic self-adaptive constant force device is used for generating a force control signal according to a preset target constant force control parameter and the real-time actual constant force control parameter;

the proportional valve assembly is used for outputting corresponding air pressure to the air cylinder according to the force control signal;

the air cylinder is used for driving the second flange to generate relative displacement relative to the first flange under corresponding air pressure.

Further, the pneumatic self-adaptive constant-force system further comprises a mounting disc, the first flange is connected with one end of the shell through the mounting disc, a mounting support and a proportional valve assembly mounting plate are further arranged in the shell, and the mounting support and the proportional valve assembly mounting plate are both connected with the mounting disc and are located on the inner side of the mounting disc; an air cylinder mounting plate is arranged at one end, away from the mounting disc, of the mounting support, the output end of the air cylinder and the body of the air cylinder are respectively positioned at two sides of the air cylinder mounting plate, and the proportional valve assembly is mounted on the proportional valve assembly mounting plate; an electromagnetic valve mounting plate is arranged above the mounting support, and the electromagnetic valve is mounted on the electromagnetic valve mounting plate; the electromagnetic valve is respectively connected with the proportional valve assembly and the control device of the pneumatic self-adaptive constant force device; the output end of the air cylinder is connected with one end of the floating joint, and the other end of the floating joint is connected with the second flange.

Further, the pneumatic adaptive constant-force system further comprises a guide mechanism, and the guide mechanism is connected with the mounting support and the second flange respectively.

Further, the casing includes first dustcoat, second dustcoat and flexible cover, the one end of first dustcoat with the one end of second dustcoat is all connected the mounting disc, the other end of first dustcoat with the other end of second dustcoat is all connected the one end of flexible cover, the other end of flexible cover is connected the second flange, first dustcoat with the second dustcoat is connected, just first dustcoat with the cylinder mounting panel is connected, set up touch display screen on the second dustcoat, touch display screen with the controlling means communication connection of pneumatic self-adaptation constant force device.

Further, the mounting disc is provided with a pneumatic elbow joint and a communication interface, the pneumatic elbow joint is connected with the proportional valve assembly, and the communication interface is connected with a control device of the pneumatic self-adaptive constant-force device.

Further, the sensor assembly comprises a displacement sensor, an inclination angle sensor and a pull pressure sensor assembly, wherein the displacement sensor, the inclination angle sensor and the pull pressure sensor assembly are all in communication connection with a control device of the pneumatic self-adaptive constant force device, the displacement sensor is fixedly connected with the air cylinder, the inclination angle sensor is adjacent to the control device of the pneumatic self-adaptive constant force device, the pull pressure sensor assembly is connected with the second flange through a pull pressure sensor mounting bracket, the displacement sensor is used for collecting the extending or retracting distance of the air cylinder, the inclination angle sensor is used for collecting the included angle between the pneumatic self-adaptive constant force system and the horizontal direction, and the pull pressure sensor assembly is used for collecting a terminal processing tool of the second flange and the contact force of the workpiece to be processed.

The control method of the pneumatic self-adaptive constant force device provided by the invention can output the corresponding target constant force control parameter control signal according to the preset target constant force control parameter, acquire the real-time actual constant force control parameter according to the current target constant force control parameter control signal, and then self-adaptively adjust the force control signal according to the real-time actual constant force control parameter to finally acquire the target constant force control parameter meeting the requirement. The control method of the pneumatic self-adaptive constant force device can feed back and realize constant force control in real time, and can solve the problems that the machining force cannot be automatically adjusted, the controllability is poor, and the real-time feedback and constant force control cannot be realized.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

Fig. 1 is a flowchart of a control method of a pneumatic adaptive constant force device provided by the invention.

FIG. 2 is a control flow chart of the single neuron adaptive PID constant force control method provided by the invention.

Fig. 3 is a control flow chart of the automatic load identification method based on the position closed-loop control provided by the present invention.

Fig. 4 is a schematic structural diagram of a pneumatic adaptive constant force system provided by the present invention.

Fig. 5 is a schematic structural diagram of a mounting bracket provided by the invention.

Fig. 6 is a schematic structural diagram of a guide mechanism provided by the present invention.

Fig. 7 is a schematic structural diagram of a proportional valve assembly provided by the present invention.

Fig. 8 is a schematic structural diagram of a pull pressure sensor assembly provided by the present invention.

Fig. 9 is a schematic structural diagram of a first flange provided by the present invention.

Fig. 10 is a schematic structural diagram of a mounting plate provided by the present invention.

Fig. 11 is a schematic structural view of the cylinder mounting plate provided by the present invention.

Fig. 12 is a schematic structural view of a second flange provided by the present invention.

Fig. 13 is a schematic structural diagram of a solenoid valve provided in the present invention.

Fig. 14 is a schematic structural view of a tension and pressure sensor mounting bracket provided by the present invention.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In the present embodiment, a control method of a pneumatic adaptive constant force device is provided, and fig. 1 is a flowchart of a control method of a pneumatic adaptive constant force device according to an embodiment of the present invention, as shown in fig. 1, including:

s110, outputting a corresponding target constant force control parameter control signal according to a preset target constant force control parameter;

s120, acquiring real-time actual constant force control parameters corresponding to the current target constant force control parameter control signals;

s130, judging whether the difference value of a preset target constant force control parameter and the real-time actual constant force control parameter is within a preset error range;

s140, if the target constant force control parameter is not within the preset error range, outputting a corresponding force control signal according to the difference value of the preset target constant force control parameter and the real-time actual constant force control parameter, and returning to the step of acquiring the real-time actual constant force control parameter corresponding to the current target constant force control parameter control signal;

and S150, if the current real-time actual constant force control parameter is within the preset error range, determining the current real-time actual constant force control parameter as a target constant force control parameter.

The control method of the pneumatic self-adaptive constant force device provided by the embodiment of the invention can output the corresponding target constant force control parameter control signal according to the preset target constant force control parameter, acquire the real-time actual constant force control parameter according to the current target constant force control parameter control signal, and then self-adaptively adjust the force control signal according to the real-time actual constant force control parameter, thereby finally acquiring the target constant force control parameter meeting the requirement. The control method of the pneumatic self-adaptive constant force device can feed back and realize constant force control in real time, and can solve the problems that the machining force cannot be automatically adjusted, the controllability is poor, and the real-time feedback and constant force control cannot be realized.

Specifically, when adaptive control of the contact force is realized, the control method of the pneumatic adaptive constant force device comprises the following steps:

outputting a corresponding voltage regulating signal according to a preset target contact force;

acquiring real-time actual contact force corresponding to the current voltage regulating signal;

acquiring air pressure corresponding to the real-time actual contact force;

calculating a first difference value between the preset target contact force and the real-time actual contact force;

if the first difference value is not within the preset error range, calculating corresponding first air pressure according to the first difference value, generating a pressure regulating signal according to the first air pressure, and returning to the step of acquiring the real-time actual contact force corresponding to the current pressure regulating signal;

and if the first difference value is within a preset error range, determining the current real-time actual contact force as the target contact force.

Fig. 2 is a control schematic diagram of a control method of a pneumatic adaptive constant force device according to an embodiment of the present invention. When the self-adaptive control of the contact force is realized, a preset target contact force Ft (k) of a pneumatic self-adaptive constant force system, which is in contact with the surface of a workpiece to be processed, of a terminal processing tool is set, a corresponding pressure regulating signal is sent to an electric proportional valve through calculation, the air pressure of the electric proportional valve is adjusted to be sent to a low-friction air cylinder, a second flange is driven by the low-friction air cylinder to generate relative displacement relative to a first flange, when the terminal processing tool is in contact with the surface of the workpiece to be processed, a pressure sensor and an electric proportional valve feedback electric signal are subjected to Kalman filtering, data processing is carried out to obtain a real-time contact force Fr (k) and an air pressure P (k), the difference between the preset target contact force Ft (k) and the real-time contact force Fr (k) is e (k), and the e (k) gives a u (k) control signal to the electric proportional valve through a state, and the electric proportional valve gives the adjusted air pressure P (k) to the low-friction cylinder again, the low-friction cylinder drives the second flange to generate relative displacement relative to the first flange again, and the process is circulated until the preset target contact force Ft (k) and the real-time contact force Fr (k) approach to zero infinitely, namely e (k) approaches to zero infinitely, and finally the required target contact force of the end machining tool contacting the surface of the workpiece to be machined is obtained.

Specifically, when the adaptive identification control of the load is implemented, the control method of the pneumatic adaptive constant force device includes:

outputting a corresponding target displacement control signal according to the preset target relative displacement;

acquiring real-time actual relative displacement corresponding to a current target displacement control signal;

calculating a second difference value between the preset target relative displacement and the real-time actual relative displacement;

if the second difference value is not within the preset error range, calculating corresponding second air pressure according to the second difference value, generating a pressure regulating signal according to the second air pressure, and returning to the step of acquiring real-time actual relative displacement corresponding to the current target displacement control signal;

and if the second difference value is within a preset error range, determining the current real-time actual relative displacement as the target relative displacement.

As shown in fig. 3, when load recognition is performed, a preset target relative displacement dt (k) generated by the low-friction cylinder driving the second flange relative to the first flange is set, an electric proportional valve calculates via an interior of a single-neuron adaptive PID constant force controller to give an air pressure p (k) to the low-friction cylinder, the low-friction cylinder drives the second flange to generate a relative displacement with respect to the first flange, a displacement sensor measures a real-time relative displacement dr (k) generated by the second flange relative to the first flange, a difference between the preset target relative displacement dt (k) and the real-time actual relative displacement dr (k) is e (k), and e (k) calculates a difference e (k) required by the low-friction cylinder driving a preset target relative displacement dt (k) and the real-time actual relative displacement dr (k) via state transformation (linear transformation) to obtain a force fe (k) required by the low-friction cylinder driving the difference e (fe (k) Fe (k) is calculated by a single neuron self-adaptive PID constant force controller to obtain air pressure P (k) required to be output by an electric proportional valve when a low-friction air cylinder drives a second flange to generate relative displacement relative to a first flange e (k), the air pressure P (k) is fed to the low-friction air cylinder through the electric proportional valve, then the low-friction air cylinder drives the second flange to generate relative displacement relative to the first flange again, the operation is circulated until a preset target relative displacement dt (k) and a real-time actual relative displacement Dr (k) approach infinity, namely e (k) approach infinity to zero, the target relative displacement is obtained, after the pneumatic self-adaptive constant force system is in static balance, the force required by the low-friction air cylinder to drive the second flange to generate the target relative displacement relative to the first flange is F, the load of the pneumatic self-adaptive constant force system is m, and the friction coefficient is mu, if the included angle between the pneumatic adaptive constant force system and the horizontal plane is theta, F = mg sin theta + mu mgcos theta, namely the load m = F/(g sin theta + mu g cos theta), and the load average value calculated under multiple different target relative displacements is taken as the final load identification value.

As another embodiment of the present invention, a control device of a pneumatic adaptive constant force device is provided, which includes a memory and a processor, wherein the memory is connected to the processor in a communication manner, the memory is used for storing computer instructions, and the processor is used for loading and executing the computer instructions to implement the control method of the pneumatic adaptive constant force device described above.

It should be understood that the control device of the pneumatic adaptive constant force device needs to be provided with corresponding peripheral circuits when realizing communication with other devices, such as a sensor assembly, and the specific implementation process is well known to those skilled in the art and is not described herein again.

As another embodiment of the present invention, there is provided a pneumatic adaptive constant force system, as shown in fig. 4, including: a housing, wherein a sensor assembly, a proportional valve assembly 6, a cylinder 18 and the control device 23 of the pneumatic adaptive constant force device are arranged in the housing, one end of the housing is provided with a first flange 1, the other end of the housing is provided with a second flange 13, the second flange 13 is used for connecting a processing tool, the sensor assembly and the proportional valve assembly 6 are both in communication connection with the control device 23 of the pneumatic adaptive constant force device, the cylinder 18 is connected with the proportional valve assembly 6, and the second flange 13 is connected with the cylinder 18,

the sensor assembly is used for acquiring real-time actual constant force control parameters;

the control device 23 of the pneumatic adaptive constant force device is used for generating a force control signal according to the preset target constant force control parameter number and the real-time actual constant force control parameter;

the proportional valve assembly 6 is used for outputting corresponding air pressure to the air cylinder according to the force control signal;

the cylinder 18 is used for driving the second flange to generate relative displacement relative to the first flange under corresponding air pressure.

The pneumatic adaptive constant force system provided by the embodiment of the invention adopts the control device of the pneumatic adaptive constant force device, can output the corresponding target constant force control parameter control signal according to the preset target constant force control parameter, obtains the real-time actual constant force control parameter according to the current target constant force control parameter control signal, then carries out adaptive adjustment on the force control signal according to the real-time actual constant force control parameter, and finally obtains the target constant force control parameter meeting the requirement. The control method of the pneumatic self-adaptive constant force device can feed back and realize constant force control in real time, and can solve the problems that the machining force cannot be automatically adjusted, the controllability is poor, and the real-time feedback and constant force control cannot be realized, so that the pneumatic self-adaptive constant force system provided by the embodiment of the invention can realize high-quality machining.

Fig. 9 shows a schematic structural view of the first flange 1, and fig. 12 shows a schematic structural view of the second flange 13.

Specifically, the pneumatic adaptive constant-force system further includes a mounting disc 2, as shown in fig. 10, which is a schematic structural diagram of the mounting disc 2, the first flange 1 is connected to one end of the housing through the mounting disc 2, a mounting support 3 and a proportional valve assembly mounting plate 8 are further disposed in the housing, and both the mounting support 3 and the proportional valve assembly mounting plate 8 are connected to the mounting disc 2 and located on the inner side of the mounting disc 2; an air cylinder mounting plate 4 is arranged at one end, away from the mounting disc 2, of the mounting support 3, the output end of the air cylinder 18 and the body of the air cylinder 18 are respectively positioned at two sides of the air cylinder mounting plate 4, and the proportional valve assembly 6 is mounted on the proportional valve assembly mounting plate 8; an electromagnetic valve mounting plate 9 is arranged above the mounting support 3, and the electromagnetic valve 17 is mounted on the electromagnetic valve mounting plate 9; the electromagnetic valve 17 is respectively connected with the proportional valve assembly 6 and the control device 23 of the pneumatic self-adaptive constant force device; the output end of the air cylinder 18 is connected with one end of a floating joint 22, and the other end of the floating joint 22 is connected with the second flange 13.

It should be noted that, first flange 1 and mounting disc 2 adopt the design of disconnect-type and refer to robot standard flange screw hole central circle diameter, both can regard first flange 1 as mounting flange, can regard mounting disc 2 directly as mounting flange again.

As shown in fig. 5, which is a specific structural schematic diagram of the mounting support 3, it can be seen that the mounting support 3 includes a bottom plate 303 and a vertical plate 301, the vertical plate 301 is vertically disposed on the bottom plate 303, the bottom plate 303 and the vertical plate 301 are both provided with a sunken limiting collision block 302, and the limiting collision block 302 is used for limiting the movement of the second flange 13.

It should be noted that a tension/compression sensor mounting bracket 10 is provided on the second flange 13, and the floating joint 22 is connected to the tension/compression sensor mounting bracket 10.

It should be further noted that the pneumatic adaptive constant-force system further includes a guide mechanism 5, and the guide mechanism 5 is respectively connected with the mounting support 3 and the second flange 13. Specifically, as shown in fig. 6, the guide mechanism 5 includes a guide rail 502, a slider 501, and a stopper 503, where the slider 501 can slide relative to the guide rail 502. The stopper 503 is located the end of guide rail 502, the one end of guide rail 502 with install on the second flange 13 draw pressure sensor mounting bracket 10 to connect, the other end setting of guide rail 502 stopper 503, slider 501 with one side of the riser 301 of erection support 3 is connected, pneumatic self-adaptation constant force system is in including two cylinders 18 that the symmetry set up, and two cylinders 18 divide half to be in through cylinder mounting panel 4 setting the both sides of riser 301, cylinder mounting panel 4 with the opposite side of riser 301 is connected, can make the output force of cylinder 18 more balanced and stable like this. When the cylinder 18 extends or retracts, the floating joint 22 can drive the second flange 13 to move, and since the second flange 13 is connected with the guide rail 502, the sliding block 501 is connected with the mounting support 3, the bottom plate 303 of the mounting support 3 is fixed on the mounting plate 2, and the first flange 1 is connected with the mounting plate 2, the second flange 13 can be relatively displaced with respect to the first flange 1 when the cylinder 18 extends or retracts.

As shown in fig. 11, for a structural schematic view of the cylinder mounting plate 4, two cylinders 18 are respectively connected to holes 401 at two sides of the cylinder mounting plate 4, and a middle connecting plate 402 is used for connecting to a vertical plate 301 of the mounting support 3.

Specifically, the casing includes first dustcoat 14, second dustcoat 15 and flexible cover 16, the one end of first dustcoat 14 with the one end of second dustcoat 15 is all connected the mounting disc 2, the other end of first dustcoat 14 with the other end of second dustcoat 15 is all connected the one end of flexible cover 16, the other end of flexible cover 16 is connected second flange 13, first dustcoat 14 with second dustcoat 15 is connected, just first dustcoat 14 with cylinder mounting panel 4 is connected, set up touch display screen 25 on the second dustcoat 15, touch display screen 25 with pneumatic constant adaptive force device's controlling means 23 communication connection.

Specifically, a pneumatic elbow joint 27 and a communication interface 26 are arranged on the mounting plate 2, the pneumatic elbow joint 27 is connected with the proportional valve assembly 6, and the communication interface 26 is connected with the control device 23 of the pneumatic adaptive constant force device.

It should be noted that the pneumatic elbow joint 27 is connected to the proportional valve assembly 6, and is used for supplying air to the proportional valve assembly 6 and discharging gas in the cavity, and the communication interface 26 can realize communication between the control device 23 of the pneumatic adaptive constant force device and external equipment.

As shown in fig. 7, the proportional valve assembly 6 includes an electric proportional valve mounting substrate 601, an electric proportional valve 602, and a gas pipe joint 603, the electric proportional valve 602 and the gas pipe joint 603 are both connected to the electric proportional valve mounting substrate 601, the electric proportional valve mounting substrate 601 is fixed to the proportional valve assembly mounting plate 8, the electric proportional valve 602 is in communication connection with the control device 23 of the pneumatic adaptive constant force device, the gas pipe joint 603 is connected to the solenoid valve 17, the solenoid valve 17 is further connected to the pneumatic elbow joint 27, and the solenoid valve 17 can realize air intake control of the electric proportional valve 602.

As shown in fig. 13, the solenoid valve 17 includes a solenoid valve body 171, an intake air pipe joint 172 provided on the solenoid valve body 171, a first air pipe structure 173, a second air pipe joint 174, and a muffler 175.

It should be noted that, as shown in fig. 4 and 13, the front end and the rear end of the cylinder 18 are radially provided with elbow joints 21, the elbow joint 21 at the front end of the cylinder 18 can be connected with the second air pipe joint 174 of the electromagnetic valve 17, the elbow joint 21 at the rear end of the cylinder 18 can be connected with the first air pipe joint 173 of the electromagnetic valve 17, and the air inlet pipe joint 172 of the electromagnetic valve 17 is connected with the air pipe joint 603 of the proportional valve assembly 6.

Specifically, the sensor assembly comprises a displacement sensor 20, a tilt sensor 24 and a pull and pressure sensor assembly 7, the displacement sensor 20, the inclination angle sensor 24 and the pull pressure sensor assembly 7 are all in communication connection with the control device 23 of the pneumatic adaptive constant force device, the displacement sensor 20 is fixedly connected with the cylinder 18, the tilt angle sensor 24 is arranged adjacent to the control device 23 of the pneumatic adaptive constant force device, the tension and pressure sensor assembly 7 is connected to the second flange 13 by a tension and pressure sensor mounting bracket 10, the displacement sensor 20 is used for acquiring the extending or retracting distance of the air cylinder 18, the tilt angle sensor 24 is used for acquiring the included angle of the pneumatic adaptive constant force system and the horizontal direction, the pull pressure sensor assembly 7 is used for acquiring the contact force between the end machining tool of the second flange 13 and the workpiece to be machined.

It should be noted that the displacement sensor 20 is fixed to the cylinder 18 by two clips 19.

As shown in fig. 8, for a specific structural schematic view of the pulling and pressing force sensor assembly 7, the pulling and pressing force sensor assembly 7 includes a pulling and pressing force sensor 701 and pull rods 702 disposed at two ends of the pulling and pressing force sensor, wherein one of the pull rods 702 is connected to the pulling and pressing force sensor mounting bracket 10, and the other pull rod 702 is connected to the second flange 13.

Fig. 14 is a schematic structural view of the tension/compression sensor mounting bracket 10.

Preferably, the control means 23 of the pneumatic adaptive constant force device comprise a MCU.

The controller 23 of the pneumatic adaptive constant force device is fixedly attached to the upper side of the tilt sensor 24 via the stay plate 11 and the controller attachment plate 12 of the pneumatic adaptive constant force device.

Preferably, the cylinder 18 comprises a low friction cylinder.

It should be noted that the control device 23 of the pneumatic adaptive constant force device is equipped with digital and analog input/output interfaces and an ethernet interface, and can directly communicate with the touch display screen 25, and perform debugging and parameter setting through the touch display screen 25.

It should be noted that the control device 23 of the pneumatic adaptive constant force device is equipped with a data encryption function, and the authentication is performed with an external device in a one-to-one manner, so as to ensure the reliability and the security of data.

In summary, the pneumatic adaptive constant-force system provided by the embodiment of the invention has the following beneficial effects: (1) the pneumatic self-adaptive constant-force system drives the terminal machining tool to be in contact with a workpiece to be machined by combining the displacement sensor, the tension and pressure sensor, the inclination angle sensor, the electric proportional valve and the electromagnetic valve and by an internal algorithm of a control device of the pneumatic self-adaptive constant-force device, so that the constant force can be kept, the machining precision and the machining quality of the surface of the workpiece are improved, the machining consistency of the workpiece can be ensured, and the workpiece and the tool are safer; (2) by using the linear guide rail as the guide mechanism, the pneumatic adaptive constant-force system can bear larger radial force; (3) the first flange and the mounting disc are designed in a separated mode and are designed according to the diameter of a central circle of a screw hole of a standard flange of a robot, the first flange can be used as a mounting flange, and the mounting disc can be used as the mounting flange, so that the pneumatic adaptive constant force system is suitable for more industrial occasions; (4) the pneumatic self-adaptive constant-force system integrates the measurable actual force of the pull pressure sensor, and realizes the dynamic feedback of the actual force; (5) the control device of the pneumatic self-adaptive constant force system is provided with the Ethernet data interface and the data encryption function, so that the reliability and the safety of data are ensured, the Ethernet is adopted to transmit the data, the anti-interference capability is strong, and the data can be transmitted in a long distance; (6) the pneumatic self-adaptive constant-force system is provided with the displacement sensor, so that automatic load identification based on position closed-loop control can be carried out; (7) the pneumatic self-adaptive constant force system adopts a single neuron self-adaptive PID constant force control method for control, and the control precision is high and accurate; (8) the pneumatic self-adaptive constant-force system is provided with the touch screen for debugging and setting parameters and the electrical and gas interfaces, so that the electromechanical integration is realized, the parameter debugging and setting are convenient, and the use is quick and simple.

It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.