CN107085392B - Grinding and polishing tool of industrial robot and grinding and polishing control method - Google Patents
Grinding and polishing tool of industrial robot and grinding and polishing control method Download PDFInfo
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- CN107085392B CN107085392B CN201710470767.4A CN201710470767A CN107085392B CN 107085392 B CN107085392 B CN 107085392B CN 201710470767 A CN201710470767 A CN 201710470767A CN 107085392 B CN107085392 B CN 107085392B
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- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a grinding and polishing tool of an industrial robot, which comprises a box body and a grinding disc, wherein a grinding servo motor and a telescopic servo motor are arranged in the box body; the polishing servo motor is in power connection with the polishing disc; the axis of the telescopic servo motor is vertical to the polishing servo motor; the telescopic servo motor is in power connection with a synchronous belt pulley; the transmission direction of the synchronous belt is parallel to the axial direction of the polishing servo motor; the synchronous belt is connected with a belt clamping device; the device also comprises a guide rail, and a sliding block is connected to the guide rail in a sliding manner; and the belt clamping device and the polishing servo motor are fixed on the sliding block. Also disclosed is a control method: the controller reads the grinding inclination angle theta in real time and calculates the gravity component F according to the theta a According to F a Calculating the extension force F s And a telescopic torque T p Output T p And the pressing position and the stretching speed are restrained to realize constant pressure control; and meanwhile, constant friction torque control is carried out, and the grinding rotating speed is restrained. The invention realizes constant pressure and constant friction torque polishing, and has high polishing control precision and good polishing effect.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a grinding and polishing tool arranged at the tail end of a robot. The invention also relates to a control method for grinding and polishing.
Background
When the industrial robot is used for grinding and polishing, the grinding disc needs to be tightly attached to the surface of a workpiece to obtain an ideal effect. Due to the fact that the surfaces of some special-shaped parts are uneven, when an industrial robot conducts automatic polishing, the polishing disc is required to change in real time along with the height change of the surfaces of the parts; the rotational speed of the grinding disc is required to be changed in real time following the change of the frictional force. However, because the industrial robot generally uses a position control mode, the industrial robot does not have force sensing capability, the tail end only moves according to a set programming path, and when the placing position of a workpiece changes, the workpiece, a polishing tool and even an industrial robot body are damaged due to overlarge pressure or friction force.
In the prior art, when an industrial robot carries out force-controlled grinding and polishing, a grinding pressure needs to be measured by using an expensive and precise pressure sensor, and a control system controls and changes the position of the tail end of the industrial robot according to force feedback information so as to ensure the constancy of the friction force. The burnishing and polishing control among the prior art only detects the friction torque of polishing, and the control of frictional force is realized to the displacement volume of rethread change end, because the change of end displacement volume can lead to the change of the pressure that burnishing and polishing instrument used the work piece, like this keeps the invariant of frictional force through the regulation and control displacement volume, leads to pressure too big easily for the work piece is squashed. In addition, during grinding and polishing, a workpiece is often horizontally placed, the gravity component of a grinding tool can generate influence in the grinding pressure direction, and the influence of the gravity component on friction force and pressure control is not considered in the prior art, so that the control precision is not high enough. Moreover, the motor of the polishing tool in the prior art needs to adopt the mechanical speed reduction device to output power to the polishing disc, so that the volume and the weight of the polishing tool are increased, and the friction force generated by the movement of the mechanical speed reduction device can also cause certain interference on the detection of the polishing friction torque, so that the control precision of the friction force is reduced.
The servo motor is widely used in the industrial robot technology due to the advantages of high control precision, good high-speed performance and stable low-speed operation. A driver of the servo motor generally has a three-loop control system, and a current loop (a torque loop), a speed loop and a position loop are sequentially arranged from inside to outside, wherein the current loop is used for controlling the output current of the servo motor so as to control the torque of an output shaft of the servo motor; the speed ring is used for controlling the rotating speed of the output shaft of the servo motor; the position loop is used to control the angular displacement of the servo motor.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a grinding and polishing tool of an industrial robot, which solves the technical problems of low control precision and large volume size of the grinding and polishing tool in the prior art, can improve the grinding control precision of the industrial robot, can be used for realizing constant control on grinding friction torque and grinding pressure, simplifies the internal structure, reduces the volume and the weight of the grinding tool and reduces the cost.
In order to solve the technical problem, the invention adopts the following technical scheme: a grinding and polishing tool of an industrial robot comprises a box body and a grinding disc positioned outside the box body, wherein a grinding servo motor and a telescopic servo motor are arranged in the box body; an output shaft of the polishing servo motor is in power connection with the polishing disc through a power connection mechanism; the axis of the telescopic servo motor is perpendicular to the axis of the polishing servo motor; the telescopic servo motor is in power connection with a synchronous belt pulley; the synchronous belt wheel comprises a driving wheel, a driven wheel and a synchronous belt, and the driving wheel is connected with an output shaft of the telescopic servo motor; the transmission direction of the synchronous belt is parallel to the axial direction of the polishing servo motor; the synchronous belt is connected with a belt clamping device moving along with the synchronous belt; the polishing device also comprises a guide rail arranged along the axial direction of the polishing servo motor, and a sliding block is connected to the guide rail in a sliding manner; and the belt clamping device and the polishing servo motor are fixedly connected to the sliding block.
Preferably, an organ telescopic sleeve used for accommodating the power connecting mechanism is arranged between the grinding disc and the box body; the front end and the rear end of the organ telescopic sleeve are respectively connected with a front fixing plate and a rear fixing plate; the rear end of the organ telescopic sleeve is fixed on the outer surface of the box body through a rear fixing plate, and the front end of the organ telescopic sleeve can stretch along with the stretching of the polishing disc; and a dynamic sealing assembly for sealing the power connecting mechanism is arranged in the organ telescopic sleeve.
Preferably, the power connection mechanism comprises a connection shaft extending out of the box body; two ends of the connecting shaft are respectively provided with a polishing disc connecting hole and a polishing servo motor connecting hole along the axis direction of the connecting shaft; the grinding disc connecting hole is a threaded hole, and the grinding disc is in threaded connection with the grinding disc connecting hole of the connecting shaft through the grinding disc connecting column; a partition wall is arranged between the polishing disc connecting hole and the servo motor connecting hole, and a screw connecting hole is formed in the partition wall; the output shaft of the polishing servo motor is inserted into the connecting hole of the polishing servo motor, is tightly matched with the connecting hole of the polishing servo motor, and is fixed on the partition wall through a screw.
Preferably, the bottom surface and the side surface of the box body are integrally formed to form a box body main body, and the top surface of the box body main body is connected with a cover plate; the cover plate is inserted into the box body through a bolt, and the cover plate and the box body are sealed through a sealing ring.
Compared with the grinding and polishing tool in the prior art, the invention has the following beneficial effects:
1. a speed reducing mechanism is not arranged between the polishing servo motor and the polishing disc, and a mode of direct driving of the motor is adopted, so that the friction force caused by the operation of the speed reducing mechanism can be avoided, and favorable conditions are provided for improving the control precision of the polishing friction torque.
2. The telescopic servo motor outputs power through the synchronous belt wheel without a gear mechanism, so that the size and the weight of the grinding and polishing tool can be greatly reduced, the transmission friction is almost zero, and favorable conditions are provided for improving the control precision of grinding pressure.
3. The synchronous belt converts the torque output by the telescopic servo motor into telescopic force and transmits the feedback force received by the telescopic mechanism (the sliding rail and sliding block mechanism) to a motor shaft of the telescopic servo motor, so that an expensive pressure sensor is not required to be additionally arranged, the cost is saved, and the structure is simplified.
4. Adopt flexible cover of organ, dynamic seal subassembly to improve sealing performance to the box main part is integrated into one piece, also seals between box main part and the apron, thereby has improved polishing tool's overall sealing performance greatly, is applicable to the adverse circumstances operation such as water, oil, dust.
5. The polishing disc and the power connecting mechanism are in detachable threaded connection, so that the polishing disc is convenient to maintain and replace.
The invention also provides a grinding and polishing control method for controlling the grinding and polishing tool of the industrial robot, which solves the technical problem that the workpiece is crushed by increasing the grinding pressure in order to meet the larger grinding friction force in the prior art, can independently control the grinding friction torque and the grinding pressure simultaneously, realizes the grinding with constant pressure and constant friction torque, and avoids the damage of the workpiece caused by overlarge grinding pressure under the condition of meeting the larger grinding friction torque.
The technical scheme is that the polishing control method for the polishing tool of the industrial robot is used for controlling the polishing tool of the industrial robot, and a telescopic driver of a telescopic servo motor is in bidirectional communication connection with a controller of the industrial robot respectively; the method comprises the following steps:
step 1: the following parameters were set: grinding pressure F p Maximum depth of depression, minimum depth of depression, maximum telescoping velocity V p.max And maximum extension torque T p.max Wherein, F p ＞0，V p.max ＞0，T p.max ＞0；
And 2, step: the controller of the industrial robot controls the grinding and polishing tool to move to a preset working position and adjusts the working posture; the controller reads the grinding inclination angle theta from the working attitude data;
and step 3: calculating the gravity component F a : the total mass of the grinding and polishing tool is m, and the gravity borne by the grinding and polishing tool is F g = mg, g is acceleration of gravity; f a ＝F g cosθ；
And 4, step 4: calculating the stretching force F required to be provided by the stretching servo motor s ：F S ＝F p -F a ；
And 5: calculating the stretching torque T required to be output by the stretching servo motor p ：T p ＝F S Xr, where R is the radius of the drive pulley in the synchronous pulley;
step 6: judgment of T p Whether more than or equal to 0 is true or not; the controller issues a control instruction to the telescopic driver, the telescopic servo motor controls the polishing disc to apply polishing pressure to the workpiece according to the control instruction, the polishing servo motor outputs polishing rotating speed to the polishing disc, and the polishing disc performs polishing work; if T is p Not less than 0, control commandThe following were used:
a position constraint instruction: the position ring of the telescopic driver receives the position constraint instruction and outputs an angular displacement to the synchronous belt wheel, so that the pressing displacement converted by the angular displacement through the synchronous belt wheel does not exceed the maximum pressing depth;
speed constraint command: the speed ring of the telescopic driver receives the speed constraint instruction and outputs the angular speed to the synchronous belt wheel, so that the absolute value of the telescopic speed converted by the synchronous belt wheel does not exceed the maximum telescopic speed V p.max ；
A stretch torque constraint command: the current loop of the telescopic driver receives the telescopic torque instruction and outputs the telescopic torque T calculated in the step 5 p When T is p ＞T p.max Then output T p.max ；
If T p < 0, the control commands are as follows:
a position constraint instruction: the position ring of the telescopic driver receives the position constraint instruction and outputs an angular displacement to the synchronous belt wheel, so that the pressing displacement converted by the angular displacement through the synchronous belt wheel is not less than the minimum pressing depth;
speed constraint instruction: the speed ring of the telescopic driver receives the speed constraint instruction and outputs the angular speed to the synchronous belt wheel, so that the absolute value of the telescopic speed converted by the synchronous belt wheel does not exceed the maximum telescopic speed V p.max ；
A stretch torque constraint command: the current loop of the telescopic driver receives the telescopic torque instruction and outputs the telescopic torque T calculated in the step 5 p When | T p |＞T p.max then-T is output p.max ；
And 7: returning to the step 2; until the grinding and polishing are finished.
Preferably, the following parameters are also set in step 1: grinding friction torque T q Maximum grinding speed V q.max And maximum sanding torque T m ′ ax (ii) a Wherein, T q ＜T m ′ ax (ii) a The current ring of the polishing driver outputs constant polishing torque T 'to the output shaft of the polishing servo motor in the whole polishing process, and T' = T q (ii) a Meanwhile, in the process of outputting the grinding torque, the absolute value of the grinding rotating speed is controlled by a speed ring of the grinding driver not to exceed the highest grinding rotating speed V by the absolute value q.max 。
Compared with the control method in the prior art, the control method has the following beneficial effects:
1. the change of the working posture is controlled along with the fluctuation of the surface of the workpiece, the change of the polishing inclination angle caused by the change of the working posture is detected in real time, and the stretching torque is adjusted in real time according to the change of the polishing inclination angle, so that constant-pressure polishing is realized.
2. The influence of the gravity of the polishing tool on the polishing pressure is considered, the polishing pressure is calculated in a gravity compensation mode, so that the stretching force provided by the stretching servo motor is more accurate, the actual requirements of polishing are met, and the polishing quality is improved.
3. In the process of controlling the output of the telescopic torque, the speed and the position are adopted for constraint, the workpiece is effectively prevented from being crushed due to the fact that the telescopic speed is too high or the pushing displacement exceeds the maximum pushing depth, and the pushing displacement can be further prevented from being smaller than the minimum pushing depth, so that the polishing disc can be effectively contacted with the surface of the workpiece, the reliability and the safety of the polishing process are improved, and the polishing quality is improved.
4. In the whole polishing process, the polishing servo motor outputs constant polishing torque, so that the polishing disc keeps constant polishing friction torque, and polishing with constant friction torque is realized. In the process of outputting the grinding torque, the grinding rotating speed is limited, potential safety hazards caused by overhigh rotating speed can be avoided, and the condition that the rotating speed is overhigh due to the fact that no friction resistance of a workpiece exists when a grinding disc is suspended is particularly avoided.
Drawings
FIG. 1 is an exploded view of an abrasive polishing tool in an embodiment;
FIG. 2 is an assembly view of an abrasive polishing tool according to an embodiment;
FIG. 3 is a cross-sectional view taken at k-k of FIG. 2;
FIG. 4 is a cross-sectional view M-M of FIG. 2;
FIG. 5 is an enlarged view of a portion of FIG. 2;
FIG. 6 is a schematic diagram of the stress on the workpiece and the polishing tool.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and preferred embodiments.
Detailed description of the preferred embodiment 1
As shown in fig. 1 to 5, a grinding and polishing tool of an industrial robot comprises a box body and a grinding disc 1 positioned outside the box body, wherein a grinding servo motor 2 and a telescopic servo motor 3 are arranged in the box body; an output shaft of the grinding servo motor 2 is in power connection with the grinding disc 1 through a power connection mechanism; the axis of the telescopic servo motor 3 is vertical to the axis of the polishing servo motor 2; the telescopic servo motor 3 is in power connection with a synchronous belt pulley 6; the synchronous belt wheel 6 comprises a driving wheel, a driven wheel and a synchronous belt, and the driving wheel is connected with an output shaft of the telescopic servo motor 3; the transmission direction of the synchronous belt is parallel to the axial direction of the polishing servo motor 2; the synchronous belt is connected with a belt clamping device 7 moving along with the synchronous belt; the polishing device also comprises a guide rail 9 arranged along the axial direction of the polishing servo motor 2, and a sliding block 8 is connected on the guide rail 9 in a sliding manner; and the belt clamping device 7 and the grinding servo motor 2 are fixedly connected to the sliding block 8.
In order to facilitate installation and protection of the polishing servo motor, a mounting box 19 is additionally arranged, the polishing servo motor is fixed in the mounting box 19, the bottom of the mounting box 19 is fixed with the sliding block 8, the front end of the mounting box 19 extends out of the box body, and the output shaft of the polishing servo motor extends out of the front end of the mounting box 19. The front end face of the mounting box 19 is also provided with a plurality of fixing plate struts 18 distributed along the ring to form an annular cavity.
In the embodiment, an organ telescopic sleeve 10 for accommodating a power connecting mechanism is arranged between the polishing disc 1 and the box body; the front end and the rear end of the organ telescopic sleeve 10 are respectively connected with a front fixing plate 11 and a rear fixing plate; the rear end of the organ telescopic sleeve 10 is fixed on the outer surface of the box body through a rear fixing plate, and the front end of the organ telescopic sleeve 10 can be stretched along with the stretching of the polishing disc 1; and a dynamic sealing assembly for sealing the dynamic connecting mechanism is arranged in the organ telescopic sleeve 10.
In the specific embodiment, the power connection mechanism comprises a connection shaft 4 extending out of the box body, a bearing is arranged on the connection shaft 4, the bearing and the connection shaft 4 are both arranged in an annular cavity formed by the fixed support column 18, the annular cavity carries out circumferential limit on the outer ring of the bearing, the front end surface of the outer ring of the bearing is limited by an upper flange of the connection shaft 4, and the rear end surface of the outer ring of the bearing is limited by the front end surface of the mounting box 19; two ends of the connecting shaft 4 are respectively provided with a polishing disc connecting hole and a polishing servo motor connecting hole along the axis direction of the connecting shaft; the grinding disc connecting hole is a threaded hole, and the grinding disc is in threaded connection with the grinding disc connecting hole of the connecting shaft 4 through the grinding disc connecting column 5; a partition wall is arranged between the polishing disc connecting hole and the servo motor connecting hole, and a screw connecting hole is formed in the partition wall; the output shaft of the polishing servo motor 2 is inserted into the polishing servo motor connecting hole, is tightly matched with the polishing servo motor connecting hole, and is fixed on the partition wall through screws.
In the specific embodiment, the grinding disc connecting column 5 comprises a column body and a nut which is sleeved in the center of the column body in a penetrating way; the cylinder and the nut are integrally formed, and threads are arranged at two ends of the cylinder. The central threaded hole of the polishing disc is in threaded connection with the polishing disc connecting column 5, a nut on the polishing disc connecting column 5 can press and fix the polishing disc and limit the organ telescopic sleeve 10, the front end of the organ telescopic sleeve 10 is prevented from contacting with the polishing disc, and the high-speed rotation of the polishing disc 1 and the motion interference of the organ telescopic sleeve 10 are prevented.
In this embodiment, the dynamic seal assembly includes a dynamic seal housing 12; a dynamic seal pressing sleeve 13 and a dynamic seal piece 14 are arranged in the dynamic seal outer sleeve 12; the dynamic sealing outer sleeve 12 is fixed on the front fixing plate 11 of the organ expansion sleeve 10; the dynamic seal pressing sleeve 13 and the dynamic seal element 14 are sleeved on the connecting shaft 4 in a penetrating manner, one side of the dynamic seal pressing sleeve 13 abuts against the front fixing plate 11, and the other side of the dynamic seal pressing sleeve presses the dynamic seal element 14 on the side wall of the dynamic seal outer sleeve 12.
In the present embodiment, the bottom surface and the side surface of the box body are integrally formed to form a box body main body 15, and the top surface of the box body main body 15 is connected with a cover plate 17; the cover plate 17 is inserted into the box body 15 through a plug pin, and the cover plate 17 and the box body 15 are sealed through a sealing ring 16.
The grinding and polishing control method of the grinding and polishing tool of the industrial robot of the embodiment comprises the following steps: the telescopic drivers of the telescopic servo motors 3 are in bidirectional communication connection with a controller of the industrial robot respectively, and in order to reduce the size and weight of the robot and avoid the reduction of shock resistance caused by electric elements, the controller of the industrial robot is placed outside the robot; the method comprises the following steps:
step 1: the following parameters were set: grinding pressure F p Maximum depth of depression P max Minimum depth of depression P min Maximum stretching speed V p.max And maximum extension torque T p.max Wherein F is p ＞0，V p.max ＞0，T p.max ＞0；
Step 2: the controller of the industrial robot controls the grinding and polishing tool to move to reach a preset working position and adjusts the working posture; the controller reads the grinding inclination angle theta from the working attitude data;
and step 3: as shown in fig. 6, the gravity component F is calculated a : the total mass of the polishing tool is m, and the gravity borne by the polishing tool is F g = mg, g is acceleration of gravity; f a ＝F g cos θ; and 4, step 4: calculating the stretching force F required to be provided by the stretching servo motor s ：F s ＝F p -F a ；
And 5: calculating the stretching torque T required to be output by the stretching servo motor p ：T p ＝F s Xr, where R is the radius of the drive pulley in the synchronous pulley;
and 6: judgment of T p Whether or not 0 is true; the controller issues a control instruction to the telescopic driver, the telescopic servo motor controls the polishing disc to apply polishing pressure to the workpiece according to the control instruction, the polishing servo motor outputs polishing rotating speed to the polishing disc, and the polishing disc performs polishing work;
if T is p And the control instruction is more than or equal to 0 as follows:
a position constraint instruction: the position ring of the telescopic driver receives the position constraint instruction and outputs the angular displacement to the synchronous belt wheel, so that the pressing displacement converted by the synchronous belt wheel does not exceed the maximum pressing depth;
speed constraint command: the speed ring of the telescopic driver receives the speed constraint instruction and outputs the angular speed to the synchronous belt wheel, so that the absolute value of the telescopic speed converted from the angular speed by the synchronous belt wheel does not exceed the maximum telescopic speed V p.max ；
A stretch torque constraint command: a current loop of the telescopic driver receives a telescopic torque instruction and outputs the telescopic torque T calculated in the step 5 p When T is p ＞T p.max Then output T p.max ；
If T is p < 0, the control instructions are as follows:
a position constraint instruction: the position ring of the telescopic driver receives the position constraint instruction and outputs an angular displacement to the synchronous belt wheel, so that the pressing displacement converted by the angular displacement through the synchronous belt wheel is not less than the minimum pressing depth;
speed constraint command: the speed ring of the telescopic driver receives the speed constraint instruction and outputs the angular speed to the synchronous belt wheel, so that the absolute value of the telescopic speed converted by the synchronous belt wheel does not exceed the maximum telescopic speed V p.max ；
A stretch torque constraint command: a current loop of the telescopic driver receives a telescopic torque instruction and outputs the telescopic torque T calculated in the step 5 p When | T p |＞T p.max Then output-T p.max ；
And 7: returning to the step 2; until the grinding and polishing are finished. In this embodiment, the above steps 1 to 6 realize the constant pressure control of the polishing process, and the constant friction torque control is performed synchronously while the constant pressure control is performed:
the following parameters are also set in step 1: grinding friction torque T q Maximum grinding speed V q.max And maximum sanding torque T m ′ ax (ii) a Wherein, T q ＜T m ′ ax (ii) a Constant current annular grinding servo motor output shaft output of grinding driver in whole grinding and polishing processSanding torque T ', T' = T q (ii) a Meanwhile, in the process of outputting the grinding torque, the absolute value of the grinding rotating speed is controlled by a speed ring of the grinding driver not to exceed the highest grinding rotating speed V by the absolute value q.max 。
Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A grinding and polishing control method for a grinding and polishing tool of an industrial robot comprises the steps that the grinding and polishing tool of the industrial robot comprises a box body and a grinding disc positioned outside the box body, wherein a grinding servo motor and a telescopic servo motor are arranged in the box body; an output shaft of the polishing servo motor is in power connection with the polishing disc through a power connection mechanism; the axis of the telescopic servo motor is perpendicular to the axis of the polishing servo motor; the telescopic servo motor is in power connection with a synchronous belt pulley; the synchronous belt wheel comprises a driving wheel, a driven wheel and a synchronous belt, and the driving wheel is connected with an output shaft of the telescopic servo motor; the transmission direction of the synchronous belt is parallel to the axial direction of the polishing servo motor; the synchronous belt is connected with a belt clamping device moving along with the synchronous belt; the polishing device also comprises a guide rail arranged along the axial direction of the polishing servo motor, and a sliding block is connected to the guide rail in a sliding manner; the belt clamping device and the polishing servo motor are fixedly connected to the sliding block;
the method is characterized in that: a telescopic driver of the telescopic servo motor is in bidirectional communication connection with a controller of the industrial robot respectively; the method comprises the following steps:
step 1: the following parameters were set: grinding pressure F p Maximum depth of depression P max Minimum depth of depression P min Maximum expansion/contraction speed V p.max And maximum extension torque T p.max Wherein F is p ＞0，V p.max ＞0，T p.max ＞0；
Step 2: the controller of the industrial robot controls the grinding and polishing tool to move to a preset working position and adjusts the working posture; the controller reads a grinding inclination angle theta from the working attitude data;
and step 3: calculating the gravity component F a : the total mass of the polishing tool is m, and the gravity borne by the polishing tool is F g = mg, g is acceleration of gravity; f a ＝F g cosθ；
And 4, step 4: calculating the stretching force F required to be provided by the stretching servo motor s ：F s ＝F p -F a ；
And 5: calculating the stretching torque T required to be output by the stretching servo motor p ：T p ＝F s Xr, where R is the radius of the drive pulley in the synchronous pulley;
step 6: judgment of T p Whether more than or equal to 0 is true or not; the controller issues a control instruction to the telescopic driver, the telescopic servo motor controls the polishing disc to apply polishing pressure to the workpiece according to the control instruction, the polishing servo motor outputs polishing rotating speed to the polishing disc, and the polishing disc performs polishing work; if T p And the control instruction is more than or equal to 0 as follows:
a position constraint instruction: the position ring of the telescopic driver receives the position constraint instruction and outputs the angular displacement to the synchronous belt wheel, so that the pressing displacement converted by the synchronous belt wheel does not exceed the maximum pressing depth P max ；
Speed constraint command: the speed ring of the telescopic driver receives the speed constraint instruction and outputs the angular speed to the synchronous belt wheel, so that the absolute value of the telescopic speed converted by the synchronous belt wheel does not exceed the maximum telescopic speed V p.max ；
A stretch torque constraint command: the current loop of the telescopic driver receives the telescopic torque instruction and outputs the telescopic torque T calculated in the step 5 p When T is p ＞T p.max Then output T p.max ；
If T p < 0, the control commands are as follows:
a position constraint instruction: telescopic driverThe position ring of the actuator receives the position constraint instruction and outputs the angular displacement to the synchronous belt wheel, so that the pressing displacement converted by the synchronous belt wheel is not less than the minimum pressing depth P min ；
Speed constraint instruction: the speed ring of the telescopic driver receives the speed constraint instruction and outputs the angular speed to the synchronous belt wheel, so that the absolute value of the telescopic speed converted from the angular speed by the synchronous belt wheel does not exceed the maximum telescopic speed V p.max ；
A stretch torque constraint command: a current loop of the telescopic driver receives a telescopic torque instruction and outputs the telescopic torque T calculated in the step 5 p When | T p |＞T p.max then-T is output p.max ；
And 7: returning to the step 2; until the grinding and polishing are finished.
2. The burnishing and polishing control method of a burnishing and polishing tool of an industrial robot according to claim 1, characterized in that: an organ telescopic sleeve used for accommodating the power connecting mechanism is arranged between the polishing disc and the box body; the front end and the rear end of the organ telescopic sleeve are respectively connected with a front fixing plate and a rear fixing plate; the rear end of the organ telescopic sleeve is fixed on the outer surface of the box body through a rear fixing plate, and the front end of the organ telescopic sleeve can stretch along with the stretching of the polishing disc; and a dynamic sealing assembly for sealing the power connecting mechanism is arranged in the organ telescopic sleeve.
3. The sanding control method of a sanding tool for an industrial robot according to claim 1, characterized in that: the power connecting mechanism comprises a connecting shaft extending out of the box body; two ends of the connecting shaft are respectively provided with a polishing disc connecting hole and a polishing servo motor connecting hole along the axis direction of the connecting shaft; the grinding disc connecting hole is a threaded hole, and the grinding disc is in threaded connection with the grinding disc connecting hole of the connecting shaft through a grinding disc connecting column; a partition wall is arranged between the polishing disc connecting hole and the servo motor connecting hole, and a screw connecting hole is formed in the partition wall; the output shaft of the polishing servo motor is inserted into the connecting hole of the polishing servo motor, is tightly matched with the connecting hole of the polishing servo motor, and is fixed on the partition wall through screws.
4. The sanding control method of a sanding tool for an industrial robot according to claim 3 characterized in that: the grinding disc connecting column comprises a column body and a nut which is sleeved in the center of the column body in a penetrating manner; the cylinder and the nut are integrally formed, and threads are arranged at two ends of the cylinder.
5. The sanding control method of a sanding tool for an industrial robot according to claim 2, characterized in that: the dynamic seal assembly comprises a dynamic seal outer sleeve; a dynamic seal pressing sleeve and a dynamic seal piece are arranged in the dynamic seal outer sleeve; the movable sealing outer sleeve is fixed on a front fixing plate of the organ telescopic sleeve; the movable sealing sleeve and the movable sealing element are sleeved on the connecting shaft in a penetrating mode, one side of the movable sealing sleeve abuts against the front fixing plate, and the other side of the movable sealing sleeve presses the movable sealing element onto the side wall of the movable sealing outer sleeve.
6. The burnishing and polishing control method of a burnishing and polishing tool of an industrial robot according to claim 1, characterized in that: the bottom surface and the side surface of the box body are integrally formed to form a box body main body, and the top surface of the box body main body is connected with a cover plate; the cover plate is connected with the box body in an inserting mode through the inserting pin, and the cover plate and the box body are sealed through the sealing ring.
7. The sanding control method of a sanding tool for an industrial robot according to claim 1, characterized in that: the following parameters are also set in step 1: grinding friction torque T q Maximum grinding speed V q.max And maximum sanding torque T m ′ ax (ii) a Wherein, T q ＜T m ′ ax (ii) a The current ring of the grinding driver outputs constant grinding torque T 'to the output shaft of the grinding servo motor in the whole grinding and polishing process, and T' = T q (ii) a Meanwhile, in the process of outputting the grinding torque, the speed ring of the grinding driver controls the absolute value of the grinding rotating speed not to exceed the highest grinding rotating speed V q.max 。
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| US11565370B2 (en) * | 2017-12-20 | 2023-01-31 | Fabrica Machinale S.R.L. | Method and apparatus for carrying out the replacement of an abrasive element in a machine for working surfaces |
| CN109397046A (en) * | 2018-12-10 | 2019-03-01 | 佳奕筱安(上海)机器人科技有限公司 | Milling robot and its application method based on electric current loop power control |
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