CN109664313A - The control system and polishing process of automatically grinding machine people applied to fan blade - Google Patents
The control system and polishing process of automatically grinding machine people applied to fan blade Download PDFInfo
- Publication number
- CN109664313A CN109664313A CN201910049459.3A CN201910049459A CN109664313A CN 109664313 A CN109664313 A CN 109664313A CN 201910049459 A CN201910049459 A CN 201910049459A CN 109664313 A CN109664313 A CN 109664313A
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- Prior art keywords
- polishing
- controller
- central controller
- fan blade
- automatically grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Grinding-Machine Dressing And Accessory Apparatuses (AREA)
Abstract
The embodiment of the invention discloses the control systems and polishing process of a kind of automatically grinding machine people applied to fan blade, belong to grinding technology field.It includes sanding unit, further includes host computer, central controller, polishing controller and workpiece polishing mechanism；Host computer is electrically connected to central controller, sends polishing operation instruction to central controller；Polishing controller is electrically connected to central controller, receives the control instruction that central controller is sent；Sanding unit is installed on the end of workpiece polishing mechanism；Controller control workpiece polishing mechanism of polishing moves, and sanding unit is driven to carry out polishing operation.Polishing operation instruction is sent to central controller by host computer, central controller sends control instruction to polishing controller, by the control workpiece polishing mechanism movement of polishing controller, sanding unit is driven to carry out polishing operation, the automatically grinding to fan blade can be achieved, grinding efficiency is low when solving manual polishing, and the problem of polishing unstable quality.
Description
Technical field
The present embodiments relate to grinding technology field, in particular to a kind of automatically grinding machine applied to fan blade
The control system and polishing process of people.
Background technique
The polishing of fan blade in the prior art generallys use manual polishing, and polishing dust is big, to the person of operator
Safety generates harm, and grinding efficiency is low, and unstable quality of polishing influences the further production of fan blade, improves production
Cost.
Summary of the invention
The embodiment of the invention provides the control systems of automatically grinding machine people applied to fan blade a kind of, to solve
Grinding efficiency is low when manual polishing in the prior art, and the problem of polishing unstable quality.For one of the embodiment to disclosure
A little aspects have a basic understanding, and simple summary is shown below.The summarized section is not extensive overview, nor true
Determine key/critical component or describes the protection scope of these embodiments.Its sole purpose is to be presented one with simple form
A little concepts, in this, as the preamble of following detailed description.
According to a first aspect of the embodiments of the present invention, provide a kind of automatically grinding machine people's applied to fan blade
Control system, including sanding unit further include host computer, central controller, polishing controller, workpiece polishing mechanism and power control unit；
Host computer is electrically connected to central controller, sends polishing operation instruction to central controller；
Polishing controller is electrically connected to central controller, receives the control instruction that central controller is sent；
Sanding unit is installed on the end of workpiece polishing mechanism, and workpiece polishing mechanism is connect with power control unit；
Polishing controller carries out polishing action control to sanding unit by power control unit, carries out polishing operation.
In some optional embodiments, further includes:
Mobile chassis controller, servo-driver, servo motor and chassis vehicle；
The other end of workpiece polishing mechanism is fixedly connected on a chassis；
Mobile chassis controller is electrically connected to central controller, receives the move that central controller is sent, and in
Entreat the moving condition of controller feedback chassis vehicle；
Mobile chassis controller controls servo motor by servo-driver, controls the movement of chassis vehicle, drives
The movement of workpiece polishing mechanism.
It in some optional embodiments, further include guard sensor, guard sensor is installed on the surrounding of chassis vehicle, and electricity
It is connected to mobile chassis controller.
It in some optional embodiments, further include alignment sensor, alignment sensor is installed on the front end of chassis vehicle, and electricity
It is connected to mobile chassis controller.
It in some optional embodiments, further include relay and dust removal machine, central controller is by relay to dust removal machine
It is controlled, dust removal machine is opened and closed.
It in some optional embodiments, further include rolling wheel support controller, rotating servo motor and rolling wheel support；
Fan blade is fixed on rolling wheel support；
Rolling wheel support controller is electrically connected to central controller, receives the rotation instruction that central controller is sent, and in
Entreat the rotation status of controller feedback rolling wheel support；
The rolling of rolling wheel support drives the synchronous rolling of fan blade.
In some optional embodiments, further include control cabinet cabinet body, be equipped with central controller in control cabinet cabinet body.
According to a second aspect of the embodiments of the present invention, provide a kind of automatically grinding machine people's applied to fan blade
Polishing process, comprising:
Receive polishing operation instruction；
Control instruction is issued to polishing controller, polishing controller control workpiece polishing mechanism movement drives sanding unit to mesh
It marks region and carries out polishing operation.
In some optional embodiments, after receiving polishing operation instruction, dust removal machine is opened.
In some optional embodiments, after carrying out polishing operation to target area, moving chassis truck, and/or, it rolls
Rolling wheel support, until the leaf root part polishing to fan blade finishes；
Dust removal machine is closed, workpiece polishing mechanism is moved to initial position.
Technical solution provided in an embodiment of the present invention can include the following benefits:
The embodiment of the present invention sends polishing operation instruction to central controller by host computer, and central controller is controlled to polishing
Device processed sends control instruction, by polishing controller control force control unit motion, drives workpiece polishing mechanism movement so that sanding unit into
Row polishing operation is, it can be achieved that automatically grinding to fan blade, and grinding efficiency is low when solving manual polishing, and polishes quality not
Stable problem.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
It can the limitation present invention.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 is the control of automatically grinding machine people applied to fan blade shown according to an exemplary embodiment a kind of
The structural schematic diagram of system；
Fig. 2 is the polishing of automatically grinding machine people applied to fan blade shown according to an exemplary embodiment a kind of
Method flow diagram；
Fig. 3 is a kind of beating for the automatically grinding machine people applied to fan blade shown according to another exemplary embodiment
Grind method flow diagram；
Description of symbols:
1, host computer；2, central controller；3, polishing controller；4, power control unit；5, sanding unit；6, mobile chassis control
Device processed；7, servo-driver；8, servo motor；9, guard sensor；10, alignment sensor；11, relay；12, dust removal machine；
13, rolling wheel support controller；14, rotating servo motor；15, distance measuring unit.
Specific embodiment
The following description and drawings fully show specific embodiments of the present invention, to enable those skilled in the art to
Practice them.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.
The range of embodiment of the present invention include claims entire scope and claims it is all obtainable etc.
Jljl.Herein, relational terms such as first and second and the like are used only for an entity or structure and another
Entity or structure distinguish, and without requiring or implying, there are any actual relationships or suitable between these entities or structure
Sequence.Each embodiment herein is described in a progressive manner, the highlights of each of the examples are with other embodiments
Difference, the same or similar parts in each embodiment may refer to each other.
In the description of the present invention, it is to be understood that, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.In the description of the present invention, unless otherwise specified and limited, it should be noted that term " installation ", " connected ", " connection "
It shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, the connection being also possible to inside two elements, can be straight
Connect it is connected, can also indirectly connected through an intermediary, for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term.
According to a first aspect of the embodiments of the present invention, provide a kind of automatically grinding machine people's applied to fan blade
Control system, Fig. 1 are the controls of automatically grinding machine people applied to fan blade shown according to an exemplary embodiment a kind of
The structural schematic diagram of system processed, as shown in Figure 1 comprising host computer 1, central controller 2, polishing controller 3, power control unit 4
With sanding unit 5；
Host computer 1 is electrically connected to central controller 2, sends polishing operation instruction to central controller 2；
Polishing controller 3 is electrically connected to central controller 2, receives the control instruction that central controller 2 is sent；
Sanding unit 5 is installed on the end of workpiece polishing mechanism, and workpiece polishing mechanism is connect with power control unit 4；
Polishing controller 3 carries out polishing action control to sanding unit 5 by power control unit 4, carries out polishing operation.
Host computer of the embodiment of the present invention 1 sends polishing operation instruction to central controller 2, and central controller 2 is controlled to polishing
Device 3 processed sends control instruction, and the movement of workpiece polishing mechanism is controlled by polishing controller 3, and sanding unit 5 is driven to carry out polishing operation,
The automatically grinding to fan blade can be achieved, grinding efficiency is low when solving manual polishing, and the problem of polishing unstable quality.
In some optional embodiments, polishing controller 3 sends the polishing operation state of the subsystem to central controller 2
Polishing operation status data is sent to host computer 1 by data, central controller 2, reaches monitoring of the host computer 1 to sanding unit 5
Effect.
In some optional embodiments, the embodiment of the present invention is not specifically limited the shape of sanding unit 5, the prior art
In grinding head, a kind of such as polishing grinding wheel in boss cylindrical outer surface robot polishing system, a kind of robot polishing dress
Grinding head in setting is applicable.
In some optional embodiments, the control system applied to the automatically grinding machine people of fan blade further include:
Mobile chassis controller 6, servo-driver 7, servo motor 8 and chassis vehicle；The other end of workpiece polishing mechanism is fixed to be connected
It connects on a chassis；Mobile chassis controller 6 is electrically connected to central controller 2, receives the mobile finger that central controller 2 is sent
It enables, and feeds back the moving condition of chassis vehicle to central controller 2；
Mobile chassis controller 6 controls servo motor 8 by servo-driver 7, controls the movement of chassis vehicle.
In some optional embodiments, the embodiment of the present invention is not specifically limited the shape of workpiece polishing mechanism, as long as can
Realize that the workpiece polishing mechanism of the movements such as rotation, mobile may be applicable to the embodiment of the present invention.
Mechanical arm in the prior art, if application publication number is CN108000510A, a kind of entitled patent of mechanical arm
Mechanical arm in application documents, Authorization Notice No. CN207120249U, in a kind of entitled patent application document of mechanical arm
Mechanical arm it is applicable.
It in some optional embodiments, further include distance measuring unit 15, distance measuring unit 15 is installed on the end of workpiece polishing mechanism, position
In the two sides of sanding unit 5, the data of grinding depth are needed for measuring blade surface, and send the data to polishing controller
3, it is then forwarded to central controller 2, central controller 2 carries out curve fitting according to the data, workpiece polishing mechanism, is formed preliminary
Polishing trajectory planning.
When polishing progress, central controller 2 is sent to polishing 3 position of controller according to preliminary polishing trajectory planning
Instruction, sanding unit 5 is moved in the curvilinear path of fitting, control mode is switched to the mould that power control unit 4 controls at this time
Formula carries out constant force polishing control to blade surface by power control unit 4 by polishing controller 3 in the normal direction in polishing path, keeps away
Degree of roughness after exempting from blade surface polishing is inconsistent.
In some optional embodiments, the control system applied to the automatically grinding machine people of fan blade further includes protection
Sensor 9, guard sensor 9 are installed on the surrounding of chassis vehicle, and are electrically connected to mobile chassis controller 6.
By increasing guard sensor 9 in systems, can avoid occurring in chassis vehicle moving process by guard sensor 9
Collision, evades the risk of chassis vehicle.
In some optional embodiments, guard sensor 9 can be security protection sensor, avoid in chassis vehicle moving process
It collides.
In some optional embodiments, the control system applied to the automatically grinding machine people of fan blade further includes positioning
Sensor 10, alignment sensor 10 are installed on the front end of chassis vehicle, and are electrically connected to mobile chassis controller 6.
By increasing alignment sensor 10 in systems, it can be achieved that precise positioning to chassis truck position, avoids chassis vehicle
Deviation in appearance position.
In some optional embodiments, mobile chassis controller 6 sends the status number of the subsystem to central controller 2
According to central controller 2 sends the status data of the subsystem to host computer 1.
In some optional embodiments, the control system applied to the robot automatically grinding of fan blade, further include after
Electric appliance 11 and dust removal machine 12, central controller 2 control dust removal machine 12 by relay 11, open to dust removal machine 12
And closing.
In some optional embodiments, relay 11 can be electromagnetic relay, play switch by galvanomagnetic-effect and disconnect
With the effect of closure, to control the opening and closing of dust removal machine 12, when relay 11 disconnects, dust removal machine 12 is to close
Conjunction state, when relay 11 is closed, dust removal machine 12 is opened, into working condition.
Central controller 2 controls dust removal machine 12 by relay 11, it can be achieved that the state of dust removal machine 12 switches, more
Add the work for controlling dust removal machine 12 freely.
In some optional embodiments, when workpiece polishing mechanism and in running order sanding unit 5, dust removal machine 12 is in and opens
State is opened, when workpiece polishing mechanism and sanding unit 5 are in off working state, dust removal machine 12 is in close state, with the system of saving
The consumed energy avoids the waste of the energy.
In some optional embodiments, the quantity of workpiece polishing mechanism is one or more, is fixedly mounted on a chassis,
The movement of workpiece polishing mechanism is driven by the movement of chassis vehicle.
In some optional embodiments, the quantity of sanding unit 5 and the quantity of workpiece polishing mechanism are consistent.
In some optional embodiments, the system applied to the robot automatically grinding of fan blade further includes idler wheel branch
Frame controller 13 and rotating servo motor 14；
Rolling wheel support controller 13 is electrically connected to central controller 2, receives the rotation instruction that central controller 2 is sent, and
The rotation status of rolling wheel support is fed back to central controller 2.
In some optional embodiments, rolling wheel support controller 13 sends the status number of the subsystem to central controller 2
According to the status data of the subsystem is sent to host computer 1 by central controller 2.
In some optional embodiments, the control system applied to the automatically grinding machine people of fan blade further includes control
Cabinet cabinet body processed, control cabinet cabinet body is interior to be equipped with central controller 2.
By the way that central controller 2 is set in control cabinet cabinet body the protection, it can be achieved that central controller 2.
In upper plane system, the controller in each subsystem acquires the status signal of respective equipment, and uploads to central control
On device 2, by carrying out data communication between central controller 2 and host computer 1, plays host computer 1 and monitor state in each subsystem
The effect of data.
According to a second aspect of the embodiments of the present invention, provide a kind of automatically grinding machine people's applied to fan blade
Polishing process, Fig. 2 are a kind of beating for automatically grinding machine people applied to fan blade shown according to an exemplary embodiment
The flow chart of mill method, as shown in Figure 2, comprising:
Receive polishing operation instruction；
Control instruction is issued to polishing controller 3, polishing controller 3 controls the movement of workpiece polishing mechanism, sanding unit 5 is moved
It moves in the curvilinear path of fitting, and is switched to the control model of power control unit 4, sanding unit 5 is driven to carry out target area
Polishing operation.
Wherein, it receives polishing operation instruction and refers to that receiving the polishing operation that host computer 1 is sent instructs；
Central controller 2 issues control instruction by receiving polishing operation instruction, to polishing controller 3, controller 3 of polishing
The movement for controlling workpiece polishing mechanism, sanding unit 5 is moved in the curvilinear path of fitting, and be switched to the control of power control unit 4
Mode drives sanding unit 5 to carry out polishing operation to target area, completes the automatically grinding to fan blade.
Fig. 3 is a kind of side of the robot automatically grinding applied to fan blade shown according to another exemplary embodiment
Method flow chart, as shown in Figure 3, comprising:
After receiving polishing operation instruction, dust removal machine 12 is opened.
After carrying out polishing operation to target area, moving chassis truck and/or rolling wheel support, until to fan blade
Leaf root part polishing finish；
Dust removal machine 12 is closed, workpiece polishing mechanism is moved to initial position.
In some optional embodiments, opening dust removal machine 12 is that central controller 2 is realized by relay 11.
Specifically method flow includes:
System initialization, distance measuring unit 15, which measures blade surface, needs the data of grinding depth, and sends the data to and beat
Controller 3 is ground, polishing controller 3 sends the data to central controller 2, and central controller 2 is according to the data, workpiece polishing mechanism
It carries out curve fitting, forms preliminary polishing trajectory planning.
Host computer 1 issues polishing operation instruction；
Central controller 2 receives polishing operation instruction, sends position command to polishing controller 3, and sanding unit 5 is mobile
To preliminary polishing track, it is switched to the mode of the control of power control unit 4；
Polishing operation instruction is sent to mobile chassis controller 6 by central controller 2, and mobile chassis controller 6 is by watching
It takes driver 7 to control servo motor 8, so that chassis vehicle is moved to next target position；
In some optional embodiments, the determination of target position is according to the length of sanding unit 5 and the length of fan blade
It determines, can be determined according to the length apart from blade root.
In some optional embodiments, target position can be 5 decimeters, 10 decimeters, 15 decimeters according to the length apart from blade root
Etc. determining target position, the distance that chassis vehicle moves every time is 5 decimeters, 10 decimeters, 15 decimeters etc..
Wherein, to a kind of blade specification, the work of once fitting curve can be carried out, if blade specification is not replaced, just
Without repeating the work of matched curve.
To each blade specification, the data of matched curve can be sent to host computer 1 by central controller 2, by upper
Machine 1 is saved, and database information is formed, and when polishing blade, calls the data of the matched curve of dimension blade.
Central controller 2 opens dust removal machine 12 by relay 11；
When region, which is polished, completes, stop polishing operation, closes dust removal machine 12, workpiece polishing mechanism end is moved to initial bit
It sets；
In some optional embodiments, when the ratio of the area of polishing and the area of target area be greater than 0.95, that is, be considered as
Polishing is completed.
In some optional embodiments, the quantity of workpiece polishing mechanism is one or more, is fixedly mounted on a chassis.
It repeats the above process, until being polished to blade root, angle is rotated by control rolling wheel support, so that polishing completion is complete
Blade root.
In some optional embodiments, fan blade can be spanwise shape shape, and along leaf Zhan Fangxiang, fan blade includes
In blade root, leaf and blade root, blade root are located at one end of fan blade.
In some optional embodiments, control rolling wheel support rotation angle is to control to rotate by rolling wheel support controller 13
Servo motor 14 is realized.
After complete root blade is completed in polishing, chassis vehicle returns to initial position, terminates bruting process.
Wherein, rolling wheel support is for placing fan blade, and the rotation of the rotation drive fan blade by rolling wheel support.
The invention is not limited to the structures for being described above and being shown in the accompanying drawings, and can not depart from its model
It encloses and carry out various modifications and change.The scope of the present invention is limited only by the attached claims.
Claims (10)
1. a kind of control system of the automatically grinding machine people applied to fan blade, including sanding unit, which is characterized in that also
Including host computer, central controller, polishing controller, workpiece polishing mechanism and power control unit；
The host computer is electrically connected to the central controller, and Xiang Suoshu central controller sends polishing operation instruction；
The polishing controller is electrically connected to the central controller, receives the control instruction that the central controller is sent；
The sanding unit is installed on the end of the workpiece polishing mechanism, and the workpiece polishing mechanism is connect with power control unit；
The polishing controller carries out polishing action control to the sanding unit by the power control unit, carries out polishing work
Industry.
2. the control system of the automatically grinding machine people according to claim 1 applied to fan blade, which is characterized in that
Further include:
Mobile chassis controller, servo-driver, servo motor and chassis vehicle；
The other end of the power control unit is fixedly connected on the chassis vehicle；
The mobile chassis controller is electrically connected to the central controller, receives the mobile finger that the central controller is sent
It enables, and feeds back the moving condition of chassis vehicle to the central controller；
The mobile chassis controller controls the servo motor by the servo-driver, controls the chassis vehicle
Movement, drive the movement of the workpiece polishing mechanism.
3. the control system of the automatically grinding machine people according to claim 2 applied to fan blade, which is characterized in that
It further include guard sensor, the guard sensor is installed on the surrounding of the chassis vehicle, and is electrically connected to the mobile chassis
Controller.
4. the control system of the automatically grinding machine people according to claim 2 applied to fan blade, which is characterized in that
It further include alignment sensor, the alignment sensor is installed on the front end of the chassis vehicle, and is electrically connected to the mobile chassis
Controller.
5. the control system of the automatically grinding machine people according to claim 1 applied to fan blade, which is characterized in that
It further include relay and dust removal machine, the central controller controls the dust removal machine by the relay, to described
Dust removal machine is opened and closed.
6. the control system of the automatically grinding machine people according to claim 2 applied to fan blade, which is characterized in that
It further include rolling wheel support controller, rotating servo motor and rolling wheel support；
The fan blade is fixed on the rolling wheel support；
The rolling wheel support controller is electrically connected to the central controller, receives the rotation that the central controller is sent and refers to
It enables, and feeds back the rotation status of the rolling wheel support to the central controller；
The rolling of the rolling wheel support drives the synchronous rolling of the fan blade.
7. the control system of the automatically grinding machine people according to claim 1 applied to fan blade, which is characterized in that
Further include control cabinet cabinet body, the central controller is equipped in the control cabinet cabinet body.
8. a kind of polishing process of the automatically grinding machine people applied to fan blade characterized by comprising
Receive polishing operation instruction；
Control instruction is issued to polishing controller, sanding unit is moved to by the polishing controller control force control unit motion
In the curvilinear path of fitting, and be switched to the control model of the power control unit, drive the sanding unit to target area into
Row polishing operation.
9. the polishing process of the automatically grinding machine people according to claim 8 applied to fan blade, which is characterized in that
After receiving polishing operation instruction, dust removal machine is opened.
10. the polishing process of the automatically grinding machine people according to claim 9 applied to fan blade, feature exist
In, after carrying out polishing operation to the target area, moving chassis truck, and/or, scroll wheel bracket, until to described
The leaf root part polishing of fan blade finishes；
The dust removal machine is closed, the workpiece polishing mechanism is moved to initial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910049459.3A CN109664313A (en) | 2019-01-18 | 2019-01-18 | The control system and polishing process of automatically grinding machine people applied to fan blade |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910049459.3A CN109664313A (en) | 2019-01-18 | 2019-01-18 | The control system and polishing process of automatically grinding machine people applied to fan blade |
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| CN109664313A true CN109664313A (en) | 2019-04-23 |
Family
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| CN201910049459.3A Pending CN109664313A (en) | 2019-01-18 | 2019-01-18 | The control system and polishing process of automatically grinding machine people applied to fan blade |
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Application publication date: 20190423 |