CN108044463A - A kind of one-dimensional variable force grinding and polishing apparatus and control method for integrating main passive compliance - Google Patents
A kind of one-dimensional variable force grinding and polishing apparatus and control method for integrating main passive compliance Download PDFInfo
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- CN108044463A CN108044463A CN201711117591.0A CN201711117591A CN108044463A CN 108044463 A CN108044463 A CN 108044463A CN 201711117591 A CN201711117591 A CN 201711117591A CN 108044463 A CN108044463 A CN 108044463A
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- grinding
- polishing
- submissive
- force
- straight line
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Classifications
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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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
- B24B21/165—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape for vanes or blades of turbines, propellers, impellers, compressors and the like
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (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 belongs to Intelligent Machining manufacturing technology fields, and specifically disclose a kind of one-dimensional variable force grinding and polishing apparatus and control method for integrating main passive compliance, including straight line module servo motion platform, mounting flange, limiting plate, Position and attitude sensor, the submissive grinding and polishing sector of adjustable speed and controller, straight line module servo motion platform is used to that grinding and polishing sector to be driven to move in a straight line；Mounting flange and limiting plate are mounted on straight line module servo motion platform base, Position and attitude sensor and the submissive grinding and polishing sector of adjustable speed are mounted on limiting plate, Position and attitude sensor is used to measure the pose of one-dimensional variable force grinding and polishing apparatus and feeds back to controller, force snesor is equipped between submissive grinding and polishing sector and sliding block, force snesor is concurrently sent for gathering contact force signal to controller, controller calculates rate controlling amount, and servomotor, which according to rate controlling amount rotate, drives the submissive grinding and polishing sector of adjustable speed to move.The present invention can adjust the contact condition of abrasive band and workpiece in real time, and submissive grinding and polishing process is stablized in realization.
Description
Technical field
The invention belongs to Intelligent Machining manufacturing technology fields, are related to the inotropic action power control of industrial robot application scenario
Field, more particularly, to a kind of one-dimensional variable force grinding and polishing apparatus and control method for integrating main passive compliance.
Background technology
With the continuous development of science and technology, it is complex-curved to apply day in fields such as aerospace, the energy and ships
It is beneficial extensive.But these curved surfaces cannot be made of elementary analytic surface, it is difficult to gain freedom complex-curved Exact, because
This, complex-curved processing has become key issue urgently to be resolved hurrily.It is mainly adopted currently for the polishing processing of free form surface
The mode ground by hand, but this method labor intensity is big, big to worker's actual bodily harm, and processing efficiency is not high, grinding and polishing surplus
Uneven, surface quality of workpieces is influenced very big by worker's skills involved in the labour.
Robot with it is complex-curved when unstructured moving grids carry out such as polishing, polishing constraint manipulation when, workpiece
Geometrical morphology is difficult to Accurate Model, this often requires that grinding and polishing instrument has certain compliance, and processing environment priori
Shortage is difficult to ensure that machined surface quality, and robot often requires that during polishing processing to be contacted between grinding and polishing instrument and workpiece
Power is constant.Robot compliance can be divided into active compliance and passive compliance.Passive compliance is mainly obtained by adjusting spring rate
Required compliance, such as the submissive passive mechanical device of remote center of america's MIT Draper experimental centers design.It is actively soft
Work can be preferably realized along the pneumatic variable force device ACF (Active contact flange) of middle Austrian a company's production
Has the contact force between end and workpiece.Although processing submissive to manipulator force control has carried out correlative study both at home and abroad,
But also there is certain limitation and deficiency, such as the robot grinding and polishing of complex-curved class part is even lacked based on force feedback
Research of high bandwidth control technology etc..Therefore, studying the polishing processing that the power of robot controls and uses it for robot has
Certain novelty meets the trend of current field of machining.
The content of the invention
For the disadvantages described above or Improvement requirement of the prior art, the one-dimensional of main passive compliance is integrated the present invention provides a kind of
Variable force grinding and polishing apparatus and control method use the active compliance control of the compositions such as force snesor, straight line module servo motion platform
The passive compliance control of the compositions such as system and submissive spring carries out variable force adaptability grinding and polishing, combines active compliance and passive compliance
Realize variable force grinding and polishing, while the present invention is measured using the accurate of Position and attitude sensor realization device posture and carried out gravity compensation, is adopted
Force feedback is formed with force snesor, forms power control closed loop, realizes that the power detection in polishing, polishing process is fed back with output, reduces
Model parameter variation, disturbance and the influence of measurement error, and by adjusting the speed amount of feeding of linear platform, sand is adjusted in real time
The contact condition of band and workpiece realizes and stablizes submissive grinding and polishing process, suitable for aero-engine class complex free curved surface zero
Polishing, the polishing of part.
To achieve the above object, a kind of one side according to the invention, it is proposed that one-dimensional change for integrating main passive compliance
Power grinding and polishing apparatus, including straight line module servo motion platform, mounting flange, limiting plate, Position and attitude sensor, the submissive mill of adjustable speed
Mechanism and controller are thrown, wherein：
The straight line module servo motion platform includes servomotor, ball-screw, straight line module sliding block and straight line module
Pedestal, the servomotor is arranged on the straight line module pedestal, and is connected with ball-screw, the ball-screw with it is described straight
Line module sliding block thread fitting；
The mounting flange and limiting plate are installed on the straight line module pedestal, the Position and attitude sensor and adjustable speed
Submissive grinding and polishing sector is then mounted on the limiting plate, which is used to measure the pose of one-dimensional variable force grinding and polishing apparatus simultaneously
The controller is fed back to, the submissive grinding and polishing sector of the adjustable speed is towards installing on the one side of the straight line module servo motion platform
Force sensor, the force snesor pass through the straight line module sliding block in connecting flange and straight line module servo motion platform
It is connected, the contact force signal for being used to gather the submissive grinding and polishing sector of adjustable speed is concurrently sent to the controller, the controller root
The contact force signal gathered according to force snesor calculates the rate controlling amount of straight line module servo motion platform, and by speed control
Amount is sent to the servomotor, and the servomotor is rotated to drive the submissive grinding and polishing of adjustable speed according to the rate controlling amount
Mechanism moves in a straight line, and then changes the submissive grinding and polishing sector of adjustable speed in real time and treat the contact condition of grinding and polishing workpiece, realizes adjustable
The submissive grinding and polishing sector of speed is with treating that grinding and polishing workpiece keeps variable force compliant contact.
As it is further preferred that the submissive grinding and polishing sector of the adjustable speed includes adjustable speed motor and submissive grinding head list
Member, the adjustable speed motor are connected by motor mounting flange with the force snesor, and the submissive polishing head unit includes soft
Along grinding head installation pedestal, driving wheel, tensioning wheel and polishing contact wheel, wherein, the submissive grinding head installation pedestal is mounted on
It on motor mounting flange, inside opens up there are two cylindrical hole, sand is set on the driving wheel, tensioning wheel and polishing contact wheel
Band, the driving wheel are connected with the output shaft of adjustable speed motor abrasive band to be driven to rotate, which is connected with tensioning mandril, described
It is tensioned mandril to be mounted in one of cylindrical hole of submissive grinding head installation pedestal, and is tensioned between mandril and cylindrical hole and sets
The tensioning spring that tensile force is provided and is tensioned abrasive band for tensioning mandril is equipped with, which is connected with submissive mandril, described
Submissive mandril is mounted in another cylindrical hole of submissive grinding head installation pedestal, and is set between submissive mandril and cylindrical hole
There is submissive spring.
As it is further preferred that the servomotor preferably band band-type brake servomotor, uses photoelectric encoder to make
Precision positions feedback is realized for position sensor, it will not be because of when ensureing motion control accuracy, and being shut down under different postures
Gravity slides.
As it is further preferred that the mounting flange is connected with robot end's flange or lathe end flange, pass through
The control of end pose is realized in the motion control of robot, lathe, realize indirectly the Pose Control of one-dimensional variable force grinding and polishing apparatus with
Compensation.
As it is further preferred that the pose of the one-dimensional variable force grinding and polishing apparatus refers specifically to one-dimensional variable force grinding and polishing apparatus and water
The inclination angle of plane.
As it is further preferred that described treat that grinding and polishing workpiece is preferably blade of aviation engine.
It is another aspect of this invention to provide that provide a kind of control for the one-dimensional variable force grinding and polishing apparatus for integrating main passive compliance
Method includes the following steps：
S1, one-dimensional variable force grinding and polishing apparatus is set and treats the target contact force between grinding and polishing workpiece；
S2, Position and attitude sensor acquisition posture information, force snesor acquisition contact force information, and feed back to controller；
S3, denoising is carried out to posture information and contact force information in the controller, and gravity is carried out to posture information
Compensation；
S4, target contact force is obtained into power error compared with the contact force after denoising, according to the power error meter
Calculate the rate controlling amount of servomotor；
S5, servomotor move realization under the control of rate controlling amount and become force tracking；
S6, S2 to S5 is repeated, until meeting termination condition.
As it is further preferred that the gravity compensation is calculated according to following equation：
Fc=G0×sin(α)
Wherein, FcThe gravity for representing the submissive grinding and polishing sector of adjustable speed connected due to sensor that controller should subtract is drawn
The sensor initial value risen, G0For the gravity of the submissive grinding and polishing sector of adjustable speed, α is the entire one-dimensional variable force mill that Position and attitude sensor measures
The angle of polishing apparatus and horizontal plane.
As it is further preferred that the step S4 is specially：
First, comparison object contact force obtains power error e (t) with the contact force after denoising：
E (t)=Fd-Fs
Wherein, FdIt is it is expected the submissive grinding and polishing sector of adjustable speed obtained and treat the contact force between grinding and polishing workpiece, FsIt is step
The contact force of the actual measurement of force snesor after S3 denoisings；
Then, the rate controlling amount of servomotor is calculated：
Wherein, u (t) is the rate controlling amount of servomotor, and t is the time, FsensOr (t) is what force snesor measured in real time
Contact force, KpFor proportionality coefficient, Kp=f (e (t)), KiFor integral coefficient, KdFor differential term coefficient.
In general, by the above technical scheme conceived by the present invention compared with prior art, mainly possess following
Technological merit：
1. the present invention uses a kind of one-dimensional variable force grinding and polishing apparatus and control method for integrating main passive compliance of autonomous Design,
The passive compliance that the passive compliances grinding and polishing sectors such as active compliance and submissive spring that power control closed loop is formed are formed makes abrasive band and workpiece
Between the problems such as can realizing variable force flexible contact, avoiding processing impact, excessive grinding and polishing caused by rigid contact.
2. force snesor realizes that power is anti-by the contact force during measuring polishing processing and access controller in the present invention
Feedback is realized the closed loop feedback control of contact force by differential forward non-linearity PID algorithm, and is transported by adjusting straight line module servo
The rate controlling amount of moving platform ensures to stablize the grinding and polishing process complied with, reduces the machining deformation of workpiece, excessive grinding and polishing is avoided to contact
Overground caused by power, the problems such as grinding and polishing is uneven.
3. the present invention straight line module servo motion platform have can precise flange, high bandwidth control characteristic, with
The looped system of force snesor composition can adjust the contact condition of abrasive band and contact wheel real-time accurate, so as to accurate control
Abrasive band processed and the contact force of workpiece constitute the active compliance of the present invention；Meanwhile the straight line module servo motion platform has
The characteristics of high rigidity, system performance can effectively be improved by adding in submissive spring, increase system damping, reduce vibration, make power with
Track is more stablized, and constitutes the passive compliance of the present invention.
4. traditional processing is mostly using the modes such as artificial grinding and polishing, there are dimensional controllability is poor, type face precision and surface
Quality conformance relies on the problems such as proficiency of workers, and the present invention realizes that variable force grinding and polishing adds using intelligent flexible along polishing mode
Work has dimensional controllability height, type face precision, the advantages such as surface conformance is good, surface texture uniformity is good.
5. the processing method of traditional artificial grinding and polishing there are labor strength is big, high processing costs big to actual bodily harm plus
The shortcomings of work efficiency rate is low, high to the level of skill requirement of operating personnel, the present invention can be reduced using intelligent flexible along polishing mode
Labor strength and actual bodily harm reduce the dependence to worker's skills involved in the labour, and it is excellent to have that at low cost, processing efficiency is high etc.
Gesture.
6. the present invention is connected to robot end by mounting flange, machine can be realized by the precise flange of robot
The attitudes vibration of device people end so as to realize the pose adjustment of the present invention and motion compensation indirectly, that is, passes through robot
Movement makes variable force grinding and polishing apparatus reach specified pose, realizes that variable force light is just being processed by variable force grinding and polishing apparatus, completes power/position solution
Coupling realizes the given force of given position.
7. the present invention realizes the complete digital variable force grinding and polishing of electricity using straight line module servo motion platform and one-dimensional force snesor,
Comprehensive active compliance is controlled with passive compliance, is different from the pneumatic variable force device ACF and america's MIT of Austrian Company
The passive passive compliance device of Draper experimental centers, the high rigidity and precise flange of straight line module compensate for gas variable force
Device increases system damping and sound since nonlinear problem caused by gas compression, submissive spring have good linear characteristic
Answer do not introduced while bandwidth it is non-linear.
Description of the drawings
Fig. 1 is a kind of structural representation for the one-dimensional variable force grinding and polishing apparatus for integrating main passive compliance provided in an embodiment of the present invention
Figure.
Fig. 2 is the structure diagram of straight line module servo motion platform provided in an embodiment of the present invention.
Fig. 3 is the front view of the submissive grinding and polishing sector of adjustable speed provided in an embodiment of the present invention.
Fig. 4 is the rearview of the submissive grinding and polishing sector of adjustable speed provided in an embodiment of the present invention.
Fig. 5 is the structure diagram of blade of aviation engine type free curved surface part.
Fig. 6 is the connection diagram of robot and the one-dimensional variable force grinding and polishing apparatus of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Conflict is not formed each other to can be combined with each other.
As shown in Figure 1, a kind of one-dimensional variable force grinding and polishing apparatus for integrating main passive compliance provided in an embodiment of the present invention, bag
Include straight line module servo motion platform, mounting flange 8, limiting plate 6, Position and attitude sensor 7, the submissive grinding and polishing sector 5 of adjustable speed and control
Device processed, cathetus module servo motion platform is for driving the submissive grinding and polishing sector of adjustable speed to do Precision Linear Moving, with real-time
The contact condition between the submissive grinding and polishing sector of adjustable speed and workpiece is adjusted, is realized between the submissive grinding and polishing sector of adjustable speed and workpiece
Variable force compliant contact, mounting flange 8 are used for the movement with being connected the connection of the end flanges such as robot, lathe, robot, lathe etc.
The control of end pose is realized in control, realizes Pose Control and the compensation of variable force grinding and polishing apparatus indirectly, realizes that robot grinding and polishing adds
Power/position decoupling in work, limiting plate 6 are used to install Position and attitude sensor 7 and the submissive grinding and polishing sector 5 of adjustable speed, the submissive mill of adjustable speed
Mechanism is thrown for carrying out polishing processing to workpiece, can electrodeless adjustment grinding and polishing speed, and controller then for feed back posture information and
Contact force information, to realize the control of the control of the submissive grinding and polishing sector movement of adjustable speed and one-dimensional variable force grinding and polishing apparatus pose,
And then realize the main passive compliance control of grinding and polishing contact force.
As illustrated in fig. 1 and 2, straight line module servo motion platform includes servomotor 1, ball-screw 12, straight line module cunning
Block 11 and straight line module pedestal 10, servomotor 1 are arranged on straight line module pedestal 10, and for example pass through connection with ball-screw 12
Axis device 9 is connected, and the ball-screw 12 and 11 thread fitting of straight line module sliding block, straight line module sliding block 11 are inlaid in straight line module base
It can slide on seat 10 and along straight line module pedestal 10 is horizontal, the precise rotation of ball-screw is converted into Precision Linear Moving,
Precision Linear Moving can be done under the driving of servomotor.The servomotor 1 is preferably band band-type brake servomotor, is passed through
Band-type brake realizes motor braking, and realizes precision positions feedback as position sensor using photoelectric encoder, ensures motion control
Precision, strap brake ensure that servomotor is shut down under different postures and will not be slided because of gravity, while available for brake sticking brake.
Specifically, mounting flange 8 and limiting plate 6 are installed on straight line module pedestal 10, Position and attitude sensor 7 and adjustable speed
Submissive grinding and polishing sector 5 is then mounted on limiting plate 6, and Position and attitude sensor 7 is used to measuring the pose of one-dimensional variable force grinding and polishing apparatus and anti-
Controller is fed to, specifically measures the inclination angle of the limiting plate and horizontal plane in one-dimensional variable force grinding and polishing apparatus, controller is according to current appearance
State carries out gravity compensation, and the submissive grinding and polishing sector 5 of the adjustable speed is strong towards installation on the one side of straight line module servo motion platform
Sensor 4, be specially one-dimensional force snesor, force snesor 4 by connecting flange 3 with it is straight in straight line module servo motion platform
Line module sliding block 11 is connected, i.e., 3 one end of connecting flange is mounted on straight line module sliding block, and the other end is mounted on force snesor,
The adjustable speed that the linear motion of straight line module sliding block is transferred to force snesor and force snesor connection by connecting flange 3 is soft
Along grinding and polishing sector, the contact force signal which is used to gathering the submissive grinding and polishing sector of adjustable speed is concurrently sent to controller, i.e.,
The contact force of abrasive band and workpiece during measurement grinding and polishing, the contact force signal that controller is gathered according to force snesor calculate straight line
The rate controlling amount of module servo motion platform, and rate controlling amount is sent to servomotor 1, servomotor is according to the speed
Controlled quentity controlled variable carries out precise rotation, and passes through ball-screw and sliding block is converted into linear motion, and the submissive grinding and polishing sector of adjustable speed is straight
It is moved in a straight line under the precise motion of line module servo motion platform, it is specifically abrasive band to change the submissive grinding and polishing sector of adjustable speed in real time
With the contact condition of grinding and polishing workpiece, adjustment contact force realizes that abrasive band keeps variable force compliant contact with grinding workpiece, constitutes grinding and polishing
The Active Compliance Control of contact force, and the submissive grinding and polishing sector of adjustable speed can realize the passive compliance control of grinding and polishing contact force.
As shown in Figures 3 and 4, the submissive grinding and polishing sector of adjustable speed includes adjustable speed motor 19 and submissive polishing head unit, adjustable
Speed motor 19 is connected by motor mounting flange 18 with force snesor 4, and submissive polishing head unit includes submissive grinding head and installs base
Seat 20, driving wheel, tensioning wheel 15 and polishing contact wheel 13, wherein, submissive grinding head installation pedestal 20 is mounted on motor Method for Installation
It on orchid 18, inside opens up there are two cylindrical hole, is specially horizontal circle post holes and vertical cylinder hole, driving wheel, tensioning wheel 15 and beat
Be set with abrasive band 14 on mill contact wheel 13, i.e., abrasive band, which is wound on, polishes on contact wheel, tensioning wheel and driving wheel, the driving wheel with it is adjustable
The output shaft of speed motor is connected, under the driving of adjustable speed motor abrasive band to be driven to rotate, the tensioning wheel 15 and tensioning mandril 16
It is connected, tensioning mandril 16 is mounted in the vertical cylinder hole of submissive grinding head installation pedestal 20, and is tensioned the lower end of mandril 16
Tensioning spring 17 is provided between cylindrical hole bottom, tensioning mandril lower end is in the cylindrical cavity of submissive grinding head installation pedestal
It slides, providing tensile force by the resilient support tensioning mandril of tensioning spring is tensioned abrasive band；The polishing contact wheel 13 and submissive top
Bar is connected, submissive mandril be mounted on submissive grinding head installation pedestal 20 horizontal circle post holes in, and the lower end of submissive mandril with
Submissive spring 21 is provided between cylindrical hole bottom, submissive mandril lower end is slided in submissive grinding head installation pedestal cylindrical hole,
For workpiece of polishing, the setting of submissive spring causes submissive mandril and abrasive band contact wheel to have for abrasive band part at polishing contact wheel
Certain passive compliance can increase system damping, and strengthening system stability reduces vibration, reduces the influence of contact fluctuation, structure
Passive compliance into grinding and polishing contact force controls, and plays the role of passive compliance.The submissive grinding and polishing sector of the adjustable speed can be in straight line
Contact condition under module servo motion platform precise motion in real time between adjustment polishing head unit and workpiece realizes controllable variable force
Compliant contact, caused by avoiding excessive contact force the problems such as processing impact and excessive grinding, in the submissive grinding and polishing sector of adjustable speed
Adjustable speed motor continuously variable realizes the skin processing under different grinding and polishing speed.
Further, polishing contact wheel 13 is connected by contact wheel mounting blocks 24 of polishing with submissive mandril, i.e. polishing contact
Wheel 13 is mounted on polishing contact wheel mounting blocks 24, and submissive mandril, the polishing are installed again on the polishing contact wheel mounting blocks 24
Submissive guide rod 22, submissive 22 one end of guide rod installation are additionally provided between contact wheel mounting blocks 24 and submissive grinding head installation pedestal 20
In submissive grinding head installation pedestal 20, the other end is mounted on by linear bearing 23 on polishing contact wheel mounting blocks 24, can edge
Polishing contact wheel mounting blocks 24 move horizontally.
Further, controller is put down with adjustable speed motor, Position and attitude sensor, force snesor and straight line module servo motion
The servomotor connection of platform, under speed ring differential forward nonlinear PID controller algorithm in a manner of exporting feedback regulation
The movement of control straight line module servo motion platform realizes that abrasive band contacts control with workpiece variable force.I.e. on the one hand controller receives appearance
The device attitude information that state sensor is passed to carries out gravity compensation, on the one hand receives and is detected in the bruting process that force snesor is passed to
The grinding and polishing contact force arrived, and after Butterworth filtering process compared with target contact force obtain power error, controller according to
Power error calculation goes out straight line module servo motion platform speed controlled quentity controlled variable, forms power control closed loop, on the other hand exports control signal
The rotating speed of control adjustable speed motor is used for adjusting the cutting speed in abrasive band.Specifically, the common control such as PLC, ARM can be used in controller
Device processed, for running algorithm, handling sensor signal and generating controlled quentity controlled variable, and it is preferably that aero-engine class is answered to treat grinding and polishing workpiece
Miscellaneous Free-form Surface Parts, such as blade of aviation engine, as shown in figure 5, blade of aviation engine has type face 26 and damping platform
25。
As shown in fig. 6, the end flange of the one-dimensional variable force grinding and polishing apparatus of the present invention and robot is connected by mounting flange
It connects, the adjusting of variable force grinding and polishing apparatus large-scale position and posture is provided by the movement of robot to be needed, with reference to the change of the present apparatus
Power grinding and polishing feature realizes the given force polishing processing of given position.
The present invention also provides a kind of control method for the one-dimensional variable force grinding and polishing apparatus for integrating main passive compliance, including as follows
Step：
S1, one-dimensional variable force grinding and polishing apparatus is set and treats the target contact force between grinding and polishing workpiece；
S2, Position and attitude sensor acquisition posture information, force snesor acquisition contact force information, and feed back to controller；
S3, posture information and contact force information are carried out for example with low-pass filter and mean filter in the controller
Denoising, and gravity compensation is carried out to posture information；
S4, target contact force is obtained into power error compared with the contact force (i.e. actual contact force) after denoising,
According to the rate controlling amount of the power error calculation servomotor；
S5, servomotor move realization under the control of rate controlling amount and become force tracking；
S6, S2 to S5 is repeated, until meeting termination condition, such as grinding and polishing process terminates to terminate the control of grinding and polishing apparatus.
Specifically, low-pass filter uses Butterworth filter, mean filter is slided using 100 sampled datas
Dynamic filtering of averaging, the gravity that should be compensated according to following equation calculating：
Fc=G0×sin(α)
Wherein, FcThe gravity for representing the submissive grinding and polishing sector of adjustable speed connected due to sensor that controller should subtract is drawn
The sensor initial value risen, G0For the gravity of the submissive grinding and polishing sector of adjustable speed, α is the entire one-dimensional variable force mill that Position and attitude sensor measures
The angle of limiting plate and horizontal plane in polishing apparatus.
Further, step S4 is specially：
First, comparison object contact force obtains power error e (t) with the contact force after denoising：
E (t)=Fd-Fs
Wherein, FdIt is it is expected the submissive grinding and polishing sector of adjustable speed obtained and treat the contact force between grinding and polishing workpiece, i.e. target
Contact force, FsIt is the contact force of the actual measurement of the force snesor after step S3 denoisings；
Then, the rate controlling amount of differential forward non-linearity PID regulating calculation servomotor is passed through：
Wherein, t is the time, and u (t) is the rate controlling amount of servomotor, FsensOr (t) is what force snesor measured in real time
Contact force, KpIt is the function of power error e (t) for proportionality coefficient, Kp=f (e (t)), the K when error is bigpGreatly, K when error is smallp
It is small, KiFor integral coefficient, KdFor differential term coefficient.
In short, the present invention's has accurate, the straight line module servo motion platform and force snesor of high bandwidth control characteristic
The negative-feedback active compliance system of composition can control the contact condition of abrasive band and workpiece well, so as to control contact force, be
Improve the characteristic that straight line module high rigidity easily leads to vibration, in the submissive grinding and polishing sector of adjustable speed add in submissive spring, it can
Increase system damping, change system performance, effectively reduce the fluctuation in abrasive band and workpiece contact force, realize passive compliance.The present invention
It is comprehensive using straight line module and active compliance that force snesor is core with using damping spring as the passive compliance of core, realizing machine
Power/position decoupling in device manpower control polishing processing, simple in structure, production cost is low, can be widely applied to robot grinding and polishing aviation
Engine blade type free curved surface.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of one-dimensional variable force grinding and polishing apparatus for integrating main passive compliance, which is characterized in that put down including straight line module servo motion
Platform, mounting flange (8), limiting plate (6), Position and attitude sensor (7), the submissive grinding and polishing sector of adjustable speed (5) and controller, wherein：
The straight line module servo motion platform include servomotor (1), ball-screw (12), straight line module sliding block (11) and directly
Line module pedestal (10), the servomotor (1) are arranged on the straight line module pedestal (10), and with ball-screw (12) phase
Even, the ball-screw (12) and straight line module sliding block (11) thread fitting；
The mounting flange (8) and limiting plate (6) are installed on the straight line module pedestal (10), the Position and attitude sensor
(7) then it is mounted on the submissive grinding and polishing sector of adjustable speed (5) on the limiting plate (6), the Position and attitude sensor (7) is one-dimensional for measuring
The pose of variable force grinding and polishing apparatus simultaneously feeds back to the controller, and the submissive grinding and polishing sector of the adjustable speed (5) is towards the straight line module
Force sensor (4) is installed, the force snesor (4) passes through connecting flange (3) and straight line mould on the one side of servo motion platform
The straight line module sliding block (11) in group servo motion platform is connected, and is used to gather the contact of the submissive grinding and polishing sector of adjustable speed
Force signal is simultaneously sent to the controller, and the contact force signal that the controller is gathered according to force snesor calculates straight line module
The rate controlling amount of servo motion platform, and rate controlling amount is sent to the servomotor (1), the servomotor (1)
It is rotated that the submissive grinding and polishing sector of adjustable speed is driven to move in a straight line according to the rate controlling amount, and then changes adjustable speed in real time
Submissive grinding and polishing sector and the contact condition for treating grinding and polishing workpiece realize the submissive grinding and polishing sector of adjustable speed and treat that grinding and polishing workpiece keeps variable force
Compliant contact.
2. the one-dimensional variable force grinding and polishing apparatus of main passive compliance is integrated as described in claim 1, which is characterized in that the adjustable speed
Submissive grinding and polishing sector includes adjustable speed motor (19) and submissive polishing head unit, and the adjustable speed motor (19) is installed by motor
Flange (18) is connected with the force snesor (4), and the submissive polishing head unit includes submissive grinding head installation pedestal (20), drives
Driving wheel, tensioning wheel (15) and polishing contact wheel (13), wherein, the submissive grinding head installation pedestal (20) is installed mounted on motor
It on flange (18), inside opens up there are two cylindrical hole, is set on the driving wheel, tensioning wheel (15) and contact wheel (13) of polishing
Abrasive band (14), the driving wheel are connected with the output shaft of adjustable speed motor abrasive band to be driven to rotate, which pushes up with tensioning
Bar (16) is connected, and the tensioning mandril (16) is mounted in one of cylindrical hole of submissive grinding head installation pedestal (20), and
And tensioning mandril (16) sets promising tensioning mandril to provide the tensioning spring (17) that tensile force is tensioned abrasive band between cylindrical hole,
The polishing contact wheel (13) is connected with submissive mandril, and the submissive mandril is mounted on the another of submissive grinding head installation pedestal (20)
Submissive spring (21) is provided in a cylindrical hole, and between submissive mandril and cylindrical hole.
3. the one-dimensional variable force grinding and polishing apparatus of main passive compliance is integrated as claimed in claim 1 or 2, which is characterized in that described to watch
It is preferably band band-type brake servomotor to take motor (1), and photoelectric encoder is used to realize precision positions feedback as position sensor,
It will not be slided when ensureing motion control accuracy, and being shut down under different postures because of gravity.
4. the one-dimensional variable force grinding and polishing apparatus of main passive compliance is integrated as claimed in claim 3, which is characterized in that the Method for Installation
Blue (8) are connected with robot end's flange or lathe end flange, end position is realized by the motion control of robot, lathe
Pose Control and the compensation of one-dimensional variable force grinding and polishing apparatus are realized in the control of appearance indirectly.
5. the one-dimensional variable force grinding and polishing apparatus of main passive compliance is integrated as claimed in claim 4, which is characterized in that the one-dimensional change
The pose of power grinding and polishing apparatus refers specifically to the inclination angle of one-dimensional variable force grinding and polishing apparatus and horizontal plane.
6. as claim 1-5 any one of them integrates the one-dimensional variable force grinding and polishing apparatus of main passive compliance, which is characterized in that institute
It states and treats that grinding and polishing workpiece is preferably blade of aviation engine.
7. if claim 1-6 any one of them integrates the control method of the one-dimensional variable force grinding and polishing apparatus of main passive compliance,
It is characterized in that, includes the following steps：
S1, one-dimensional variable force grinding and polishing apparatus is set and treats the target contact force between grinding and polishing workpiece；
S2, Position and attitude sensor acquisition posture information, force snesor acquisition contact force information, and feed back to controller；
S3, denoising is carried out to posture information and contact force information in the controller, and gravity compensation is carried out to posture information；
S4, the contact force after denoising compared with target contact force is obtained into power error, is watched according to the power error calculation
Take the rate controlling amount of motor；
S5, servomotor move realization under the control of rate controlling amount and become force tracking；
S6, S2 to S5 is repeated, until meeting termination condition.
8. control method as claimed in claim 7, which is characterized in that the gravity compensation is calculated according to following equation：
Fc=G0×sin(α)
Wherein, FcCaused by the gravity for representing the submissive grinding and polishing sector of adjustable speed connected due to sensor that controller should subtract
Sensor initial value, G0For the gravity of the submissive grinding and polishing sector of adjustable speed, α is the entire one-dimensional variable force grinding and polishing dress that Position and attitude sensor measures
Put the angle with horizontal plane.
9. control method as claimed in claim 8, which is characterized in that the step S4 is specially：
First, comparison object contact force obtains power error e (t) with the contact force after denoising：
E (t)=Fd-Fs
Wherein, FdIt is target contact force, FsIt is the contact force of the actual measurement of the force snesor after step S3 denoisings；
Then, the rate controlling amount of servomotor is calculated：
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Wherein, u (t) is the rate controlling amount of servomotor, and t is the time, Fsensor(t) contact measured in real time for force snesor
Power, KpFor proportionality coefficient, Kp=f (e (t)), KiFor integral coefficient, KdFor differential term coefficient.
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