阅读说明：本技术 一种力控浮动装置 (Force-controlled floating device ) 是由 张振山 于 2021-09-09 设计创作，主要内容包括：本发明公开了一种力控浮动装置,涉及铣削和打磨焊缝处理技术领域,包括外壳体,所述外壳体内设有两组浮动组件,每组浮动组件均包括固定安装于外壳体内的低摩擦气缸,低摩擦气缸的伸缩端连接滑动组件,低摩擦气缸连接气动控制组件以及电气组件；所述气动控制组件包括气动换向阀和精密比例阀；所述电气组件包括信号采集卡、加速度传感器、位移传感器以及高精度力传感器；所述气动换向阀和精密比例阀均与信号采集卡相连接,气动换向阀的输出端与低摩擦气缸相连接。本发明通过设置气动控制组件和电气组件能够给定打磨力和主轴转速目标,由浮动组件带动打磨工具运转对工件进行恒力铣削和打磨,打磨和铣削效果好。(The invention discloses a force-controlled floating device, which relates to the technical field of milling and polishing welding seam processing and comprises an outer shell, wherein two groups of floating assemblies are arranged in the outer shell, each group of floating assemblies comprises a low-friction cylinder fixedly arranged in the outer shell, the telescopic end of the low-friction cylinder is connected with a sliding assembly, and the low-friction cylinder is connected with a pneumatic control assembly and an electric assembly; the pneumatic control assembly comprises a pneumatic reversing valve and a precise proportional valve; the electrical assembly comprises a signal acquisition card, an acceleration sensor, a displacement sensor and a high-precision force sensor; the pneumatic reversing valve and the precise proportional valve are both connected with a signal acquisition card, and the output end of the pneumatic reversing valve is connected with the low-friction cylinder. According to the invention, the pneumatic control assembly and the electrical assembly are arranged, so that the grinding force and the spindle rotating speed target can be given, the floating assembly drives the grinding tool to operate to perform constant-force milling and grinding on the workpiece, and the grinding and milling effects are good.)

1. A force control floating device comprises an outer shell and is characterized in that two groups of floating assemblies are arranged in the outer shell, each group of floating assemblies comprises a low-friction cylinder fixedly arranged in the outer shell, the telescopic end of the low-friction cylinder is connected with a sliding assembly, and the low-friction cylinder is connected with a pneumatic control assembly and an electric assembly;

the pneumatic control assembly comprises a pneumatic reversing valve and a precise proportional valve;

the electrical assembly comprises a signal acquisition card, an acceleration sensor, a displacement sensor and a high-precision force sensor;

the pneumatic reversing valve and the precise proportional valve are both connected with a signal acquisition card, and the output end of the pneumatic reversing valve is connected with the low-friction cylinder.

2. The force controlled floatation device of claim 1, wherein the outer housing has an air supply port connected to a pneumatic directional valve.

3. The force controlled floatation device of claim 1, wherein the slide assembly is coupled to a grinding apparatus.

4. The force controlled floatation device of claim 1, wherein the outer housing is connected to an industrial robot by a flange.

5. The force controlled floating device according to claim 1, wherein the outer housing is provided with a signal interface, and the signal interface is electrically connected with the signal acquisition card, the acceleration sensor, the displacement sensor and the high-precision force sensor.

Technical Field

The invention relates to the technical field of milling and polishing weld joint processing, in particular to a force-controlled floating device.

Background

Milling is a mechanical processing method for processing the surface of an object by using a milling cutter as a cutter. For aluminum alloy welding seams, the welding seams need to be processed, at present, the welding seams are often processed by milling and polishing, and the aluminum alloy welding seams are polished after milling.

At present, for the treatment work of the aluminum alloy welding seam, milling and polishing are carried out by adopting different devices, the two-step separation treatment process is adopted, the treatment speed of the welding seam is low, the efficiency is low during the treatment, and the treatment process is to be further improved.

Disclosure of Invention

The present invention provides a force-controlled float device that solves the problems set forth in the background above.

In order to achieve the purpose, the invention provides the following technical scheme:

a force control floating device comprises an outer shell, wherein two groups of floating assemblies are arranged in the outer shell, each group of floating assemblies comprises a low-friction cylinder fixedly arranged in the outer shell, the telescopic end of the low-friction cylinder is connected with a sliding assembly, and the low-friction cylinder is connected with a pneumatic control assembly and an electric assembly;

the pneumatic control assembly comprises a pneumatic reversing valve and a precise proportional valve;

the electrical assembly comprises a signal acquisition card, an acceleration sensor, a displacement sensor and a high-precision force sensor;

the pneumatic reversing valve and the precise proportional valve are both connected with a signal acquisition card, and the output end of the pneumatic reversing valve is connected with the low-friction cylinder.

As a preferred technical scheme of the invention, an air source interface connected with the pneumatic reversing valve is arranged on the outer shell.

As a preferred technical scheme of the invention, the sliding assembly is connected with a grinding device.

As a preferred embodiment of the present invention, the outer housing is connected to the industrial robot via a flange.

As a preferred technical scheme of the invention, the shell is provided with a signal interface, and the signal interface is electrically connected with a signal acquisition card, an acceleration sensor, a displacement sensor and a high-precision force sensor.

The invention has the following advantages: according to the invention, the pneumatic control assembly and the electrical assembly are arranged, so that the grinding force and the spindle rotating speed target can be given, the floating assembly drives the grinding tool to operate to perform constant-force milling and grinding on the workpiece, and the grinding and milling effects are good.

Drawings

Fig. 1 is a schematic structural diagram of a force-controlled floating device.

Fig. 2 is a data acquisition diagram of an acceleration sensor in a force controlled floatation device.

FIG. 3 is a PID closed-loop control diagram for data acquisition of a displacement sensor in a force-controlled floating device.

In the figure: 1. an outer housing; 2. a sliding assembly; 3. a signal interface; 4. a low friction cylinder; 5. an air source interface; 6. a guide rail; 7. a precision proportional valve; 8. a diverter valve; 9. an acceleration sensor; 10. a signal acquisition card; 11. a high precision force sensor; 12. and a displacement sensor.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Example 1

Referring to fig. 1-3, a force-controlled floating device includes an outer casing 1, two sets of floating assemblies are disposed in the outer casing 1, each set of floating assembly includes a low-friction cylinder 4 fixedly mounted in the outer casing 1, and the cylinder with low friction is adopted in the design, so as to improve the response speed of the pneumatic control system as much as possible. The telescopic end of the low-friction cylinder 4 is connected with the sliding assembly 2, the low-friction cylinder 4 is connected with the pneumatic control assembly and the electric assembly, and a guide rail 6 which is connected with the sliding assembly 2 in a sliding manner is arranged in the outer shell 1;

the pneumatic control assembly comprises a pneumatic reversing valve 8 and a precise proportional valve 7; the pneumatic reversing valve 8 controls the moving direction of the cylinder through the digital quantity output of the signal acquisition card 10. The pneumatic proportional valve sets the air pressure target and acquires the feedback pressure through the analog input and output interfaces of the signal acquisition card 10.

The electrical components comprise a signal acquisition card 10, an acceleration sensor 9, a displacement sensor 12 and a high-precision force sensor 11;

the pneumatic reversing valve 8 and the precise proportional valve 7 are both connected with a signal acquisition card 10, and the output end of the pneumatic reversing valve 8 is connected with the low-friction cylinder 4.

And an air source interface 5 connected with a pneumatic reversing valve 8 is arranged on the outer shell 1.

The sliding assembly 2 is connected with a grinding device.

The outer shell 1 is connected with an industrial robot through a flange.

The outer shell 1 is provided with a signal interface 3, and the signal interface 3 is electrically connected with a signal acquisition card 10, an acceleration sensor 9, a displacement sensor 12 and a high-precision force sensor 11.

A signal acquisition card 10: the design of the compact acquisition board is that the input and output signals are directly connected in the floating mechanism and are connected with the control unit by adopting an industrial Ethernet, so that the remote IO signal wiring is avoided. The anti-interference capability and the reliability of the system are improved.

Acceleration sensor 9: for calculating a gravity component that is compensated at a given time of force control so that the target sanding force remains constant.

The displacement sensor 12: for monitoring the current position of the floating installation in real time.

High-precision force sensor 11: by collecting the comparison between the force sensor and the target force, a proportional-integral-derivative PID controller is designed to realize the higher-precision closed-loop control of the target force.

1. Floating constant force control logic

The target force is given, a selection from a robot cell or a set of process parameters,

the control software integrates gravity and friction compensation to drive the analog quantity of the proportional valve,

and acquiring actual pressure and target force in real time for comparison.

And acquiring the floating displacement in real time, calculating the displacement change, monitoring the allowable working stroke, and feeding back to the robot unit.

2. Friction force compensation

On one hand, the consistency in the working stroke is ensured by selecting the components with low friction force and assembling.

On the other hand, aiming at the inherent friction force, the output force is corrected in real time by adopting a compensation algorithm, so that the force finally acting on the surface of the workpiece is more constant. The control software calculates the floating speed change and the moving direction in real time, and different correction amounts are superposed on the given value of the proportional valve to drive the output of the pressure. The linear correction table is designed to cope with different working conditions, and the program automatically carries out linear interpolation operation to determine the correction quantity.

3. Gravity compensation

The data of the acceleration sensor is collected in real time,

calculating the horizontal included angle theta of the output shaft,

the component of the tool load in the direction of the applied force is G2G Sin theta derived from the vector,

the air pressure outputs a given force that adds the force of G2 to the target force,

therefore, the influence of the load gravity on the target force due to the axial inclination is eliminated, and the output control of the constant force is realized.

4. Automatic weighing function

Adopts the PID closed-loop control technology,

taking the displacement as the control target setpoint,

the deviation Error of the current position (data acquisition of the displacement sensor 17) from the target position is calculated,

and regulating the output acting force of the proportional valve through a PID algorithm. The algorithm formula is as follows:

the above execution is repeated until the force equilibrium state is reached and stopped at the position of the target allowable range.

Finally, the load weight is calculated (taking into account the influence of the gravity component, see the description of the gravity compensation section).

Other descriptions: considering that in actual engineering assembly on site, extra additional acting force can be caused to the floating device by cable layout at different floating positions, a multipoint weighing method is designed to reduce related influence as much as possible, namely automatic weighing is carried out at multiple positions, weight is calculated, and finally the average value is taken as tool weight.

5. Distributed design

The structure design of the distributed control system is carried out by applying the industrial Ethernet bus technology. The compact IO control panel is independently developed and used for collecting sensor signals and driving the proportional valve, the sensors and the actuators are connected on the spot, and the main control unit is connected in a communication mode, so that electromagnetic interference and complicated wiring of analog quantity information transmission are avoided. The industrial Ethernet EtherCAT is connected with the main control unit, uploads collected digital quantity and analog quantity signals and receives a control command to carry out corresponding output driving.

Compare traditional centralized control structure, need not input/output signal line between floating installation and the control unit and connect, only need connect power and industrial ethernet cable, avoided the signal interference that analog signal teletransmission caused to and the decline of the unsteady grinding force control precision of instrument that consequently causes.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.