CN100387397C - Control method and device for crystal ball grinding / polishing machine - Google Patents
Control method and device for crystal ball grinding / polishing machine Download PDFInfo
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- CN100387397C CN100387397C CNB2005100182354A CN200510018235A CN100387397C CN 100387397 C CN100387397 C CN 100387397C CN B2005100182354 A CNB2005100182354 A CN B2005100182354A CN 200510018235 A CN200510018235 A CN 200510018235A CN 100387397 C CN100387397 C CN 100387397C
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Abstract
The present invention provides a control method and a control device for a crystal ball and a grinding/polishing machine. The method makes the motion of the crystal ball arranged on the grinding/polishing machine decomposed into the motion in the directions of X, Y and Z coordinate axes. The motion of the three coordinate axes is driven by respectively corresponding step motors. The angles or the positions of the three coordinate axes are respectively fed back to a controller by an angle or a position sensor. The controller comprises a control module, three step motors, step motor drivers, a display and a keyboard at least, wherein the three step motors are respectively used for driving the directions of the X, the Y and the Z coordinate axes; the step motor drivers are used for driving each step motor; the control module is mainly composed of a single chip computer and a peripheral routine circuit; the single chip computer is provided or expanded with an A/D conversion interface and sufficient series and parallel interfaces. The control method and the control device can realize fully automatic control for the crystal ball and the grinding/polishing machine, can largely increase the manufacturing accuracy, the yield and the production efficiency of the crystal ball. Meanwhile, the present invention can reduce production cost.
Description
Technical field
The present invention relates to a kind of control method that is used for crystal ball grinding/polishing machine, especially can realize the control method that crystal ball grinding/polishing machine is controlled automatically.
Background technology
At present, crystal ball grinding/polishing machine is normally by grinding and the polishing of manually-operated realization to each triangular facet of crystal ball, because the angle of each triangular facet on the crystal ball, the position has nothing in common with each other, therefore, manually be difficult in and guarantee each triangular facet uniformity on the precision, the phenomenon that occurs big facet easily, cause the wiring of upper and lower hemispheres to be forbidden to have a strong impact on the outward appearance of crystal ball, and manually-operated speed is slow, and production efficiency is not high, spillage of material is more, the impulse force that produces in the operating process also can make on the grinding/polishing machine loss ratio of grinding/dumping bigger, the service life that influence is ground/dumped, thus make the production cost of crystal ball higher.
Summary of the invention
In order to overcome existing crystal ball grinding/polishing machine low precision, the deficiency that production cost is high, the invention provides a kind of control method that crystal ball grinding/polishing machine is controlled automatically and the control device of implementing this method, this method can make grinding/polishing machine under full-automatic state crystal ball be carried out grinding and polishing, not only guaranteed each triangular facet uniformity on the crystal ball, precision is high, has also reduced production cost simultaneously.
Technical scheme provided by the invention is: a kind of control method that is used for crystal ball grinding/polishing machine, its special character is that the motion of crystal ball is decomposed into X, Y, the axial motion of Z three-dimensional on the grinding/polishing machine with placing, and X, Y, the axial motion of Z three-dimensional are driven by independently corresponding separately stepper motor, and control as follows:
1. each parameter is carried out initializing set;
2. by X, Y, the axial angle of Z three-dimensional or position sensor feedback information, control device sends instruction and drives each motor respectively and make X, Y, Z axle be positioned at initial position separately;
3. y-axis motor frame that crystal ball will be installed turns to the angle of setting along the Y-axis direction initialization;
4. X-axis motor frame that crystal ball will be installed turns to the angle of setting along the X-axis direction initialization;
5. the Z spindle motor drives the frame that crystal ball is installed and moves down, when crystal ball touches the mill of grinding/polishing machine/when dumping, Z shaft position balance sensor is given control device with signal feedback, control device sends instruction makes the Z spindle motor shut down or underspeed, thereby frame also stops to move down or beginning slowly moving down;
6. the Z spindle motor drives frame and moves the distance of setting downwards at a slow speed, and the single X-axis face of crystal ball is carried out grinding or polishing;
7. move the distance of setting on the Z spindle motor drive chassis, frame is lifted, finish the grinding or the polishing of single X-axis face;
8. repeating step 4., 5., 6., 7. finish until grinding of X-axis face or the polishing of setting quantity;
9. repeating step 3., 4., 5., 6., 7., 8. grinding or the polishing up to the Y-axis face of setting quantity finishes;
10. after finishing all grindings or polishing, each motor is returned to the initialization state.
The initialized parameter of need mainly comprises the setting of each motor drive direction and timer, the communication speed of the step number conversion of the number of step number that the X-direction stepper motor need move and X-axis axial plane, the number of Y-axis axial plane, each axial plane angle, the work top step number of Z axle, the step number of slow running, the height step number of returning table top, time of staying setting and serial line interface;
The control device of implementing this control method comprises control module at least, be respectively applied for X, Y, three stepper motors that Z three axes direction drives, be used to drive the stepper motor driver that links to each other with control module of each stepper motor, and display and keyboard, control module mainly maybe can be expanded the A/D translation interface and enough goes here and there by having, the single-chip microcomputer of parallel interface and peripheral custom circuit thereof are formed, each stepper motor driver, display, keyboard and X, Y, Z axle zero position sensor, Z spindle balance sensor passes through interface respectively or directly is connected with single-chip microcomputer, and the Y-axis angular transducer can be connected with single-chip microcomputer or directly be connected with single-chip microcomputer after the A/D conversion.
It is the single-chip microcomputer of AVRMEGA128 that control module can be selected model for use, and this single-chip microcomputer has A/D translation function and tens I/O mouths, is enough to satisfy the requirement of this device docking port quantity.
Control module also can be selected the MCS51 Series chip for use, and this single-chip microcomputer must be expanded has interface circuit, interface circuit to comprise RS232 serial communication interface, A/D translation interface and 8255 or other parallel interface chip or chipset.
For making control device more perfect, expansion RAM memory outside the single-chip microcomputer, display then use the display module of 128X64 band Chinese character.
The invention has the beneficial effects as follows, after being decomposed into X, Y, the axial motion of Z three-dimensional by motion with crystal ball, control the full automation that to realize crystal ball grinding/polishing process by control method provided by the invention and control device, thereby improve the precision of crystal ball, and reduce the production cost of crystal ball.And the flexible contact of crystal ball and mill among the present invention/be when contacting between dumping, be that crystal ball contacts when grinding/dumping the surface, once inductor perception, feedback, control device will send instruction, the stepper motor that the driving crystal ball is moved shuts down or reduces rotating speed, reduce the hard collision of crystal ball and mill/dump, reach the yield rate that increases substantially crystal ball and the effect of precision.
Description of drawings
The invention will be further described below in conjunction with accompanying drawing.
Fig. 1 is the electrical principle block diagram of control device among the present invention.
Fig. 2 is the electrical schematic diagram of control device in the embodiment of the invention.
Among the figure, 1, control module, 2, keyboard, 3, display, 4, X, Y, Z axle zero position sensor, 4.1, X-axis zero position sensor, 4.2, Y-axis zero position sensor, 4.3, Z axle zero position sensor, 5, Z spindle balance sensor, 6, the Y-axis angular transducer, 7, the X-axis stepper motor driver, 8, the X-axis stepper motor, 9, the y-axis stepper motor driver, 10, y-axis stepper motor, 11, Z shaft step motor driver, 12, the Z shaft step motor, 13, AVR MEGA128 single-chip microcomputer, 14, the MAX232 serial communication interface, 15,7805 voltage-stabilized power supplies, 16, the RAM memory, 17, parallel interface 8255 chips, 18, the 74HC138 address decoder.
The specific embodiment
Control method provided by the invention is that the motion of crystal ball is decomposed into X, Y, the axial motion of Z three-dimensional on the grinding/polishing machine with placing, X, Y, the axial motion of Z three-dimensional are by independent corresponding stepper motor driving separately, and X, Y, the axial angle of Z three-dimensional or position are controlled by control device as follows respectively by angle or position sensor perception and feed back to control device:
1. each parameter is carried out initializing set, parameter mainly comprises the setting of each motor drive direction and timer, the communication speed of the step number conversion of the number of step number that the X-direction stepper motor need move and X-axis axial plane, the number of Y-axis axial plane, each axial plane angle, the work top step number of Z axle, the step number of slow running, the height step number of returning table top, time of staying setting and serial line interface; The operation step number of each axial plane of X-axis is passed through formula
Obtain, wherein S is the step number of stepper motor operation, J is the number of X-axis face, N is the ratio that drives the worm and gear of frame in the grinding/polishing machine, M is the angle in per step of stepper motor, the step number that the Z shaft step motor moves is obtained by the distance that required mobile distance was moved divided by per step of stepper motor, and other parameter determines that by the optimum value that draws after testing the speed of each stepper motor is controlled by working method and relevant parameter to timer;
2. the information by X, Y, the axial angle of Z three-dimensional or position sensor feedback, control module are sent instruction and are driven each motor respectively and make X, Y, Z axle be positioned at initial position separately;
3. y-axis motor frame that crystal ball will be installed turns to the angle of setting along the Y-axis direction initialization;
4. X-axis motor frame that crystal ball will be installed turns to the angle of setting along the X-axis direction initialization;
5. the Z spindle motor drives the frame that crystal ball is installed and moves down, when crystal ball touches the mill of grinding/polishing machine/when dumping, the Z shaft position sensor is about to signal feedback and gives control device, control device sends instruction makes the Z spindle motor shut down or underspeed, thereby frame also stops to move down or beginning slowly moving down, and after frame stops to move down, also can make it stop a period of time of setting, send instruction again and make the driven by motor frame continue to move down at a slow speed, and then stay for some time;
6. the Z spindle motor drives frame and moves the distance of setting downwards at a slow speed, and the single X-axis face of crystal ball is carried out grinding or polishing;
7. move the distance of setting on the Z spindle motor drive chassis, frame is lifted, finish the grinding or the polishing of single X-axis face;
8. repeating step 4., 5., 6., 7. finish until grinding of X-axis face or the polishing of setting quantity;
9. repeating step 3., 4., 5., 6., 7., 8. grinding or the polishing up to the Y-axis face of setting quantity finishes;
10. after finishing all grindings or polishing, each motor is returned to the initialization state.
For implementing above-mentioned control method, the invention provides the control corresponding device, control device mainly comprises control module 1, three cover stepper motor driver 7,9,11 and stepper motor 8,10,12, display 3 and keyboards 2, X, Y, Z axle zero position sensor 4, Z spindle balance sensor 5, Y-axis angular transducer more than 6 parts as shown in Figure 1.Control module 1 need only satisfy and has the A/D translation interface, serial line interface, enough parallel interface and programing function get final product, generally speaking, require it to have an A/D translation interface at least, a serial line interface, 14 I/O interfaces, control module 1 can be by having the A/D translation interface and enough going here and there, the single-chip microcomputer of parallel interface and peripheral custom circuit thereof are formed, as to select model for use be the single-chip microcomputer of AVRMEGA128, control module 1 also can have the A/D translation interface by expanding, other single-chip microcomputer of interface circuit and peripheral custom circuit thereof are formed, select the MCS51 Series chip for use as single-chip microcomputer, the outside expansion of this single-chip microcomputer is by MAX232 serial communication interface and parallel interface 8255 or other parallel interface chip, the interface circuit that any 10 A/D translation interfaces constitute, each stepper motor driver 7,9,11, display 3, keyboard 2 and each sensor 4,5,6 are connected with single-chip microcomputer by interface respectively.Provided the specific embodiment of the adoptable control device of the present invention among Fig. 2, control module 1 comprises AVR MEGA128 single-chip microcomputer 13,7805 voltage-stabilized power supplies 15, the 13 outside expansions of AVRMEGA128 single-chip microcomputer have MAX232 serial communication interface 14 and 62256RAM memory 16, X, Y, Z axle zero position sensor 4.1,4.2,4.3, Z spindle balance sensor 5, Y-axis angular transducer 6 and be respectively applied for X, Y, the stepper motor driver 7 of Z axle three directions, 9,11 directly are connected with it by the interface on the AVRMEGA128 single-chip microcomputer 13, Z spindle balance sensor 5 is two position sensors 5.1,5.2, be divided into Z axle the right and left, each position sensor all can adopt Hall switch type sensor, what adopt in the present embodiment is that model is the Hall switch type sensor of A3144, three stepper motors 8,10,12 respectively with corresponding stepper motor driver 7,9,11 link to each other, stepper motor all is a three-phase stepper motor in the present embodiment, the model of stepper motor driver is SJ-380, its control signal directly is connected with MEGA128 single-chip microcomputer 13, display 3 and keyboard 2 are connected on the AVRMEGA128 single-chip microcomputer 13 through parallel interface 8255 chips 17, address decoding when address decoder 74HC13818 is used to visit different components, display uses the display module of 128X64 band Chinese character, to make things convenient for human-computer dialogue.
When with control method provided by the invention and control device crystal ball grinding/polishing machine being controlled, the concrete course of work is as follows:
After sending the instruction of starting working from keyboard, control device just begins the normal course of work.
At first single-chip microcomputer sends instruction and makes each stepper motor small change position, direction signal is sent to earlier on each stepper motor driver, and single-chip microcomputer sends pulse signal and gives each stepper motor driver then, and stepper motor begins to rotate, after step number was set in operation, stepper motor shut down; Control module is sent the direction signal opposite with top direction again to driver, single-chip microcomputer sends pulse signal again subsequently, stepper motor begins running in the other direction, stepper motor is in rotating process, control module detects the signal of each zero position sensor simultaneously, when certain shaft position sensor signal changes, illustrate that this axle has arrived zero position, then control module is sent to instruct corresponding stepper motor is shut down, control device continue to send pulse signal, all finds separately zero position up to all stepper motors.
Each shaft step motor begins crystal ball is carried out grinding/polishing after arriving zero position.
Control module is set the angle of Y-axis face, sends direction signal and pulse signal simultaneously to the y-axis stepper motor driver, makes the y-axis stepper motor setting in motion; The variation of detection angles sensor on the A/D of control module translation interface simultaneously, the detected angle of sensor is compared with the angle of setting, if it is identical then stop to send pulse signal to the y-axis stepper motor driver, otherwise continue to send pulse signal, till the angle of detected angle and setting was identical, control module just stopped to send pulse signal to the y-axis stepper motor driver.
Control module is set the step number that X-axis is rotated then, to X-axis stepper motor driver both transmit direction signals and pulse signal, make this shaft step motor begin to rotate, when X-axis rotation step number is zero subsequently, stop this transmission pulse signal, a face of X-axis rotates to be finished.
Thereafter control module both transmit direction signals successively, pulse signal is to Z shaft step motor driver, the Z shaft step motor is rotated, and the drive frame moves down along Z-direction, the moment of grinding when crystal ball touches/dumping, the signal that is positioned at the Z spindle balance sensor at Z axle two ends will change, after signal is fed back to control module, control module stops to send pulse signal to Z shaft step motor driver immediately, stepper motor stops operating immediately, this timed unit is set the step number that follow-up Z shaft step motor will move, and change the frequency of the pulse signal that sends to Z shaft step motor driver, the speed reduction or the control device of stepper motor running are suspended to Z shaft step motor driver transmission pulse signal, the Z shaft step motor is shut down time of one section setting, and then continue to send pulse signal to Z shaft step motor driver, after the step number of quantity is set in operation, stop to send pulse signal, send simultaneously and make Z shaft step motor travel direction signal in the other direction, change the direction of motion of Z shaft step motor, reset the step number of stepper motor motion, send pulse signal again to Z shaft step motor driver, the Z shaft step motor will drive frame and moved up this moment, when Z axle setting step number is zero, stop Z shaft step motor driver is sent pulse signal, the Z shaft step motor shuts down.
So just, finished grinding/polishing to single of X-axis, then control device judges whether the grinding/polishing quantity of X-axis face is setting value, (this value is set when initialization), if it is different with setting value, then face number is set at next X-axis face, repeat above-mentioned control procedure again to Z shaft step motor driver, all set the grinding/polishing of face to finish X-direction, when identical with setting value, then illustrate the grinding/polishing of all setting faces of X-direction is finished, continue following processes then.
Control module judges whether the grinding/polishing quantity of Y-axis face is setting value, if not continuing above-mentioned control procedure to X, Z axle two each stepper motor driver of direction, if grinding/polishing quantity and the identical following processes that then continues of setting value.
Control module is set the rotation direction of X-axis stepper motor earlier, and calculate and set this and need the step number of rotating, send pulse signal to the X-axis stepper motor driver then, counter is started working, when this step number is zero, control device stops to send pulse signal to the X-axis stepper motor, and the X-axis stepper motor stops operating, and this axle resets.
Control module is set the y-axis stepper motor direction signal opposite with the operate as normal direction earlier, then to y-axis stepper motor driver both transmit direction signals and pulse signal, drive the y-axis stepper motor backward rotation, frame turns back to initial position in Y direction along original path.
Control module is set the Z shaft step motor direction signal opposite with the former direction of motion earlier, and sets the step number that the Z axle need move, and then to Z shaft step motor driver sending direction and pulse signal, drives the Z shaft step motor and is moved upwards up to initial position.
After finishing the above-mentioned course of work, promptly finished grinding/polishing to whole crystal ball.
Claims (3)
1. control method that is used for crystal ball grinding/polishing machine, it is characterized in that: will place that the motion of crystal ball is decomposed into X, Y, the axial motion of Z three-dimensional on the grinding/polishing machine, X, Y, the axial motion of Z three-dimensional are by independent corresponding stepper motor driving separately, and X, Y, the axial angle of Z three-dimensional or position feed back to control device by angular transducer or position sensor signal respectively, control as follows by control device:
(1) each parameter is carried out initializing set, parameter mainly comprises the setting of each motor drive direction and timer, the communication speed of the step number conversion of the number of step number that the X-direction stepper motor need move and X-axis axial plane, the number of Y-axis axial plane, each axial plane angle, the work top step number of Z axle, the step number of slow running, the height step number of returning table top, time of staying setting and serial line interface;
(2) by X, Y, the axial angle of Z three-dimensional or position sensor feedback information, control device sends instruction and drives each motor respectively and make X, Y, Z axle be positioned at initial position separately;
(3) y-axis motor frame that crystal ball will be installed turns to the angle of setting along the Y-axis direction initialization;
(4) X-axis motor frame that crystal ball will be installed turns to the angle of setting along the X-axis direction initialization:
(5) the Z spindle motor drives the frame that crystal ball is installed and moves down, when crystal ball touches the mill of grinding/polishing machine/when dumping, the Z shaft position sensor is about to signal feedback and gives control device, control device sends instruction makes the Z spindle motor shut down or underspeed, thereby frame also stops to move down or beginning slowly moving down;
(6) the Z spindle motor drives frame and moves the distance of setting downwards at a slow speed, and the single X-axis face of crystal ball is carried out grinding or polishing;
(7) move the distance of setting on the Z spindle motor drive chassis, frame is lifted, finish the grinding or the polishing of single X-axis face;
(8) repeating step (4), (5), (6), (7) finish until grinding of X-axis face or the polishing of setting quantity;
(9) repeating step (3), (4), (5), (6), (7), (8) finish up to the grinding or the polishing of the Y-axis face of setting quantity;
(10) finish all grindings or polishing after, each motor is returned to the initialization state.
2. the control method that is used for crystal ball grinding/polishing machine according to claim 1 is characterized in that: the operation step number of each axial plane of X-axis is passed through formula
Obtain, wherein S is the step number of stepper motor operation, J is the number of X-axis face, N is the modulus ratio that drives the worm and gear of frame in the grinding/polishing machine, M is the angle in per step of stepper motor, the step number that the Z shaft step motor moves is obtained by the distance that required mobile distance was moved divided by per step of stepper motor, and wherein parameter is determined by the optimum value that draws after testing.
3. the control method that is used for crystal ball grinding/polishing machine according to claim 1, it is characterized in that: when Z spindle motor drive frame moves downward, the crystal ball contact is dumped and is promptly shut down or reducing speed, after stopping a period of time of setting, continue to drive frame and move down at a slow speed, and then stay for some time.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005100182354A CN100387397C (en) | 2005-02-01 | 2005-02-01 | Control method and device for crystal ball grinding / polishing machine |
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| CNB2005100182354A CN100387397C (en) | 2005-02-01 | 2005-02-01 | Control method and device for crystal ball grinding / polishing machine |
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| CN1657233A CN1657233A (en) | 2005-08-24 |
| CN100387397C true CN100387397C (en) | 2008-05-14 |
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| CN102975087A (en) * | 2012-12-21 | 2013-03-20 | 李绣峰 | Hob grinder |
| US10663163B2 (en) | 2012-11-30 | 2020-05-26 | Saudi Arabian Oil Company | Staged chemical looping process with integrated oxygen generation |
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|---|---|
| CN1657233A (en) | 2005-08-24 |
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