CN112872920A - Robot magnetorheological polishing normal positioning actuator and method based on force feedback - Google Patents

Robot magnetorheological polishing normal positioning actuator and method based on force feedback Download PDF

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Publication number
CN112872920A
CN112872920A CN202110224428.4A CN202110224428A CN112872920A CN 112872920 A CN112872920 A CN 112872920A CN 202110224428 A CN202110224428 A CN 202110224428A CN 112872920 A CN112872920 A CN 112872920A
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polishing
magnetorheological
robot
polishing wheel
tension sensor
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CN112872920B (en
Inventor
李凯隆
张�林
张云飞
张春雷
黄文�
陈立
郑永成
张建飞
周涛
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Institute of Mechanical Manufacturing Technology of CAEP
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Institute of Mechanical Manufacturing Technology of CAEP
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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
    • B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
    • B24B1/005—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes using a magnetic polishing agent
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
    • 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
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/007—Weight compensation; Temperature compensation; Vibration damping
    • 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
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/10—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving electrical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

The invention discloses a force feedback-based robot magneto-rheological polishing normal positioning actuator and a force feedback-based robot magneto-rheological polishing normal positioning method, wherein the force feedback-based robot magneto-rheological polishing normal positioning actuator comprises a stepping motor, a ball screw sliding table, a connecting seat, a tension sensor, a polishing wheel supporting seat, a polishing wheel, a servo motor seat, a magneto-rheological nozzle, a servo motor, a sensing signal conditioning module, a control core module and a computer; a polishing wheel is arranged below the polishing wheel supporting seat and is controlled by a servo motor to rotate; a magnetorheological spray head is arranged in front of an upper flat plate of the polishing wheel supporting seat; the stepping motor and the ball screw sliding table jointly form a linear module, and the linear module is connected with the ball screw sliding table and the servo motor through the connecting seat; the tension sensor is arranged between the polishing wheel supporting seat and the servo motor seat; the sensing signal conditioning module is connected with the tension sensor; one end of the control core module is connected with both the stepping motor and the sensing signal conditioning module, and the other end of the control core module is connected with the computer. The invention realizes the magnetic current variable high-precision polishing of the robot.

Description

Robot magnetorheological polishing normal positioning actuator and method based on force feedback
Technical Field
The invention relates to the technical field of magnetorheological polishing ultraprecise processing, in particular to a robot magnetorheological polishing normal positioning actuator and method based on force feedback.
Background
At present, the magneto-rheological technology is applied and developed more mature on a high-precision numerical control machine tool, but the traditional magneto-rheological machine tool has the defects of large weight, large volume and high manufacturing cost. The robot provides a new possible solution for promoting the further popularization and application of the magnetorheological polishing technology and realizing the application of the magnetorheological polishing to the polishing of complex parts with high degree of freedom and large space by virtue of high flexibility, intelligence and excellent adaptability.
Different from a high-precision numerical control machine tool, the robot is a rigid-flexible coupling body combined by multiple joints and multiple connecting rods, the rigidity of the robot is poor, a positioning precision error can be generated under the action of load, and the normal positioning precision error of the robot can directly cause the immersion depth of a magnetorheological ribbon and a workpiece to be changed during polishing work so as to cause the removal of a function dynamic error. In the magnetorheological polishing process, the accuracy and the convergence efficiency of the final surface shape of the workpiece are directly influenced by the size of the removal function error. When the surface of the magnetorheological polishing ribbon moves, the stable removal function can be provided only by keeping the constant contact depth between the magnetorheological polishing ribbon and the polished workpiece, namely, the stable immersion depth between the magnetorheological polishing ribbon and the surface of the workpiece can be kept in the magnetorheological polishing process, so that the quality of the processed workpiece can be ensured.
Therefore, in order to solve the problems that the motion precision and rigidity of the existing robot are poor, the requirement of the magnetorheological polishing process on the motion precision is difficult to meet, the stability control of the polishing removal efficiency cannot be realized, and the processing precision of an optical element is influenced, the normal positioning precision error of the robot needs to be compensated. However, in the existing method for compensating the positioning error added from the robot body system, the method for compensating the full-closed loop error with the highest accuracy by the feedback at the tail end can improve the positioning accuracy to 0.087mm, but the closed loop system constructed by the method is complex, has high requirements on the openness of a robot numerical control system, has high requirements on the cost and the application environment, has high difficulty in portability, and does not have a convenient high-accuracy positioning method in industrial processing application. An error closed-loop regulation control method with high control precision is needed to be found out to realize the normal motion error control of the robot with high magnetic current changing precision.
Disclosure of Invention
The invention aims to solve the technical problems that in the existing robot magnetorheological polishing normal auxiliary positioning equipment, the motion precision and rigidity of a robot are poor, the requirements of a magnetorheological polishing process on the motion precision are difficult to meet, the stability control of polishing removal efficiency cannot be realized, and the processing precision of an optical element is influenced.
The invention aims to provide a force feedback-based robot magnetorheological polishing normal positioning actuator and a force feedback-based robot magnetorheological polishing normal positioning actuator method, which can judge the robot normal positioning precision error according to a magnetorheological polishing process polishing normal force signal and carry out error closed-loop correction compensation, thereby realizing the stability control of polishing removal efficiency.
The invention is realized by the following technical scheme:
a robot magneto-rheological polishing normal auxiliary positioning actuator based on force feedback comprises a stepping motor, a ball screw sliding table, a connecting seat, a tension sensor, a polishing wheel supporting seat, a polishing wheel, a servo motor seat, a magneto-rheological sprayer, a servo motor, a sensing signal conditioning module, a control core module and a computer;
a servo motor seat is installed on the polishing wheel supporting seat, a polishing wheel is installed below the polishing wheel supporting seat, and the polishing wheel is controlled to rotate by a servo motor installed on the servo motor seat; the magnetorheological polishing fluid is sprayed out from the magnetorheological spray head through a circulating device and is bound on the polishing wheel under the action of a magnetic field to form a magnetorheological polishing ribbon;
the stepping motor and the ball screw sliding table jointly form a linear module, and the linear module is connected with the ball screw sliding table and the servo motor base through the connecting base, so that the conversion from the rotation of the stepping motor to the linear motion of the polishing component is realized; the tension sensor is arranged between the polishing wheel supporting seat and the servo motor seat and is used for monitoring the normal polishing force change of the contact between the magnetorheological polishing ribbon and the polishing member; the sensing signal conditioning module is connected with the tension sensor, strong electromagnetic interference is prevented, and stable conversion from mechanical physical signals to voltage analog signals is realized; one end of the control core module is connected with the stepping motor and the sensing signal conditioning module, so that the force feedback signal is acquired and processed and the motor is controlled; the other end of the control core module is connected with a computer to realize information interaction with a user, instruction transmission and the like.
The working principle is as follows:
in the existing robot magnetorheological polishing normal auxiliary positioning equipment, the motion precision and rigidity of a robot are poor, the requirements of a magnetorheological polishing process on the motion precision are difficult to meet, the stability control of polishing removal efficiency cannot be realized, and the processing precision of an optical element is influenced.
The invention designs a robot magneto-rheological polishing normal auxiliary positioning actuator based on force feedback by adopting the scheme, and the device comprises a stepping motor, a ball screw sliding table, a connecting seat, a tension sensor, a polishing wheel supporting seat, a polishing wheel, a servo motor seat, a magneto-rheological sprayer, a servo motor, a sensing signal conditioning module, a control core module and a computer; the polishing wheel is arranged on the polishing wheel supporting seat and can be controlled to rotate by a servo motor arranged on a servo motor seat in a belt transmission mode, magnetorheological polishing liquid is sprayed out from the magnetorheological spray head through a circulating device, is bound on the polishing wheel under the action of a magnetic field to form a magnetorheological polishing ribbon, and flows along with the magnetorheological polishing ribbon to be withdrawn when flowing through the magnetorheological recoverer; the tension sensor can be connected between the polishing wheel supporting seat and the servo motor seat through a screw to monitor the normal polishing force change of the contact between the magnetorheological polishing ribbon and the polishing member; the polishing normal force change signal is processed by the sensing signal conditioning module and then transmitted to the control core module, the control core module converts mechanical signal change into corresponding position correction to control rotation of the stepping motor according to the force position control model, the whole polishing component is driven to realize linear motion in the normal polishing force direction through conversion of the ball screw sliding table, accordingly contact depth of the magneto-rheological polishing ribbon and the polishing component is changed until the normal polishing force is adjusted to be stabilized within a set interval, normal auxiliary positioning of the magneto-rheological polishing process of the robot is completed, and control of the magneto-rheological high-precision polishing process of the robot is realized.
The invention has higher positioning precision and can meet the requirements of magnetorheological polishing; the sensing connection form and position are optimized, the sensing of force change is more sensitive and accurate, and the quick response of the system is ensured. The invention is beneficial to breaking through the limit that magnetorheological polishing is difficult to be applied to the robot with weak rigidity and low precision, and realizes the polishing of the robot with high precision due to magnetorheological fluid.
As a further preferred solution, the polishing wheel is controlled in its rotation by a servo motor in the form of a belt drive.
As a further preferable scheme, the polishing wheel support is characterized by further comprising a magnetorheological recoverer, wherein after the magnetorheological recoverer is installed on an upper flat plate of the polishing wheel support seat, the magnetorheological polishing ribbon is recovered into a circulating system when rotating through the magnetorheological recoverer along with polishing wheels.
As a further preferred scheme, the polishing wheel support seat is connected with the servo motor seat in a guiding mode through the guide key, the one-way stress sensitivity of the tension sensor is guaranteed, and the tension sensor is prevented from being damaged due to transverse acting force.
As a further preferable scheme, the tension sensor is connected between the polishing wheel support seat and the servo motor seat through a screw, the installation position of the tension sensor is on a line extending from the lowest point of the polishing wheel to the center line, and the gravity of the polishing wheel support seat and the polishing wheel is directly borne by the tension sensor.
As a further preferable scheme, the polishing component is fixedly connected with the ball screw sliding table through the connecting seat and can reciprocate up and down along the ball screw sliding table.
As a further preferred scheme, the model of the main control chip of the control core module is STM32F 4.
On the other hand, the invention also provides a robot magnetorheological polishing normal auxiliary positioning method based on force feedback, which comprises the following steps:
a: when the polishing machine is in a non-polishing state, the tension sensor is only under the gravity action of the polishing wheel supporting seat and the polishing wheel, the strain gauge of the tension sensor outputs a voltage analog signal to the control core module with the model of STM32F4 through the sensing signal conditioning module after being stressed and deformed, the stepping motor does not move at the moment, the actuator keeps static, and meanwhile, the motion parameters of the stepping motor and the stress condition of the tension sensor are transmitted to the computer through the control core module with the model of STM32F4 and displayed to a user;
b: when the polishing wheel is in a polishing state, the magnetorheological polishing ribbon at the lowest point of the polishing wheel contacts the polishing component, the magnetorheological polishing ribbon is extruded to enable the polishing component to bear an acting force opposite to the gravity direction, and at the moment, the stress of the tension sensor is the gravity of the polishing wheel supporting seat and the polishing wheelAnd the sum of the acting forces is opposite to the acting direction of the two forces, so that the stress of the tension sensor is reduced, and the stress variation of the sensor is the normal acting force of the magnetorheological polishing ribbon and the polishing member and is marked as F0The value is measured as a polishing working state stress standard in advance and set in a control model;
c: in the polishing working process, when the robot moves to generate a positioning error, the contact immersion depth of the magnetorheological polishing ribbon and the polishing member is changed, the normal acting force of the magnetorheological polishing ribbon and the polishing member correspondingly changes, when the stress of the tension sensor reaches a system set threshold, the magnetorheological polishing normal auxiliary positioning actuator starts a closed-loop control function, a mechanical signal is processed by the control core module of STM32F4 through the sensing signal conditioning module outputting a voltage analog signal, and the acting force is F under the condition of the positioning error1Then, the mechanical correction amount is known as follows: Δ F ═ F1-F0(ii) a When the stress of the tension sensor is smaller than the system threshold value, the magnetorheological polishing normal auxiliary positioning actuator closes the closed-loop control function;
d: the control core module obtains position correction through calculation, sends pulse control step motor rotational speed and operating time interval and drives the polishing component motion by ball screw slip table, makes it reach the expectation position, realizes positioning accuracy error compensation, guarantees the stability of polishing power.
The working principle is as follows: in the existing method for compensating the positioning error added from the robot body system, the method for compensating the full closed loop error with the highest accuracy by the feedback at the tail end can improve the positioning accuracy to 0.087mm, but the closed loop system constructed by the method is complex, has high requirements on the openness of a robot numerical control system, has high requirements on the cost and the application environment, and has high difficulty in portability. The invention designs a robot magneto-rheological polishing normal auxiliary positioning method based on force feedback by adopting the scheme, and the positioning method is applied to a robot magneto-rheological polishing normal auxiliary positioning actuator based on force feedback. The method comprises the following steps: (1) when the polishing wheel is in a non-working state, the tension sensor is only under the action of the gravity of the polishing wheel supporting seat and the polishing wheel, the magnetorheological polishing ribbon at the lowest point of the polishing wheel contacts the polishing member during magnetorheological polishing, the magnetorheological polishing ribbon is extruded to enable the polishing member to bear an acting force opposite to the gravity direction, the stress of the tension sensor is the sum of the gravity and the acting force of the polishing member at the moment, the acting direction of the two forces is opposite, the stress of the tension sensor is reduced, and the sensing signal conditioning module transmits a mechanical change signal to the control core module. (2) One end of the control-based core module is in real-time communication with a computer and transmits instructions and data, and the other end of the control-based core module acquires force signals in the polishing process through a tension sensor; in a polishing working state, when deviation occurs in normal positioning, the contact depth of the magnetorheological polishing ribbon and the polishing component is changed to cause normal force change, a mechanical change signal is transmitted to the control core module and then converted into position correction by using the force position control model, the rotation speed and the working time interval of the stepping motor are controlled, the polishing component is driven by the ball screw sliding table to move up and down, the contact depth of the magnetorheological polishing ribbon and the polishing component is changed until the polishing normal force is controlled in a set interval, and therefore position monitoring and compensation in the polishing process are indirectly achieved, and the stability of the polishing force is guaranteed.
Further, step a is preceded by:
e: the magnetorheological polishing normal auxiliary positioning actuator is carried at the tail end of the robot through a robot quick-change device, and the multiple-degree-of-freedom movement of the polishing device in a working space is realized through the movement of the robot;
f: the magnetorheological polishing wheel rotates at a set rotating speed, magnetorheological fluid is sprayed out from the circulating system through a magnetorheological spray head in front of the polishing wheel, forms a magnetorheological polishing ribbon under the action of a magnetic field and is pulled to the polishing wheel to flow along with the magnetorheological polishing ribbon, and the magnetorheological polishing ribbon is recovered into the circulating system through a magnetorheological recoverer behind the polishing wheel, so that the function of the polishing working module is started;
wherein: the magnetorheological polishing normal auxiliary positioning actuator adopts the robot magnetorheological polishing normal auxiliary positioning actuator based on force feedback.
Further, the control core module in step C calculates and converts the mechanical correction amount into a position correction amount according to a force level control model, where the formula of the force level control model is:
Figure BDA0002956530530000051
wherein M isd、Bd、KdA diagonal matrix is determined for k orders, k represents the dimension of the working space of the actuator, x represents the current position of the actuator, and x represents the current position of the actuatordIndicating the desired position of the actuator.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention has an independent closed-loop control device, the control effect of the closed-loop control device only depends on the performance of the closed-loop control device, and the closed-loop control device is not limited by the performance of the robot body and a control system, and has good universality.
2. The device has higher positioning precision and can meet the requirements of magnetorheological polishing; the sensing connection form and position are optimized, the sensing of force change is more sensitive and accurate, and the quick response of the system is ensured.
3. The invention is beneficial to breaking through the limit that the magnetorheological polishing is difficult to be applied to the robot with weak rigidity and low precision, realizes the polishing of the robot with high precision of the magnetorheological fluid, and is beneficial to the further popularization and application of the magnetorheological polishing technology.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic structural view of a robot magnetorheological polishing normal auxiliary positioning actuator based on force feedback.
FIG. 2 is a schematic cross-sectional view of the guiding connection between the servo motor base and the polishing wheel support base according to the present invention.
FIG. 3 is a schematic diagram of a control framework according to the present invention.
FIG. 4 is a schematic diagram of the force feedback closed loop control of the present invention.
FIG. 5 is a schematic view of the working flow of the robot magnetorheological polishing normal auxiliary positioning actuator of the present invention.
Reference numbers and corresponding part names in the drawings:
the system comprises a stepping motor 1, a ball screw sliding table 2, a connecting seat 3, a tension sensor 4, a magnetorheological recoverer 5, a polishing wheel supporting seat 6, a polishing wheel 7, a servo motor seat 8, a magnetorheological spray head 9, a servo motor 10, a sensing signal conditioning module 11, an STM32 control core module 12, a computer 13 and a guide key 14.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "upper", "lower", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the scope of the present invention.
Example 1
As shown in fig. 1 to 3, the robot magnetorheological polishing normal auxiliary positioning actuator based on force feedback of the present invention comprises a stepping motor 1, a ball screw sliding table 2, a coupling seat 3, a tension sensor 4, a magnetorheological recoverer 5, a polishing wheel support seat 6, a polishing wheel 7, a servo motor seat 8, a magnetorheological nozzle 9, a servo motor 10, a sensing signal conditioning module 11, a control core module 12, a computer 13 and a guide key 14;
a servo motor seat 8 is arranged on the polishing wheel supporting seat 6, a polishing wheel 7 is arranged below the polishing wheel supporting seat 6, and the polishing wheel 7 is controlled to rotate by a servo motor 10 arranged on the servo motor seat 8 in a belt transmission mode; a magnetorheological spray head 9 is arranged in front of an upper flat plate of the polishing wheel supporting seat 6, magnetorheological polishing liquid is sprayed out of the magnetorheological spray head 9 through a circulating device and is bound on the polishing wheel 7 under the action of a magnetic field to form a magnetorheological polishing ribbon;
the stepping motor 1 and the ball screw sliding table 2 jointly form a linear module, and the ball screw sliding table 2 and the servo motor base 8 are connected through the connecting base 3, so that the conversion from the rotation of the stepping motor 1 to the linear motion of the polishing component is realized; the tension sensor 4 is arranged between the polishing wheel supporting seat 6 and the servo motor seat 8 and is used for monitoring the normal polishing force change of the contact between the magnetorheological polishing ribbon and the polishing member; the sensing signal conditioning module 11 is connected with the tension sensor 4, so that strong electromagnetic interference is prevented, and stable conversion from mechanical physical signals to voltage analog signals is realized; one end of the control core module 12 is connected with the stepping motor 1 and the sensing signal conditioning module 11, so that the force feedback signal acquisition and processing and the motor control are realized; the other end of the control core module 12 is connected with a computer 13 to realize information interaction with a user, instruction transmission and the like.
When the magnetorheological recoverer 5 is installed on the upper flat plate of the polishing wheel supporting seat 6, the magnetorheological polishing ribbon flows along with the polishing wheel 7 and is recovered into a circulating system when passing through the magnetorheological recoverer 5.
During implementation, the servo motor base 8 is in guiding connection with the polishing wheel supporting base 6 through the guide key 14, so that the sensitivity of unidirectional stress of the tension sensor is guaranteed, and the tension sensor is prevented from being damaged due to transverse acting force.
During implementation, the tension sensor 4 is connected between the polishing wheel support seat 6 and the servo motor seat 8 through a screw, the installation position of the tension sensor 4 is that the lowest point of the polishing wheel 7 is on a center line extension line, and the gravity of the polishing wheel support seat 6 and the polishing wheel 7 is directly borne by the lowest point of the polishing wheel, the magnetorheological polishing ribbon at the lowest point of the polishing wheel contacts with the polishing member in the processing process, the magnetorheological polishing ribbon is squeezed and bears the acting force opposite to the gravity direction, the stress of the tension sensor is the sum of the gravity and the acting force of the polishing wheel support seat 6 and the polishing wheel 7 at the moment, and the stress of the tension sensor 4 is reduced due to the opposite acting directions of two forces, so the stress variation quantity of the tension sensor is the normal.
When the polishing component is implemented, the polishing component is fixedly connected with the ball screw sliding table 2 through the connecting seat 3 and can reciprocate up and down along the ball screw sliding table 2.
In implementation, the model of the main control chip of the control core module 12 is STM32F 4.
The working principle is as follows: the invention designs a robot magneto-rheological polishing normal auxiliary positioning actuator based on force feedback by adopting the scheme, and the device comprises a stepping motor 1, a ball screw sliding table 2, a connecting seat 3, a tension sensor 4, a magneto-rheological recoverer 5, a polishing wheel supporting seat 6, a polishing wheel 7, a servo motor seat 8, a magneto-rheological spray head 9, a servo motor 10, a sensing signal conditioning module 11, a control core module 12 and a computer 13; the polishing wheel 7 is arranged on the polishing wheel supporting seat 6 and can be controlled to rotate by a servo motor 10 arranged on a servo motor seat 8 in a belt transmission mode, magnetorheological polishing liquid is sprayed out from a magnetorheological spray head 9 through a circulating device, is bound on the polishing wheel 7 under the action of a magnetic field to form a magnetorheological polishing ribbon, and flows along with the magnetorheological polishing ribbon to be withdrawn when passing through the magnetorheological recoverer 5; the tension sensor 4 can be connected between the polishing wheel supporting seat 6 and the servo motor seat 8 through a screw to monitor the normal polishing force change of the contact between the magnetorheological polishing ribbon and the polishing member; the polishing normal force change signal is processed by the sensing signal conditioning module 11 and then transmitted to the control core module 12, the control core module 12 converts the mechanical signal change into the corresponding position correction according to the force position control model to control the rotation of the stepping motor 1, the whole polishing component is driven to realize the linear motion in the normal polishing force direction through the conversion of the ball screw sliding table 2, so that the contact depth of the magnetorheological polishing ribbon and the polishing component is changed until the normal polishing force is adjusted to be stabilized in a set interval, the normal auxiliary positioning of the magnetorheological polishing process of the robot is completed, and the control of the magnetorheological high-precision polishing process of the robot is realized.
The invention has higher positioning precision and can meet the requirements of magnetorheological polishing; the sensing connection form and position are optimized, the sensing of force change is more sensitive and accurate, and the quick response of the system is ensured. The invention is beneficial to breaking through the limit that magnetorheological polishing is difficult to be applied to the robot with weak rigidity and low precision, and realizes the polishing of the robot with high precision due to magnetorheological fluid.
Example 2
As shown in fig. 1 to 5, the present embodiment is different from embodiment 1 in that, as shown in fig. 5, the present embodiment provides a robot magnetorheological polishing normal auxiliary positioning method based on force feedback, and the positioning method includes the following steps:
s1: the magnetorheological polishing normal auxiliary positioning actuator is carried at the tail end of the robot through a robot quick-change device, and the multiple-degree-of-freedom movement of the polishing device in a working space is realized through the movement of the robot; wherein: the magnetorheological polishing normal auxiliary positioning actuator adopts the robot magnetorheological polishing normal auxiliary positioning actuator based on force feedback in embodiment 1;
s2: the magnetorheological polishing wheel rotates at a set rotating speed, magnetorheological fluid is sprayed out from the circulating system through a magnetorheological spray head in front of the polishing wheel, forms a magnetorheological polishing ribbon under the action of a magnetic field and is pulled to the polishing wheel to flow along with the magnetorheological polishing ribbon, and the magnetorheological polishing ribbon is recovered into the circulating system through a magnetorheological recoverer behind the polishing wheel, so that the function of the polishing working module is started;
s3: when the polishing machine is in a non-polishing state, the tension sensor is only under the gravity action of the polishing wheel supporting seat and the polishing wheel, the strain gauge of the tension sensor outputs a voltage analog signal to the control core module with the model of STM32F4 through the sensing signal conditioning module after being stressed and deformed, the stepping motor does not move at the moment, the actuator keeps static, and meanwhile, the motion parameters of the stepping motor and the stress condition of the tension sensor are transmitted to the computer through the control core module with the model of STM32F4 and displayed to a user;
s4: when the polishing wheel is in a polishing state, the magnetorheological polishing ribbon at the lowest point of the polishing wheel contacts the polishing component, the magnetorheological polishing ribbon is extruded to enable the polishing component to bear an acting force opposite to the gravity direction, at the moment, the stress of the tension sensor is the sum of the gravity and the acting force of the polishing wheel supporting seat and the polishing wheel, the acting directions of the two forces are opposite, the stress of the tension sensor is reduced, the stress variation of the sensor is the normal acting force of the magnetorheological polishing ribbon and the polishing component, and the stress variation is marked as F0The value is measured as a polishing working state stress standard in advance and set in a control model;
s5: in the polishing working process, when the robot moves to generate a positioning error, the contact immersion depth of the magnetorheological polishing ribbon and the polishing member is changed, the normal acting force of the magnetorheological polishing ribbon and the polishing member correspondingly changes, when the stress of the tension sensor reaches a system set threshold, the magnetorheological polishing normal auxiliary positioning actuator starts a closed-loop control function, a mechanical signal is processed by the control core module of STM32F4 through the sensing signal conditioning module outputting a voltage analog signal, and the acting force is F under the condition of the positioning error1Then, the mechanical correction amount is known as follows: Δ F ═ F1-F0(ii) a Wherein:
the control core module calculates and converts the mechanical correction into a position correction according to a force level control model, and the formula of the force level control model is as follows:
Figure BDA0002956530530000081
wherein M isd、Bd、KdA diagonal matrix is determined for k orders, k represents the dimension of the working space of the actuator, x represents the current position of the actuator, and x represents the current position of the actuatordIndicating a desired position of the actuator;
and when the stress of the tension sensor is smaller than the system threshold value, the magnetorheological polishing normal auxiliary positioning actuator closes the closed-loop control function.
S6: the control core module obtains position correction through calculation, sends pulse control step motor rotational speed and operating time interval and drives the polishing component motion by ball screw slip table, makes it reach the expectation position, realizes positioning accuracy error compensation, guarantees the stability of polishing power.
The invention designs a robot magnetorheological polishing normal auxiliary positioning method based on force feedback, which is applied to a robot magnetorheological polishing normal auxiliary positioning actuator based on force feedback in embodiment 1. The method comprises the following steps: (1) when the polishing wheel is in a non-working state, the tension sensor is only under the action of the gravity of the polishing wheel supporting seat and the polishing wheel, the magnetorheological polishing ribbon at the lowest point of the polishing wheel contacts the polishing member during magnetorheological polishing, the magnetorheological polishing ribbon is extruded to enable the polishing member to bear an acting force opposite to the gravity direction, the stress of the tension sensor is the sum of the gravity and the acting force of the polishing member at the moment, the acting direction of the two forces is opposite, the stress of the tension sensor is reduced, and the sensing signal conditioning module transmits a mechanical change signal to the control core module. (2) One end of the control-based core module is in real-time communication with a computer and transmits instructions and data, and the other end of the control-based core module acquires force signals in the polishing process through a tension sensor; in a polishing working state, when deviation occurs in normal positioning, the contact depth of the magnetorheological polishing ribbon and the polishing component is changed to cause normal force change, a mechanical change signal is transmitted to the control core module and then converted into position correction by using the force position control model, the rotation speed and the working time interval of the stepping motor are controlled, the polishing component is driven by the ball screw sliding table to move up and down, the contact depth of the magnetorheological polishing ribbon and the polishing component is changed until the polishing normal force is controlled in a set interval, and therefore position monitoring and compensation in the polishing process are indirectly achieved, and the stability of the polishing force is guaranteed.
The invention is beneficial to breaking through the limit that the magnetorheological polishing is difficult to be applied to the robot with weak rigidity and low precision, realizes the polishing of the robot with high precision of the magnetorheological fluid, and is beneficial to the further popularization and application of the magnetorheological polishing technology.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. A robot magneto-rheological polishing normal auxiliary positioning actuator based on force feedback is characterized by comprising a stepping motor (1), a ball screw sliding table (2), a connecting seat (3), a tension sensor (4), a polishing wheel supporting seat (6), a polishing wheel (7), a servo motor seat (8), a magneto-rheological spray head (9), a servo motor (10), a sensing signal conditioning module (11), a control core module (12) and a computer (13); a polishing wheel (7) is arranged below the polishing wheel supporting seat (6), and the rotation of the polishing wheel (7) is controlled by a servo motor (10) arranged on a servo motor seat (8); a magnetorheological spray head (9) is arranged in front of an upper flat plate of the polishing wheel supporting seat (6), magnetorheological polishing liquid is sprayed out of the magnetorheological spray head (9) through a circulating device and is bound on the polishing wheel (7) under the action of a magnetic field to form a magnetorheological polishing ribbon;
the stepping motor (1) and the ball screw sliding table (2) jointly form a linear module, and the linear module is connected with the ball screw sliding table (2) and the servo motor base (8) through the connecting base (3); the tension sensor (4) is arranged between the polishing wheel supporting seat (6) and the servo motor seat (8) and is used for monitoring the normal polishing force change of the contact between the magnetorheological polishing ribbon and the polishing member; the sensor signal conditioning module (11) is connected with the tension sensor (4), one end of the control core module (12) is connected with the stepping motor (1) and the sensor signal conditioning module (11), and the other end of the control core module (12) is connected with the computer (13).
2. The force feedback based robot magnetorheological finishing normal auxiliary positioning actuator according to claim 1, wherein the polishing wheel (7) is controlled in rotation by a servo motor (10) in a belt transmission manner.
3. The robot magnetorheological polishing normal auxiliary positioning actuator based on force feedback according to claim 1, further comprising a magnetorheological recoverer (5), wherein the magnetorheological recoverer (5) is mounted on an upper flat plate of the polishing wheel support seat (6), and the magnetorheological polishing ribbon is withdrawn along with the polishing wheel (7) when flowing through the magnetorheological recoverer (5).
4. The robot magnetorheological polishing normal auxiliary positioning actuator based on force feedback according to claim 1 or 3, further comprising a guide key (14), wherein the servo motor seat (8) is in guide connection with the polishing wheel support seat (6) through the guide key (14).
5. The robot magnetorheological polishing normal auxiliary positioning actuator based on force feedback according to claim 1, wherein the tension sensor (4) is connected between the polishing wheel support seat (6) and the servo motor base (8) through a screw, and the installation position of the tension sensor (4) is on a centripetal line extension line at the lowest point of the polishing wheel (7).
6. The robot magnetorheological polishing normal auxiliary positioning actuator based on force feedback as claimed in claim 1, wherein the polishing member is fixedly connected with the ball screw sliding table (2) by a connecting seat (3) and can reciprocate up and down along the ball screw sliding table (2).
7. The force feedback-based robot magnetorheological finishing normal auxiliary positioning actuator according to claim 1, wherein the model of a master control chip of the control core module (12) is STM32F 4.
8. A method for positioning a robot magneto-rheological polishing normal auxiliary positioning actuator based on force feedback as claimed in any one of claims 1 to 7, wherein the positioning method comprises the following steps:
a: when the polishing machine is in a non-polishing state, the tension sensor is stressed and deformed, the sensing signal conditioning module outputs a voltage analog signal to the control core module, the stepping motor does not move at the moment, the actuator keeps static, and meanwhile, the motion parameters of the stepping motor and the stress condition of the tension sensor are transmitted to the computer by the control core module and displayed to a user;
b: when the polishing wheel is in a polishing state, the magnetorheological polishing ribbon at the lowest point of the polishing wheel contacts the polishing component, the magnetorheological polishing ribbon is extruded to enable the polishing component to bear an acting force opposite to the gravity direction, at the moment, the stress of the tension sensor is the sum of the gravity and the acting force of the polishing wheel supporting seat and the polishing wheel, the acting directions of the two forces are opposite, the stress of the tension sensor is reduced, the stress variation of the sensor is the normal acting force of the magnetorheological polishing ribbon and the polishing component, and the stress variation is marked as F0The value is measured as a polishing working state stress standard in advance and set in a control model;
c: in the polishing process, when the robot moves to generate a positioning error, the contact immersion depth of the magnetorheological polishing ribbon and the polishing member is changed, the normal acting force of the magnetorheological polishing ribbon and the polishing member correspondingly changes, when the stress of the tension sensor reaches a system set threshold, the magnetorheological polishing normal auxiliary positioning actuator starts a closed-loop control function, a mechanical signal is output to a control core module for processing through a sensing signal conditioning module, and the acting force is F under the condition of the positioning error1Then, the mechanical correction amount is known as follows: Δ F ═ F1-F0(ii) a When the stress of the tension sensor is smaller than the system threshold value, the magnetorheological polishing normal auxiliary positioning actuator closes the closed-loop control function;
d: the control core module obtains position correction through calculation, sends pulse control step motor rotational speed and operating time interval and drives the polishing component motion by ball screw slip table, makes it reach the expectation position, realizes positioning accuracy error compensation.
9. The method according to claim 8, wherein step a is preceded by the steps of:
e: the magnetorheological polishing normal auxiliary positioning actuator is carried at the tail end of the robot through a robot quick-change device, and the multiple-degree-of-freedom movement of the polishing device in a working space is realized through the movement of the robot;
f: the magnetorheological polishing wheel rotates at a set rotating speed, magnetorheological fluid is sprayed out from the circulating system through a magnetorheological spray head in front of the polishing wheel, forms a magnetorheological polishing ribbon under the action of a magnetic field and is pulled to the polishing wheel to flow along with the magnetorheological polishing ribbon, and the magnetorheological polishing ribbon is recovered into the circulating system through a magnetorheological recoverer behind the polishing wheel, so that the function of the polishing working module is started;
wherein: the magnetorheological polishing normal auxiliary positioning actuator adopts a robot magnetorheological polishing normal auxiliary positioning actuator based on force feedback as claimed in any one of claims 1 to 7.
10. The positioning method according to claim 8, wherein the control core module in step C converts the mechanical correction calculation into a position correction according to a force level control model, and the formula of the force level control model is as follows:
Figure FDA0002956530520000021
wherein M isd、Bd、KdA diagonal matrix is determined for k orders, k represents the dimension of the working space of the actuator, x represents the current position of the actuator, and x represents the current position of the actuatordIndicating the desired position of the actuator.
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