CN106737196B - A kind of constant pressure constant linear velocity polishing method of robot polishing machine - Google Patents
A kind of constant pressure constant linear velocity polishing method of robot polishing machine Download PDFInfo
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- CN106737196B CN106737196B CN201611218929.7A CN201611218929A CN106737196B CN 106737196 B CN106737196 B CN 106737196B CN 201611218929 A CN201611218929 A CN 201611218929A CN 106737196 B CN106737196 B CN 106737196B
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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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
-
- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
-
- 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
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
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- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of constant pressure constant linear velocity polishing methods of robot polishing machine, it include the sisal polishing assembly and buffing component, robot, robot control system and PLC control system of double-station, wherein sisal polishing assembly includes the sisal of connection, sisal motor and sisal frequency converter, and buffing component includes cotton piece buff, cloth turbin generator and cotton piece buff frequency converter；The present invention increases ethernet communication functional module and multitask function card module by robot control system, and the real-time, interactive for completing robot control system and PLC control system communicates, and can realize constant pressure and constant linear velocity grinding and polishing and polishing automatically；End effector of robot constantly changes posture, therefore can be by each face of workpiece all uniform polish, while increasing the arc length of the practical grinding and polishing of flax wheel, adapts to larger size work pieces process.
Description
Technical field
The present invention relates to a kind of polishing methods, belong to polishing mechanical equipment technical field, refer in particular to a kind of robot throwing
The constant pressure constant linear velocity polishing method of ray machine.
Background technique
Robot polishing machine generally utilizes cotton piece buff to complete polishing process at present, or grinding and polishing, polishing process are formed two works
Position polissoir carries out the last grinding and polishing process of workpiece using sisal, cotton piece buff is recycled to complete polishing process, to improve production effect
Rate.Aforementioned two kinds of equipment will be gradually worn out with process flax wheel, and diameter will be gradually reduced；Meanwhile in order to protect
Card flax wheel linear velocity is constant, and the speed of mainshaft can be gradually increased and spindle vibration amplitude is caused to gradually increase.Therefore, workpiece and fiber crops
Contact pressure variation and the vibration of main shaft between cotton piece buff influence very greatly the surface polishing quality and its uniformity of product, unfavorable
In standardized production, especially the quality of finish of the irregular workpiece of outer profile is influenced more so.
To solve aforementioned problem, simplest method is to increase by one between the end effector and work piece holder of robot
A constant force flexible flange (or constant force actuator), but constant force flexible flange is expensive, generally only polishes in special workpiece
Occasion just will use." a kind of control cloth throws the method and apparatus (Authorization Notice No. of the constant polishing force of machine to China's patent of invention
CN102145473B) ", disclose such technical solution: PLC control system sets control parameter, is driven by frequency converter
Dynamic motor load electric current, obtains buff working radius by servo motor, PLC control system, which is analyzed and controls driver, to be made
Servo motor drives the body for being connected with buff to be moved forward and backward along cotton piece buff radial level.The patent of invention can not be accurate in real time
Cotton piece buff radius is measured, but relies on work pieces process cloth foot wheel abrasion empirical value and compensates, needs to change when replacing another workpiece
Change experience offset；Meanwhile being gradually reduced with cloth wheel diameter, the continuous improvement of driving motor revolving speed, removable body makes cotton piece buff
Amplitude increases, and polishing product surface quality uniformity nevertheless suffers from very big influence, especially constantly changes in end effector of robot
Become posture, grinding and polishing point deviation cotton piece buff horizontal center line and close under the operating condition of flax wheel minimum diameter, it more difficult to realize constant pressure
Polishing.
Summary of the invention
It is an object of the invention to overcome the deficiencies of existing technologies with it is insufficient, a kind of constant pressure of robot polishing machine is provided
Constant linear velocity polishing method can realize that constant pressure and constant linear velocity grinding and polishing and polishing process, wide adaptation range mention automatically
High production efficiency, reduces production cost, improves product quality.
In order to be able to achieve above-mentioned purpose, the present invention is realized according to following technical scheme:
A kind of constant pressure constant linear velocity polishing method of robot polishing machine, include double-station sisal polishing assembly and
Buffing component, robot, robot control system and PLC control system, wherein sisal polishing assembly includes connection
Sisal, sisal motor and sisal frequency converter, buffing component include cotton piece buff, cloth turbin generator and cotton piece buff frequency converter, specific
Include following steps:
Constant polishing force, constant linear velocity and the robot coordinate of S1, PLC control system setting sisal and cotton piece buff；
S2, PLC control system starting sisal motor driven sisal rotation, the end effector clamping workpiece of robot by its
It presses the radial circumference progress surface grinding and polishing in sisal and keeps；
S3, PLC control system by sisal frequency converter obtain sisal motor real time load electric current and by Ethernet it is real-time
Communication sends robot control system to, and robot control system calculates sisal real-time working radius and in real time polishing automatically
Power；
S4, robot control system are according to sisal real-time working radius and real-time polishing force, when real-time polishing force and setting
When constant polishing force generates error, robot control system calculates robot corresponding coordinate compensation rate, Robot fiber crops automatically
Wheel radial moves horizontally compensation rate, maintains real-time grinding and polishing pressure constant, when the end effector clamping workpiece of robot is in difference
When spatial position, robot is on grinding and polishing point along sisal normal direction motion compensation amount；Meanwhile robot control system passes through
Ethernet interactive correspondence, PLC control system change sisal motor speed by the modified speed of sisal frequency converter, maintain sisal linear speed
It spends constant；
S5, workpiece direction is changed by the end effector of robot, is repeatedly performed S2 to S4 step, until completing sisal
Grinding and polishing process；
S6, the setting that cotton piece buff control parameter has been completed in S1 step, the automatic cotton piece buff motor driven cotton piece buff of PLC control system
By setting linear velocity rotation；The workpiece for completing grinding and polishing is turned to the circumference of cotton piece buff according to manufacturing procedure by the end effector of robot
Surface polishing is carried out, is repeatedly performed S2 to S5 step, until product completes entire polishing process.
Further, manufacturing procedure is pressed in the calculating of the real-time compensation value and robot coordinate system's correction value of the sisal and cotton piece buff
Automatically switch, is completed on robot control system backstage, the pause of robot when performing processing program is avoided, by handing in real time
The end effector that existing robot is proved to be true after interrogation in intercommunication is controlled in the constant pressure of different spatial.
Further, the robot control system has ethernet communication functional module and multitask function card module,
PLC control system is carried out using apparatus logic control system, robot control system and PLC control system by Ethernet real-time
Interactive correspondence, robot use six-freedom degree drive mechanism.
Compared with prior art, the present invention has the advantages that:
1, the present invention increases ethernet communication functional module and multitask function card module by robot control system,
The real-time, interactive for completing robot control system and PLC control system communicates, and can realize constant pressure and constant linear speed automatically
Spend grinding and polishing and polishing；End effector of robot constantly changes posture, therefore can add simultaneously each face of workpiece all uniform polish
The arc length of the practical grinding and polishing of hemp cotton piece buff adapts to larger size work pieces process；
2, polishing machine of the invention and the design of constant pressure control method are unique novel, and mechanical structure simple and stable does not have
Any mechanical component movement, avoids fiber crops, cotton piece buff from vibrating the influence to workpiece polished surface quality, can make to polish product surface more
Uniformly；
3, robot is arranged in immediately ahead of two station flax wheel polishing assemblies, and robot can rotate left and right, and end is held
Row device clamping workpiece completes grinding and polishing and polishing process, improves production efficiency, reduces production cost；
4, the grinding and polishing and Polishing Motion track and frequency both sides that robot is done are symmetrical, therefore not will cause robot
Gearbox gear uneven wear improves the robot service life and guarantees robot clamping and put back to accurate work piece positioning, to improve
The machining accuracy and production efficiency of workpiece.
In order to the clearer understanding present invention, specific embodiment party of the invention is elaborated below with reference to Detailed description of the invention
Formula.
Detailed description of the invention
Fig. 1 is the overlooking structure diagram of robot polishing machine of the present invention.
Fig. 2 is control system schematic block diagram of the present invention.
Fig. 3 is polishing machine constant pressure polishing control flow chart of the present invention.
Fig. 4 is polishing machine constant linear velocity polishing control flow chart of the present invention.
Fig. 5 is robot coordinate system's correction value schematic diagram of the present invention.
Specific embodiment
As shown in Figure 1, robot polishing machine of the present invention includes sisal polishing assembly 1 and the buffing of double-station
Component 2, robot 3, robot control system and PLC control system (not shown) and be located at robot at left and right sides of
Two automatic feedings 4,5 being arranged symmetrically, wherein sisal polishing assembly 1 include the sisal of connection, sisal motor and
Sisal frequency converter, buffing component 2 include cotton piece buff, cloth turbin generator and cotton piece buff frequency converter.
As shown in Fig. 2 to 5, the constant pressure constant linear velocity polishing method of above-mentioned robot polishing machine has specifically included following step
It is rapid:
S1, PLC control system set sisal and the constant polishing force of cotton piece buff, constant linear velocity by touch screen or host computer
And robot coordinate；
S2, PLC control system starting sisal motor driven sisal rotation, the end effector clamping workpiece of robot by its
It presses the radial circumference progress surface grinding and polishing in sisal and keeps；
S3, PLC control system by sisal frequency converter obtain sisal motor real time load electric current and by Ethernet it is real-time
Communication sends robot control system to, and robot control system calculates sisal real-time working radius and in real time polishing automatically
Power；
S4, robot control system are according to sisal real-time working radius and real-time polishing force, when real-time polishing force and setting
When constant polishing force generates error, robot control system calculates robot corresponding coordinate compensation rate, Robot fiber crops automatically
Wheel radial moves horizontally compensation rate, maintains real-time grinding and polishing pressure constant, when the end effector clamping workpiece of robot is in difference
When spatial position, robot is on grinding and polishing point along sisal normal direction motion compensation amount；Meanwhile robot control system passes through
Ethernet interactive correspondence, PLC control system change sisal motor speed by the modified speed of sisal frequency converter, maintain sisal linear speed
It spends constant；
S5, workpiece direction is changed by the end effector of robot, is repeatedly performed S2 to S4 step, until completing sisal
Grinding and polishing process；
S6, the setting that cotton piece buff control parameter has been completed in S1 step, the automatic cotton piece buff motor driven cotton piece buff of PLC control system
By setting linear velocity rotation；The workpiece for completing grinding and polishing is turned to the circumference of cotton piece buff according to manufacturing procedure by the end effector of robot
Surface polishing is carried out, is repeatedly performed S2 to S5 step, until product completes entire polishing process.
Further, manufacturing procedure is pressed in the calculating of the real-time compensation value and robot coordinate system's correction value of the sisal and cotton piece buff
Automatically switch, is completed on robot control system backstage, the pause of robot when performing processing program is avoided, by handing in real time
The end effector that existing robot is proved to be true after interrogation in intercommunication is controlled in the constant pressure of different spatial.
Further, the robot control system has ethernet communication functional module and multitask function card module,
PLC control system is carried out using apparatus logic control system, robot control system and PLC control system by Ethernet real-time
Interactive correspondence, robot use six-freedom degree drive mechanism.
The principle of above-mentioned robot polishing machine constant pressure polishing is as described below:
Principal element due to during the polishing process, influencing workpiece surface quality of finish is constant pressure, constant linear velocity respectively.
Wherein, grinding and polishing constant pressure is mainly determined by the contact pressure between sisal or cotton piece buff material and workpiece and sisal or cotton piece buff
's.Therefore, it is necessary to the contact pressure values of sisal and cotton piece buff calibration standard for unlike material.PLC control system and robot control
It is as follows that the multitask of internal system processed calculates variable used:
Tem: electromagnetic torque；T0: no-load torque；T2: load torque；
F rubs: frictional force when calibration sisal or cotton piece buff contact pressure value, when workpiece and sisal or cotton piece buff contact；
F rubs ': frictional force after sisal or cloth foot wheel abrasion, when workpiece and sisal or cotton piece buff contact；
FN: when calibration sisal or cotton piece buff contact pressure value, the contact pressure value between workpiece and sisal or cotton piece buff；
FN ': contact pressure after sisal or cloth foot wheel abrasion, between workpiece and sisal or cotton piece buff；
U2: when calibration sisal or cotton piece buff contact pressure value, the rotor voltage value of sisal or cloth turbin generator；
U2 ': after sisal or cloth foot wheel abrasion, the rotor voltage value of sisal or cloth turbin generator；
I2: the rotor electric current under calibration contact pressure value, i.e. torque current；
I2 ': after sisal or cloth foot wheel abrasion, rotor electric current, i.e. torque current.
Firstly, demarcating the contact pressure value of standard for sisal or cotton piece buff.The pressure value can be in any of sisal or cotton piece buff
Radius normal direction is demarcated, and the sisal or cotton piece buff of same material, it is only necessary to which calibration is primary.The value by user according to
The technique of workpiece requires to be demarcated.User clamps specific purpose tool (or the maximum of workpiece by operation end effector of robot
Plane) and execute " pressure calibration program ", allow specific purpose tool to be contacted with sisal or cotton piece buff circumference, to complete calibration work
Make.Rotor voltage value U2 and torque electricity after the completion of calibration, when PLC control system is by sisal and cotton piece buff nominal pressure value
Flow valuve I2 gives robot control system by Ethernet/IP respectively, provides basic ginseng for the calculating of subsequent flax wheel radius
Number.
Then, before robot operation workpieces processing program, first operating radius calculation procedure.End effector of robot is certainly
Dynamic clamping specific purpose tool (or maximum planes of workpiece), is contacted, PLC control system is same with the circumference of rotation sisal or cotton piece buff
When read frequency converter rotor voltage U2 ' and torque current I2 ' and give robot control system by Ethernet/IP,
It is compared in program.After '=1 U2I2/U2 ' I2 (± 5%) (± 5% is tolerance range), i.e. U2I2/U2 ' I2 '
'=1=FN/FN (± 5%) (formula (1)).At this point, robot program automatically extracts as the Y in the current TCP coordinate of robot
Y ' coordinate value in coordinate value and the axle center coordinate of sisal or cotton piece buff obtains sisal or cotton piece buff damage mill value Δ Y=Y '-Y.
Proof about formula (1) '=1 ' I2 '=FN/FN U2I2/U2 (± 5%) is as follows:
In the torque balance equation of motor: in Tem=T2+T0, because of T0=pmec+p Δ, and mechanical loss pmec and
The ratio that added losses p Δ when nominal load accounts for electromagnetic torque Tem is fewer, it is possible to ignore T0 and disregard, is i.e. Tem ≈
T2.It is almost constant again because influence of the material variation to T2 of same sisal or cotton piece buff in efficient working range is few
, so T2 is equal to torque caused by frictional force when workpiece is contacted with sisal or cotton piece buff.According to torque formula: T=Ftr,
Friction formula: F rubs=FN μ, can obtain load torque T2=F and rub r=FN μ r (formula (2))；
According to formula (2), load torque when available reference pressure value is T2=FN μ r (formula (3)), with
And load torque T2 '=FN ' μ r ' (formula (4)) after sisal or cloth foot wheel abrasion；
It formula (3) divided by formula (4), and can be obtained after simplifying: T2/T2 '=FNr/FN ' r ' (formula (5)).Electricity
Motivation torque formula T2=9550P2/n (formula (6)) and power P 2=3U2I2cos φ (formula (7)) generation respectively
Enter in formula (5) formula, after arrangement: U2I2/U2 ' I2 '=FNrn/FN ' r ' n ', i.e. U2I2/U2 '
I2 '=FNS/FN ' S ' (formula (8)).Linear velocity S and sisal or cotton piece buff in formula (8), when sisal or cotton piece buff are demarcated
Linear velocity S ' after abrasion is controlled by motor speed of the PLC control system to frequency converter, reaches constant linear velocity, i.e. S=S '
=2 π rn=2 π r ' n ' (formula (9)).Formula (9) are substituted into formula formula (8), U2I2/U2 ' I2 ' is finally obtained
=FN/FN ' (formula (10)).In formula (10), since U2 passes through the contact of above-mentioned sisal or cotton piece buff calibration standard with I2
When pressure value, by PLC control system read frequency converter information obtain and pass through Ethernet/IP give robot control be
System, i.e. U2I2 is datum, therefore robot control system is adjusting the pressure value FN ' between workpiece and sisal or cotton piece buff
When, as long as making '=1 U2I2/U2 ' I2 (± 5%), '=1 FN/FN (± 5%) can be obtained；
After robot control system obtains cotton piece buff damage mill value Δ Y, by " multitask " functional module to being preset in Fig. 5
Several coordinate systems such as Z0Y0, Z1Y1, Z2Y2 in Y-coordinate value modify, Y '=Y+ Δ Y, in this way, it can be achieved that
End effector of robot different spatial sisal or cotton piece buff in effective machining area constant pressure control, thus
Guarantee the surface polishing quality of irregular contour workpiece.
The invention is not limited to above-mentioned specific embodiments, if not departing from this to various changes or modifications of the invention
The spirit and scope of invention, if these modification and variations belong within the scope of claim and equivalent technologies of the invention, then
The present invention is also intended to encompass these modification and variations.
Claims (3)
1. a kind of constant pressure constant linear velocity polishing method of robot polishing machine includes the sisal polishing assembly and cloth of double-station
Buff polishing component, robot, robot control system and PLC control system, wherein sisal polishing assembly includes the fiber crops of connection
Wheel, sisal motor and sisal frequency converter, buffing component include that cotton piece buff, cloth turbin generator and cotton piece buff frequency converter, feature exist
In including following steps:
Constant polishing force, constant linear velocity and the robot coordinate of S1, PLC control system setting sisal and cotton piece buff；
S2, PLC control system starting sisal motor driven sisal rotation, the end effector clamping workpiece of robot are pressed
Surface grinding and polishing is carried out in the radial circumference of sisal and is kept；
S3, PLC control system obtain sisal motor real time load electric current by sisal frequency converter and pass through Ethernet real-time communication
Send robot control system to, robot control system calculates sisal real-time working radius and real-time polishing force automatically；
S4, robot control system are according to sisal real-time working radius and real-time polishing force, when real-time polishing force and setting are constant
When polishing force generates error, robot control system calculates robot corresponding coordinate compensation rate, Robot sisal diameter automatically
To compensation rate is moved horizontally, maintain real-time grinding and polishing pressure constant, when the end effector clamping workpiece of robot is in different spaces
When position, robot is on grinding and polishing point along sisal normal direction motion compensation amount；Meanwhile robot control system passes through ether
Net interactive correspondence, PLC control system change sisal motor speed by the modified speed of sisal frequency converter, maintain sisal linear velocity permanent
It is fixed；
S5, workpiece direction is changed by the end effector of robot, is repeatedly performed S2 to S4 step, until completing sisal grinding and polishing
Process；
S6, the setting that cotton piece buff control parameter has been completed in S1 step, the automatic cotton piece buff motor driven cotton piece buff of PLC control system is by setting
The rotation of alignment speed；The end effector of robot carries out the circumference that the workpiece for completing grinding and polishing turns to cotton piece buff according to manufacturing procedure
Surface polishing is repeatedly performed S2 to S5 step, until product completes entire polishing process.
2. the constant pressure constant linear velocity polishing method of a kind of robot polishing machine according to claim 1, it is characterised in that: institute
The calculating for stating the real-time compensation value and robot coordinate system's correction value of sisal and cotton piece buff is automatically switched by manufacturing procedure, in robot
Control system backstage is completed, and the pause of robot when performing processing program is avoided, and is communicated by real-time, interactive and is realized robot
End effector different spatial constant pressure control.
3. a kind of constant pressure constant linear velocity polishing method of robot polishing machine according to claim 1 or claim 2, feature exist
In: there is the robot control system ethernet communication functional module and multitask function card module, PLC control system to adopt
With apparatus logic control system, robot control system and PLC control system pass through Ethernet progress real-time, interactive communication, machine
People uses six-freedom degree drive mechanism.
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107639542A (en) * | 2017-09-15 | 2018-01-30 | 广东利迅达机器人系统股份有限公司 | The power control closed-loop system and its control method of a kind of sanding and polishing machine |
| CN108422304A (en) * | 2018-01-31 | 2018-08-21 | 广州奇芯机器人技术有限公司 | A kind of method and digital control system of constant pressure polishing |
| CN108406599A (en) * | 2018-03-05 | 2018-08-17 | 苏州锃道研磨技术有限公司 | A kind of flexible abrasive product length attrition value detection and compensation system automatically |
| CN108942538A (en) * | 2018-09-17 | 2018-12-07 | 苏州市海研电子科技有限公司 | A kind of constant linear velocity grinder for polishing |
| CN109434657B (en) * | 2018-12-25 | 2024-04-09 | 广东大雅智能厨电股份有限公司 | High-precision polishing system |
| 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 |
| CN111823062B (en) * | 2020-06-11 | 2022-02-11 | 巨轮（广州）机器人与智能制造有限公司 | Automatic polishing constant-pressure control method and system based on PLC |
| CN114850973B (en) * | 2022-04-02 | 2023-05-09 | 浙江工贸职业技术学院 | Robot flexible wheel grinding and polishing processing compensation method |
| CN115213818A (en) * | 2022-07-26 | 2022-10-21 | 成都市瑞研光科技有限公司 | Robot polishing initial positioning compensation method and system based on force sensor |
| CN118143759B (en) * | 2024-05-09 | 2024-08-30 | 南京神源生智能科技有限公司 | Grinding and polishing method with position compensation |
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| US4107880A (en) * | 1976-02-02 | 1978-08-22 | Randall John P | Floating buffing wheel assembly |
| CN1035105C (en) * | 1992-07-27 | 1997-06-11 | 胡强 | Automatic grinding method for end face of spiral spring and grinding machine thereof |
| CN201998031U (en) * | 2011-01-19 | 2011-10-05 | 福建长江工业有限公司 | Canvas polishing machine capable of keeping polishing force constant |
| CN102145473B (en) * | 2011-01-19 | 2013-10-23 | 福建长江工业有限公司 | Method and equipment for controlling constant polishing force of buffing machine |
| CN105549545B (en) * | 2016-02-19 | 2018-06-08 | 泉州华中科技大学智能制造研究院 | A kind of control algolithm based on the grinding of edge polisher constant linear velocity |
| CN105751218B (en) * | 2016-05-05 | 2018-05-08 | 佛山市新鹏机器人技术有限公司 | A kind of constant force device and its control method for robot end |
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