CN105690209B - A kind of large-scale curved grinding self-adaptation control method - Google Patents
A kind of large-scale curved grinding self-adaptation control method Download PDFInfo
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- CN105690209B CN105690209B CN201610076949.9A CN201610076949A CN105690209B CN 105690209 B CN105690209 B CN 105690209B CN 201610076949 A CN201610076949 A CN 201610076949A CN 105690209 B CN105690209 B CN 105690209B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- Health & Medical Sciences (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Artificial Intelligence (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of large-scale curved grinding self-adaptation control method.This method adapts to the workpiece of different curvature by adjusting the position of three strong point distance centers；Contact force adjustment time is reduced by coarse adjustment threaded pre-tightening power, efficiency is improved；The contact force gathered by the defined sampling period in Grinding Process carries out force signal feedback, and set contact force threshold, average value is obtained to the contact force value that continuous 5 sampling periods gather, torque direction and size that drive signal constantly adjusts driver in milling tools module are produced by the controller of setting, change elastic component deflection, contact force is of moderate size and keep suitable number range, realize metastable polishing contact force.The inventive method includes 5 steps：1. grinding prepares；2. touch workpiece；3. trajectory planning；4. grinding；The relative constancy of polishing contact force can be achieved, processing stability is improved.
Description
Technical field
The present invention relates to machining polishing field, specially a kind of large-scale curved grinding self-adaptation control method.
Background technology
In traditional curved surface polishing industry, generally had been manually done by experienced operator.Not only labor intensity is big for manual grinding, take
When laborious, and inefficiency, it is difficult to ensure that the globality and uniformity of workpiece shape face quality；While the noise of operation field,
Dust and chopped fiber also have a strong impact on the health of workman.And grinding tool is directly clamped using robot and polished, workpiece surface matter
Although amount is very high, the movement locus by part model and polishing region teaching robot is needed before polishing, and in reality
In operation, the location dimension of each workpiece is inconsistent, it is necessary to repeated carrying out movement locus, and this can have a strong impact on polishing
Efficiency.To improve the efficiency of machining polishing, ensureing the crudy of workpiece surface, large-scale curved workpiece shape face is not destroyed
Globality and uniformity, it is necessary to develop it is a kind of can in real time be adjusted according to workpiece shapes grinding tool polishing position and posture side
Method, coordinates robot finely to polish workpiece.
The content of the invention
In view of the shortcomings of the prior art, it is adaptive that the technical problem that the present invention is intended to solve is to provide a kind of large-scale curved grinding
Answer control method.This method control principle is simple, novel in design, and suitable support is constructed by adjusting the position of the strong point
Face, is ground with the workpiece surface for adapting to different curvature, is reduced by the contact force of threaded pre-tightening device coarse adjustment pretension during adjustment
Between, change the deflection of spring by detecting contact force size, and by controlling driver output torque, make contact force size
It is moderate, appropriate value scope is maintained at, metastable polishing contact force is realized, the grinding effect of efficient stable is reached.
The technical scheme that the present invention solves the technical problem is：A kind of large-scale curved grinding Self Adaptive Control side of design
Method, this method uses following steps：
（1）Grinding prepares；Before grinding starts, the position of three strong points of adjustment is first passed through, one is determined as far as possible
The minimal face of laminating workpiece, to adapt to the polishing of different curvature workpiece, realizes the contact of grinding tool with workpiece well；Pass through design again
Threaded pre-tightening device coarse adjustment contact force size, so as to reduce its adjustment time, improve efficiency；Secondly, in the people of control system
It is preliminary on machine interactive interface that grinding parameter and contact force threshold are set；
（2）Workpiece is touched；By gathering obliquity sensor informationAnd power heat transfer agent carries out inclination angle and contact force is anti-
Feedback, and show on the touchscreen；When trying touch more than contact force threshold, spring need to be adjusted by threaded pre-tightening device initial
Position, is then touched again to workpiece, until examination touch is less than threshold value；When trying touch less than threshold value, processing can be started；
（3）Trajectory planning causes three strong point movements；In Grinding Process, track is carried out by control system
Planning, three strong point movements of control, real-time pose adjustment, it is ensured that the continuity of processing and the globality in shape face, until completing
The grinding task of whole workpiece；
（4）Grinding；After grinding starts, contact force can automatically be adjusted by controller and milling tools module
It is whole, until meeting contact force requirement；In grinding process, 1 time as one sampling week of feeding is often circulated using milling tools module
Phase, the contact force signal to grinding tool with workpiece is acquired, and the contact force value that continuous 5 sampling periods gather is obtained average
Value, then carries out following judgement：And provide output torque to increase stock removal direction as positive direction；
A. start after processing, obliquity sensor information is gathered again, the absolute value of inclination angle difference twice is calculated, it is defeated
Enter controller, according to inclination angle difference and force information, according to the following equation【1】Calculate the average value of contact force；
【1】
【1】In formula,- contact force average value, unit；The force signal of-ith collection, unit is；、- it is respectively the inclination value gathered for the first time, for the second time, unit。
B. when average value is less than threshold value, the drive signal produced by the controller of setting, top motor is rotated forward,
Increase torque, so as to increase spring deflection, and then increase polishing contact force, finally cause grinding depth increase；
C. when average value is more than threshold value, the drive signal produced by the controller of setting, top motor is reversely rotated,
Reduce torque, so as to reduce spring deflection, and then reduce polishing contact force, finally grinding depth is reduced；
D. when contact force average value keeps of substantially equal in 10 collection period compared with contacting force threshold, by setting
The drive signal that fixed controller is produced, keeps the output torque of top motor, keeps spring deflection, increases grinding wheel speed,
Improve grinding efficiency；
E. after contact force has carried out 10 collection period, suitably reduce spring deflection, recover grinding wheel speed, collection time
Number zero, resurveys sensor information.
（5）Contact force function optimizes., can to enter line function excellent by inputting information butt joint touch after grinding starts
Change is handled, and is further improved grinding accuracy, is realized man-machine interaction.
Compared with prior art, the advantage of the inventive method is with good effect：
1 the inventive method is suitable for large-scale curved stable processing, before grinding starts, first by adjusting by three
The position of the individual strong point determines the minimal face of a workpiece of fitting as far as possible, so that milling tools in travel mechanism is use up
Amount laminating curve surface of workpiece so that good contact is kept between grinding tool and workpiece, to adapt to the polishing of different curvature workpiece, polishing connects
Contacting surface is big, efficiency high.Simultaneously by the threaded pre-tightening device coarse adjustment contact force size of design, so as to reduce its adjustment time, carry
High efficiency.
2 the inventive method carry out examination to workpiece and touched, and the initial position of spring is readjusted by the examination touch information taken,
Ensure the processing incipient stage, examination touch is less than given threshold, improves suface processing quality.
3 the inventive method carry out trajectory planning in Grinding Process by control system, and three strong points of control are pressed
According to the movement of defined track, real-time pose adjustment, it is ensured that the continuity of processing and the globality in shape face.
4 the inventive method have certain contact force control ability.After grinding starts, by detecting grinding tool in real time
Force signal feedback is carried out with the contact force of workpiece, producing drive signal by the controller of setting constantly adjusts milling tools module
The torque direction and size of middle driver, make contact force be of moderate size, and are maintained at suitable number range, realize metastable
Polishing contact force, so as to preferably keep grinding surface accuracy.
5 the inventive method carry out function processing by inputting information butt joint touch threshold value on the touchscreen, can be further
Grinding accuracy is improved, man-machine interaction is realized, increases the flexibility of control system, to improve the adaptation energy for different curvature workpiece
The stability of power and contact force.
Brief description of the drawings
Fig. 1 is the large-scale curved control flow schematic diagram for being ground a kind of embodiment of self-adaptation control method of the present invention；
Fig. 2 is a kind of large-scale curved grinding embodiment of self-adaptation control method of the present invention（Fig. 1）Middle grinding it is specific
Flow chart.
Embodiment
The present invention is further discussed below with reference to embodiment and accompanying drawing.
The large-scale curved grinding adaptive force control method that the present invention is designed（Abbreviation method, referring to Fig. 1 and 2）, this method
Specifically include following operating procedure：
The first step, grinding prepares；Before grinding starts, determined first by adjusting by the position of three strong points
The minimal face of one workpiece of fitting as far as possible, to adapt to the polishing requirement of different curvature workpiece, comes secondly by threaded pre-tightening device
Coarse adjustment contact force size, reduces the adjustment time of contact force, improves efficiency.
Further, parameter is carried out tentatively to set.Devised in control system and separately designed sand on touch display screen, interface
The various grinding parameters such as wheel speed, feed speed, feeding depth are pre-seted and display box.In grinding process, on interface also
Have Dynamic Announce frame, the contact force threshold setting frame of contact force signal.
Second step, touches workpiece or workpiece is touched in examination；Carried out by gathering obliquity sensor information and power heat transfer agent
Inclination angle and contact force feedback, and show on the touchscreen；When trying touch more than contact force threshold, three bolt and nuts need to be passed through
The threaded pre-tightening device of composition adjusts the initial position of spring, and then workpiece is touched again, until examination touch is less than examination
Touch threshold value；When trying touch less than examination touch threshold value, you can start processing；
3rd step, three strong point movements；In Grinding Process, trajectory planning, control are carried out by control system
Three strong point movements, real-time pose adjustment, it is ensured that the continuity of processing and the globality in shape face, until completing whole workpiece
Grinding task；
4th step, grinding；After grinding starts, contact force can be automatic by controller and milling tools module
Adjustment, until meeting contact force requirement；In grinding process, 1 time as one sampling of feeding is often circulated using milling tools module
Cycle, the contact force signal to grinding tool with workpiece is acquired, and the contact force value that continuous 5 sampling periods gather is obtained average
Value, then carries out following judgement：And provide output torque to increase stock removal direction as positive direction；
A. start after processing, obliquity sensor information is gathered again, calculate the absolute value of inclination angle difference twice, input
Controller, according to inclination angle difference and force information, according to the following equation【1】Calculate the average value of contact force；
【1】
【1】In formula,- contact force average value, unit；The force signal of-ith collection, unit is；、- it is respectively the inclination value gathered for the first time, for the second time, unit。
B. when average value is less than threshold value, the drive signal produced by the controller of setting, top motor is rotated forward,
Increase torque, so as to increase spring deflection, and then increase polishing contact force, finally cause grinding depth increase；
C. when average value is more than threshold value, the drive signal produced by the controller of setting, top motor is reversely rotated,
Reduce torque, so as to reduce spring deflection, and then reduce polishing contact force, finally grinding depth is reduced；
D. when contact force average value keeps of substantially equal in 10 collection period compared with contacting force threshold, by setting
The drive signal that fixed controller is produced, keeps the output torque of top motor, keeps spring deflection, increases grinding wheel speed,
Improve grinding efficiency；
E. after contact force has carried out 10 collection period, suitably reduce spring deflection, recover grinding wheel speed, collection time
Number zero, resurveys sensor information.
Further characteristic of the invention is that the strong point is made up of three universal wheels, passes through three universal wheels of adjustment
Relative position, it may be determined that one as far as possible fit workpiece minimum planes, to adapt to the polishing of different curvature workpiece, realize grinding tool and
The Maximum Contact face of workpiece, improves grinding efficiency.The guide effect of three universal wheels so that travel mechanism can complete any side
The movement of position, so as to improve the adaptivity to workpiece shapes.
Further characteristic of the invention is that described threaded pre-tightening structure is by the threaded micro screw of three radicles and nut
Composition is engaged, coarse adjustment contact force is realized, pretightning force is less than contact force threshold, and the pretightning force of embodiment design is the 50- of threshold value
80%。
Further characteristic of the invention is that described contact force threshold is set according to material classification and stock removal.
Further characteristic of the invention is on the touchscreen, function optimization processing to be carried out by inputting information butt joint touch,
Further to improve grinding accuracy, man-machine interaction is realized, increases the flexibility of control system, different curvature workpiece is directed to improve
Adaptability and contact force stability.
Unit or the structure essentially known technology that the inventive method is related to.It is particularly suited for applicant is first
A kind of " the large-scale curved adaptive sanding apparatus of grinding " of application for a patent for invention（Application No. 2016100150879）.This application
Claims, specification and the accompanying drawing of file, which can be drawn to be considered as, have been referred in the inventive method, further to support this to send out
Bright method.
The inventive method does not address part and is applied to prior art.
Embodiments of the invention are elaborated above in conjunction with accompanying drawing, but the present invention is not limited to above-mentioned implementation
Example, in the knowledge that those of ordinary skill in the art possess, can also do on the premise of present inventive concept is not departed from
The various change gone out, also should be regarded as the application scope of the claims.
Claims (5)
1. a kind of large-scale curved grinding self-adaptation control method, this method uses following steps：
(1) grindings prepare；Before grinding starts, the position of three strong points of adjustment is first passed through, a laminating as far as possible is determined
The minimal face of workpiece, to adapt to the polishing of different curvature workpiece, realizes the contact of grinding tool with workpiece well；Pass through the spiral shell of design again
Line pre-tightening apparatus coarse adjustment contact force size, so as to reduce its adjustment time, improves efficiency；Secondly, in the man-machine friendship of control system
It is preliminary on mutual interface that grinding parameter and contact force threshold are set；
(2) touches workpiece；Inclination angle and contact force feedback are carried out by gathering obliquity sensor information and force snesor information,
And show on the touchscreen；, need to be by the threaded pre-tightening that is made up of three bolt and nuts when trying touch and being more than contact force threshold
Device adjusts the initial position of spring, then workpiece is touched again, until examination touch is less than threshold value；When examination touch is less than
During threshold value, you can start processing；
(3) trajectory plannings；Trajectory planning causes three strong point movements；In Grinding Process, carried out by control system
Trajectory planning, three strong point movements of control, real-time pose adjustment, it is ensured that the continuity of processing and the globality in shape face, until
Complete the grinding task of whole workpiece；
(4) grindings；After grinding starts, contact force can be by controller and milling tools module adjust automatically, directly
Required to contact force is met；In grinding process, 1 time as one sampling period of feeding is often circulated using milling tools module, it is right
Contact force signal of the grinding tool with workpiece is acquired, and obtains average value to the contact force value that continuous 5 sampling periods gather, then
Carry out following judgement：And provide output torque to increase stock removal direction as positive direction；
A. start after processing, obliquity sensor information is gathered againCalculate the absolute value of inclination angle difference twice, input control
Device, according to inclination angle difference and force information, according to the following equation【1】Calculate the average value of contact force；
【1】In formula, F '-contact force average value, unit N；FiThe force signal of-ith collection, unit is N；- respectively
For the inclination value gathered for the first time, for the second time, unit rad；
B. when average value is less than threshold value, the drive signal produced by the controller of setting, top motor is rotated forward, and is increased
Torque, so as to increase spring deflection, and then increases polishing contact force, finally causes grinding depth increase；
C. when average value is more than threshold value, the drive signal produced by the controller of setting, top motor is reversely rotated, and is reduced
Torque, so as to reduce spring deflection, and then reduces polishing contact force, finally grinding depth is reduced；
D. when contact force average value keeps of substantially equal in 10 collection period compared with contacting force threshold, setting is passed through
The drive signal that controller is produced, keeps the output torque of top motor, keeps spring deflection, increases grinding wheel speed, improves
Grinding efficiency；
E. after contact force has carried out 10 collection period, suitably reduce spring deflection, recover grinding wheel speed, times of collection is returned
Zero, resurvey sensor information.
2. large-scale curved grinding self-adaptation control method according to claim 1, it is characterised in that the strong point is by three
Individual universal wheel is constituted, and the minimum planes of a workpiece of fitting as far as possible are determined by adjusting the relative position of three universal wheels, with
The polishing of different curvature workpiece is adapted to, the Maximum Contact face of grinding tool and workpiece is realized, grinding efficiency is improved；Three universal wheels are led
To effect so that travel mechanism can complete the movement in any orientation, so as to improve the adaptivity to workpiece shapes.
3. large-scale curved grinding self-adaptation control method according to claim 1, it is characterised in that described threaded pre-tightening
Device is engaged and constituted by the threaded micro screw of three radicles and nut, realizes the coarse adjustment of contact force, and pretightning force should be less than connecing
Touch threshold value, is the 50-80% for contacting force threshold.
4. large-scale curved grinding self-adaptation control method according to claim 1, it is characterised in that described contact force threshold
Value is set according to material classification and stock removal.
5. large-scale curved grinding self-adaptation control method according to claim 1, it is characterised in that on the touchscreen, leads to
Cross input information butt joint touch threshold value and carry out function optimization processing, further improve grinding accuracy, realize man-machine interaction, increase control
The flexibility of system processed, improves the stability of the adaptability and contact force for different curvature workpiece.
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