针对精密装配、搬运、工件表面修刮或磨削、抛光和擦洗等行业对设备主动柔顺能力的迫切需求, 设计了一种基于气缸的主动恒力输出装置。对照设计目标, 对所用的器件(包括比例压力调节器、气缸、导轨和压力传感器等)进行针对性选型, 并设计针对压力传感器微弱信号的调理电路, 增强其信号的准确性和抗干扰能力, 同时设计数据采集处理板对整体系统进行控制, 完成对力输出的闭环控制, 并通过RS485通讯接收上位机命令和上传采集数据。最后通过大量动静态压力的测试实验表明该设备在整个量程内, 其输出力误差在±3 N以内, 响应时间在300 ms以内, 输出力不小于200 N, 性能满足设计目标。该设备的研制成功为主动力控制系统的设计研究开辟了新的思路。

According to the urgent needs of active flexibility of equipment in a wide variety of industry sectors, such as precise assembly, removing, shaving, grinding, polishing and scrubbing on the surface of workpiece, an active constant pressure output device based on a cylinder was designed. According to design goals, it made a specific choice of the devices (including proportional pressure regulator, cylinder, guide rail, pressure sensor, etc.) which were used. And a weak signal conditioning circuit was designed for the pressure sensor, which can enhance the accuracy and anti-interference ability of the signal. And also, a data acquisition and processing board was designed to control the whole system and realized closed loop control of force output. And it received command of the host computer and uploaded the collected data through the RS485 communication. Finally, through a large number of dynamic and static pressure tests, it was shown that the output force error of the equipment is within ±3 N, the response time is less than 300 ms, the output force is greater than 200 N, and the performance meets the design goals. The development of this device opens up a new way for the design and research of active force control system.