CN102114610A - Polishing wheel diameter and polishing force detection method and polishing wheel wear compensating method - Google Patents
Polishing wheel diameter and polishing force detection method and polishing wheel wear compensating method Download PDFInfo
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- CN102114610A CN102114610A CN 201010582614 CN201010582614A CN102114610A CN 102114610 A CN102114610 A CN 102114610A CN 201010582614 CN201010582614 CN 201010582614 CN 201010582614 A CN201010582614 A CN 201010582614A CN 102114610 A CN102114610 A CN 102114610A
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Abstract
The invention provides a polishing wheel diameter and polishing force detection method, relating to real-time polishing force detection, polishing wheel diameter detection and polishing wheel wear compensation. The size of a polishing force in a polishing process is indirectly measure and a polishing wheel diameter is measured when a main motor is started by adopting a current sensor according to the proportionate relationship between measured factors and read values of the current sensor; and in a real-time polishing process, because a polishing wheel is worn to cause the reduction of the polishing force, the normal direction of a contact surface of the polishing wheel and a workpiece is calculated according to the position of a polishing contact fan sector appointed by a current user in the polishing wheel and the corner of a rotating shaft at the tail end of the current polishing wheel so that the compensation distance of each movable joint can be rapidly figured out in real time.
Description
Technical field
The present invention relates to a kind of polishing wheel diameter detection method, a kind of polishing force detection method, with a kind of polishing wheel wear-compensating method, relate in particular in the digital control processing process of the constant force polishing task that comprises curved surface features, because polishing wheel wearing and tearing itself cause what diameter diminished, a kind of diameter detects and compensation method.
Background technology
Along with the raising of people, in product fine finishining process, often adopt polishing processing to product design and surface quality requirement.To the polishing processing of complex-curved as high-grade hot-water heating device, stationery sports goods, blade of aviation engine, turbine blade etc., generally can only adopt handwork especially, not only waste time and energy, inefficiency, and also consistency of product is poor, and precision is not high.Numerical control polishing systems such as robot polishing system use programming Control, realize the polishing automated job, and it has not only improved workman's condition of work and has enhanced productivity, and the surface quality and the uniformity of processing back workpiece improve greatly.Polishing wheel is generally stacked by multilayer canvas or felt-cloth, and stitching forms, and has very strong flexibility.
During polishing, for keeping the contact between machining tool and the workpiece, obtain high-quality polishing effect, desirable state is the constant force polishing.Usually adopt directly during robot flexibility polishing system polishing or indirect force control realizes the constant force polishing, directly control the contact force between polishing wheel and the workpiece.Its operation principle is: after the power sensor detected contact force and surpasses setting range, workpiece or polishing wheel or both did disengaging movement simultaneously, make contact force reduce, and after contact force was reduced to setting range, motion stopped.When the power sensor detect contact force less than setting range after, workpiece or polishing wheel or both do move toward one another simultaneously, make contact force increase, after contact force was increased to setting range, motion stopped.Above principle is a FEEDBACK CONTROL, and a hysteresis must be arranged.And be FEEDFORWARD CONTROL according to the control that the polishing wheel diameter reduces, can reduce even avoid to lag behind.Since Elastic Contact between polishing wheel and the workpiece, polishing wheel high speed rotary grinding workpiece, and polishing wheel self wearing and tearing cause the polishing wheel diameter to diminish.The polishing wheel diameter reduces, and can cause that also contact force reduces.Obviously, need a kind of method can fast detecting polishing wheel diameter variation, variable quantity is compensated in the procedure, be stabilized in the setting range to guarantee polishing force.Typical universal industrial robot is not suitable for this working environment, is necessary to propose a kind of preferred robot arm configuration at curved surface contact job task fully.This motion arm configuration is applicable to the contact job task of various robots.
Summary of the invention
According to an aspect of the present invention, provide a kind of polishing wheel diameter detection method, it is characterized in that comprising: detected the electric current that flows through the spindle motor that drives polishing wheel; Determine the diameter of polishing wheel according to described electric current.
According to another aspect of the present invention, provide a kind of polishing force detection method, it is characterized in that comprising: detected the electric current that flows through the spindle motor that drives polishing wheel, determine the polishing force of polishing wheel according to described electric current.
According to another aspect of the present invention, provide a kind of polishing wheel wear-compensating method, it is characterized in that comprising: when detecting polishing force and reduce, the workbench that makes the tool ends end that is loaded with workpiece to be processed and be loaded with polishing wheel moves in opposite directions; When polishing force is increased to range of set value, stop describedly to move in opposite directions, otherwise continue describedly to move in opposite directions, be increased to reasonable value up to polishing force; Wherein said polishing force utilizes the polishing force detection method to detect.
Description of drawings
Fig. 1 is polishing wheel diameter compensation principle figure according to an embodiment of the invention.
The specific embodiment
Below in conjunction with accompanying drawing technical solution of the present invention is described further.
According to one embodiment of present invention, provide a kind of polishing wheel diameter detection method, it is characterized in that comprising: detected the electric current I that flows through the spindle motor that drives polishing wheel; Determine the diameter d of polishing wheel according to described electric current.
According to a further embodiment of the present invention, above-mentioned electric current I is the electric current that flows through the primary circuit of the spindle motor that drives polishing wheel.
According to a further embodiment of the present invention, the feature of said method further is: utilize the described electric current I of current sensor senses; The diameter d of polishing wheel is determined according to following formula:
D wherein
0Be the initial diameter of described polishing wheel, I
0Be the electric current that flow through the spindle motor that drive polishing wheel corresponding with described initial diameter.
According to another embodiment of the invention, provide a kind of polishing force detection method, it is characterized in that comprising: detected the electric current I that flows through the spindle motor that drives polishing wheel, determine the polishing force N of polishing wheel according to described electric current.
According to a further embodiment of the present invention, above-mentioned polishing force detection method is characterised in that electric current I is the electric current that flows through the primary circuit of the spindle motor that drives polishing wheel.
According to a further embodiment of the present invention, above-mentioned polishing force detection method is characterised in that: utilize the described electric current I of current sensor senses; And described polishing force N determines according to following formula:
Wherein μ is a static friction coefficient between polishing wheel and the workpiece, and r is that the current radius of polishing wheel is half of diameter d of polishing wheel, and k is the torque constant of described spindle motor (threephase asynchronous machine), and i is the output decelerator speed ratio of described spindle motor.
According to another embodiment of the invention, provide a kind of polishing wheel wear-compensating method, it is characterized in that comprising: when detecting polishing force and reduce, the workbench that makes the tool ends end that is loaded with workpiece to be processed and be loaded with polishing wheel moves in opposite directions; When polishing force is increased to range of set value, stop describedly to move in opposite directions, otherwise continue describedly to move in opposite directions, be increased to reasonable value up to polishing force; Wherein said polishing force utilizes the polishing force detection method to detect.
According to a further embodiment of the present invention, above-mentioned polishing wheel wear-compensating method is characterised in that further and comprises: polishing wheel is divided into several zones; Specify the contact part of a certain zone as polishing, the corresponding unit vector of pointing to circumference from the center of circle in this zone, this vector attitude is only relevant with a part of joint rotation angle of polishing machine people; By homogeneous variation, obtain the 3 d pose array of described vector with respect to basis coordinates system; According to the experience of glossing, set a definite compensation step-length, this compensation step-length can be taken as a length value of millimeter magnitude; The product of the element of this three-dimensional array and compensation step-length is the complementary range of each linear joint of robot; According to each linear joint currency of this complementary range correction.
According to a further embodiment of the present invention, above-mentioned polishing wheel wear-compensating method is characterised in that further and comprises: carry out the iteration of described compensation continuously, make polishing force be increased to setting range.
According to a further embodiment of the present invention, the above-mentioned polishing force readings signify of current sensor.
The purpose of this invention is to provide a kind of polishing wheel diameter detection method that is applicable to curved surface contact polishing operation, be intended at the curved surface polishing operation difficult problem between polishing wheel and the workpiece, especially at contact operations such as the constant force polishings of numerical control curved surfaces such as robot, polishing wheel weares and teares gradually, diameter diminishes, the dynamic diameter detection method of a kind of polishing wheel is proposed, adopt the phase current of polishing wheel spindle motor to detect the polishing force size, electric current in the monitoring polishing process changes in real time, the wear extent of compensation polishing wheel.
Purpose of the present invention is achieved through the following technical solutions:
The robot arm configuration of curved surface polishing, its characteristic feature is: a kind of serial machine people motion arm configuration, moved with workbench two parts by instrument and to form, totally 6 axles; The instrument movable part comprises a vertical shifting axle (Z axle) and a rotating shaft (A axle); Workbench partly comprises two shifting axles (X-axis and Y-axis) and two turning cylinders (B axle and C axle); Polishing wheel is installed in the end of instrument movable part, and workpiece is installed in the end of workbench; The rotation of polishing wheel is as main motion, by main motor-driven; Robot each according to the programming orbiting motion, polishing wheel contacts with workpiece, thus realization is to the polishing operation of curved surface.
In the polishing operation process, polishing wheel progressively weares and teares, and causes its diameter to diminish, thereby has reduced the contact force between polishing wheel and the workpiece, does not finally reach the quality of finish of regulation.According to the glossing requirement, the contact force between polishing wheel and the workpiece should be stabilized in the scope, and polished surface quality could be evenly.Therefore, under constant force polishing environment, the diameter compensation of polishing wheel is absolutely necessary.
The detection and the compensation method of a kind of polishing wheel diameter according to an embodiment of the invention may further comprise the steps---
(1) detection of polishing force:
When polishing wheel contacted with workpiece, workpiece applied reaction force N to polishing wheel, owing to have the static friction effect between workpiece and the polishing wheel, workpiece must produce tangent direction friction power μ N to polishing wheel so.This tangential force will produce load torque to the polishing wheel rotating shaft, and load torque overcomes the maintenance balance by motor torque.Polishing wheel is driven by spindle motor, and current sensor is installed on spindle motor, is used for detecting the size of main current of electric in the polishing process.Spindle motor is generally common phase asynchronous variable-frequency motor, and its output torque is directly proportional with the electric current of primary circuit, and standby current just can be realized the supervision of torque in polishing process.Its mathematical formulae is as follows:
In the following formula,
I--primary circuit current value is by current sensor senses;
Static friction coefficient between μ--polishing wheel and the workpiece;
The radius that the r--polishing wheel is current is obtained by the formula in follow-up (3);
The torque constant of k--threephase asynchronous machine is definite value;
I--motor output end decelerator speed ratio is definite value; If there is not decelerator, this value is 1;
The N--workpiece is to the normal pressure of polishing wheel.
When monitoring current value I when being higher than (being lower than) desired value, workpiece increases (reducing) to the normal pressure of polishing wheel, so, need compensate polish pressure in polishing process.Because the influence factor of polishing process is a lot, and be subjected to the extraneous factor influence, current value I must fluctuate, and when the fluctuation peak value was no more than certain limit, polishing wheel needn't be regulated.This fluctuation bandwidth is considered as regulating the dead band, and size can be provided with before dispatching from the factory and finish.。
(2) detection of polishing wheel diameter:
Robot polishing program can have artificial teaching or off-line programing to obtain, the polishing program that different polishing objects is corresponding different.The polishing program mainly comprises the position form point of a series of robots, and this form point has been described relative position and the attitude between polishing wheel center and the workpiece.In actual applications, the user can not write this workpiece polishing program again because the polishing wheel diameter diminishes.Therefore be necessary fully to detect the polishing diameter, and in the polishing program, compensate a polishing wheel radius distance to the workpiece outside.This compensation method seems very necessary in the situation such as start shooting again of used polishing wheel.
Polishing wheel under the driving of main motor, after quickening, is stabilized in rotation at a high speed under the rated speed generally all for certain thickness plate-like device is arranged.Square being directly proportional of the rotary inertia of polishing wheel and polishing wheel diameter d.Polishing wheel master motor generally has frequency converter to drive, and the angular acceleration of main motor can be set in program, and the output torque on the electric machine main shaft is T, has torque equilibrium equation for electric machine main shaft:
T＝ki
In the following formula,
T
0--be drag torque, less relatively, can ignore;
M--is the polishing wheel quality, supposes that polishing wheel is the disk of homogeneous, then
H is the thickness of polishing wheel; ρ be polishing wheel density so, have following relational expression,
When the user more renews polishing wheel, require the actual diameter d of the new polishing wheel of input
0Main motor detects the electric current I that obtains main motor by the angular acceleration starting
0, and be kept in the controller.Polishing wheel is after using, and diameter diminishes, and when the user starts with angular acceleration, detects the electric current I that obtains main motor, then
Thereby can record the actual value of the current diameter of polishing wheel.This value is imported in the polishing program, revise current polishing wheel radius, do not need the user to specify the polishing wheel diameter by hand or reprogram program.
(3) online compensation of polishing wheel radius:
In grinding process,, therefore, in polishing process, need the polishing wheel radius is carried out online compensation because the wearing and tearing of polishing wheel cause polishing contact force and reduce.When detecting polishing force and reduce, tool ends end and workbench move in opposite directions, make both distance reduce, and keep polishing force to be no more than setting value.
Polishing wheel generally all is discoid device, and section zone of each on the circumference can be as the contact part of polishing.If the polishing wheel radius is respectively r, r ' before and after the wearing and tearing.The user can select the polishing tool position of a specific zone as reality according to the size and the curved surface form of polishing workpiece.A kind of typical way is: it is fan-shaped that the polishing wheel disc is divided into M, and typical M value is 30, the angle theta between the adjacent sectors=360 °/N.On circumferential plane, n sector is by a unit vector r
nRepresent,
r
n＝[cos(nθ)sin(nθ)0]
T
In polishing process, the attitude that changes the polishing wheel periphery, the current rotational angle theta of A axle are returned in the motion of A axle
4If θ
4=0 o'clock, the A axis coordinate system was that attitude is consistent with the polishing wheel centre coordinate, so r
nVector R with respect to robot base mark system
n,
If the step-length of robot radius compensation is a Δ, typically get Δ=2mm, then the X-axis of robot, Y-axis, Z axle compensation increment are respectively Δ
x, Δ
Y, Δ
Z,
Δ
X＝-Δcos(nθ)
Δ
Y＝-Δ(cosθ
4cos(nθ)-sinθ
4sin(nθ))
Δ
Z＝-Δ(sinθ
4cos(nθ)-cosθ
4sin(nθ))
With Δ
x, Δ
Y, Δ
ZCompensate in the polishing program,, stop compensating motion so, otherwise continue compensation, be increased to setting value up to polishing force if polishing force is increased to range of set value.A axis coordinate system and polishing wheel centre coordinate are that attitude is inconsistent, then can calculate that the attitude between two coordinate systems concerns according to polishing machine people's physical dimension, are calculating X-axis, Y-axis, Z axle compensation increment then.Principle as shown in Figure 1, T is the output torque of spindle motor among the figure, k is the torque constant of spindle motor, I is the phase current of spindle motor.
Further, above-mentioned polishing wheel diameter detects and compensation method, is not subjected to the almost size impact and the restriction in each joint, can satisfy the every performance indications requirement of curved surface polishing operation to robot arm.
Further, above-mentioned polishing wheel diameter detects with the employed number of sensors of compensation method few, and precision and life-span be not subjected to the influence of polishing dust, can improve the reliability of equipment greatly.
The outstanding substantive distinguishing features and the obvious improvement of technical solution of the present invention is mainly reflected in:
The polishing force that the present invention relates to detects, the polishing wheel diameter detects and the polishing wheel wear-compensating, has adopted current sensor, relies on the proportionate relationship between each tested factor and the current sensor, measures the size and the polishing wheel diameter of polishing force in the polishing process indirectly; In real-time polishing process,,, can calculate the complementary range in each joint real-time according to the sector and the terminal corner of polishing wheel of current polishing contact because the polishing wheel wearing and tearing cause that polishing force reduces.Compared with prior art, the polishing wheel diameter detects and compensation method, can be widely used on the robot polishing operation task of constant pressure, produces good practical significance, and economic results in society are remarkable.
Below only be concrete exemplary applications of the present invention, protection scope of the present invention is not constituted any limitation.All employing equivalents or equivalence are replaced and the technical scheme of formation, all drop within the rights protection scope of the present invention.
Claims (10)
1. polishing wheel diameter detection method is characterized in that comprising:
The electric current (I) of the spindle motor that drives polishing wheel is flow through in detection,
Determine the diameter (d) of polishing wheel according to described electric current.
2. according to the polishing wheel diameter detection method of claim 1, it is characterized in that described electric current (I) is the electric current that flows through the primary circuit of the spindle motor that drives polishing wheel.
3. polishing wheel diameter detection method according to claim 1 and 2 is characterized in that
Utilize the described electric current of current sensor senses (I), and
The diameter of polishing wheel (d) is determined according to following formula:
D wherein
0Be the initial diameter of described polishing wheel, I
0Be the electric current that flow through the spindle motor that drive polishing wheel corresponding with described initial diameter.
4. polishing force detection method is characterized in that comprising:
The electric current (I) of the spindle motor that drives polishing wheel is flow through in detection,
Determine the polishing force (N) of polishing wheel according to described electric current.
5. according to the polishing force detection method of claim 5, it is characterized in that described electric current (I) is the electric current that flows through the primary circuit of the spindle motor that drives polishing wheel.
6. according to claim 4 or 5 described polishing force detection methods, it is characterized in that
Utilize the described electric current of current sensor senses (I), and
Described polishing force (N) is determined according to following formula:
Wherein μ is a static friction coefficient between polishing wheel and the workpiece, and r is that the current radius of polishing wheel is half of diameter (d) of polishing wheel, and k is the torque constant of described spindle motor (threephase asynchronous machine), and i is the output decelerator speed ratio of described spindle motor.
7. polishing wheel wear-compensating method is characterized in that comprising:
When detecting polishing force and reduce, the workbench that makes the tool ends end that is loaded with workpiece to be processed and be loaded with polishing wheel moves in opposite directions,
When polishing force is increased to range of set value, stop describedly to move in opposite directions, otherwise continue describedly to move in opposite directions, be increased to reasonable value up to polishing force,
Wherein said polishing force is to utilize according to any one the described method among the claim 4-6 to detect.
8. according to the method for claim 7, it is characterized in that further comprising:
Polishing wheel is divided into several zones;
Specify the contact part of a certain zone as polishing, the corresponding unit vector of pointing to circumference from the center of circle in this zone, this vector attitude is only relevant with a part of joint rotation angle of polishing machine people;
By homogeneous variation, obtain the 3 d pose array of described vector with respect to basis coordinates system;
The element of this three-dimensional array and the product of compensation step-length are the complementary range of each linear joint of robot;
Compensate according to this complementary range.
9. method according to Claim 8 is characterized in that further comprising:
Carry out the iteration of described compensation continuously, make polishing force be increased to setting range.
10. according to the method for claim 9, wherein said polishing force is with the readings signify of current sensor.
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| CN102615594A (en) * | 2012-04-20 | 2012-08-01 | 浙江师范大学 | Grinding wheel grinding force detection method in shaft part machining process |
| CN102806513A (en) * | 2012-08-14 | 2012-12-05 | 浙江大学 | Polishing method with constant grinding amount |
| CN103659603A (en) * | 2012-09-19 | 2014-03-26 | 大量科技股份有限公司 | Detection device of grinder |
| CN103753395A (en) * | 2013-12-26 | 2014-04-30 | 西安交通大学 | Grinding force sensor and measuring method thereof |
| CN104924213A (en) * | 2015-06-02 | 2015-09-23 | 中山亚力菲自动化设备有限公司 | Polishing wheel compensating mechanism and compensating method thereof |
| CN106873639A (en) * | 2017-02-22 | 2017-06-20 | 株洲时代电子技术有限公司 | A kind of steel rail grinding deflection angle control method |
| CN106965082A (en) * | 2017-03-07 | 2017-07-21 | 佛山华数机器人有限公司 | A kind of sanding and polishing method based on robot |
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| CN110434753A (en) * | 2019-06-26 | 2019-11-12 | 武汉乐法科技发展有限公司 | A method of real time monitoring grinder abrasive power |
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| CN114536162A (en) * | 2022-03-04 | 2022-05-27 | 嘉兴学院 | Polisher buffing wheel wearout detection device for robot manufacturing |
| CN114850973A (en) * | 2022-04-02 | 2022-08-05 | 浙江工贸职业技术学院 | Grinding and polishing compensation method for flexible wheel of robot |
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| CN102615594A (en) * | 2012-04-20 | 2012-08-01 | 浙江师范大学 | Grinding wheel grinding force detection method in shaft part machining process |
| CN102615594B (en) * | 2012-04-20 | 2014-01-08 | 浙江师范大学 | Grinding wheel grinding force detection method in shaft part machining process |
| CN102806513A (en) * | 2012-08-14 | 2012-12-05 | 浙江大学 | Polishing method with constant grinding amount |
| CN102806513B (en) * | 2012-08-14 | 2014-12-03 | 浙江大学 | Polishing method with constant grinding amount |
| CN103659603A (en) * | 2012-09-19 | 2014-03-26 | 大量科技股份有限公司 | Detection device of grinder |
| CN103753395A (en) * | 2013-12-26 | 2014-04-30 | 西安交通大学 | Grinding force sensor and measuring method thereof |
| CN104924213A (en) * | 2015-06-02 | 2015-09-23 | 中山亚力菲自动化设备有限公司 | Polishing wheel compensating mechanism and compensating method thereof |
| CN106873639A (en) * | 2017-02-22 | 2017-06-20 | 株洲时代电子技术有限公司 | A kind of steel rail grinding deflection angle control method |
| CN106965082A (en) * | 2017-03-07 | 2017-07-21 | 佛山华数机器人有限公司 | A kind of sanding and polishing method based on robot |
| CN109422455A (en) * | 2017-08-21 | 2019-03-05 | 塔工程有限公司 | Dicing method and scribing equipment |
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| CN109848825B (en) * | 2019-02-20 | 2023-12-05 | 上海爱仕达机器人有限公司 | Polishing workstation and polishing method thereof |
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| CN110039448B (en) * | 2019-04-26 | 2021-02-02 | 中国工程物理研究院激光聚变研究中心 | Airbag wear monitoring method and apparatus |
| CN110434753A (en) * | 2019-06-26 | 2019-11-12 | 武汉乐法科技发展有限公司 | A method of real time monitoring grinder abrasive power |
| CN112975748A (en) * | 2019-12-14 | 2021-06-18 | 佛山市后浪科技有限公司 | Abrasion detection and compensation method for polishing cloth wheel |
| WO2021248858A1 (en) * | 2020-06-11 | 2021-12-16 | 巨轮（广州）机器人与智能制造有限公司 | Plc-based automatic grinding constant pressure control method and system |
| CN113635078A (en) * | 2021-08-23 | 2021-11-12 | 深圳市特力威科技有限公司 | Intelligent numerical control machine tool |
| CN114536162A (en) * | 2022-03-04 | 2022-05-27 | 嘉兴学院 | Polisher buffing wheel wearout detection device for robot manufacturing |
| CN114850973A (en) * | 2022-04-02 | 2022-08-05 | 浙江工贸职业技术学院 | Grinding and polishing compensation method for flexible wheel of robot |
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