CN113098195B - Flexible self-adaptive grinding permanent magnet electric spindle and vibration reduction control method - Google Patents

Abstract

A flexible self-adaptive grinding permanent magnet electric spindle and a vibration reduction control method. Grinding the permanent magnet electric spindle comprises a driving source for grinding the permanent magnet electric spindle, a vibration reduction joint for grinding the permanent magnet electric spindle and a host computer, and a grinding permanent magnet electric spindle. The output center shaft of the electric spindle drive source is connected with a grinding permanent magnet electric spindle vibration reduction joint, a torque sensor and a grinding wheel in turn; the load impact size is detected by the torque sensor and fed back to the servo motor controller in time, and the parameters are controlled by adjusting the controller. , Change the stiffness of the vibration damping device, so as to absorb the end impact and reduce the vibration; it solves the elastic vibration generated by the traditional permanent magnet electric spindle of the grinding robot at this stage when it is subjected to dynamic load or impact, thus causing the electric spindle, grinding wheel and grinding load. The electromechanical coupling vibration between them affects the positioning accuracy and dynamic characteristics of the system and then affects the grinding quality of metal castings, so as to realize the compliant control of the permanent magnet electric spindle and the end impact load of the robot grinding, and improve the grinding quality and efficiency. precision.

Description

A kind of flexible self-adaptive grinding permanent magnet electric spindle and vibration reduction control method

technical field

The invention relates to a grinding permanent magnet electric spindle and a vibration reduction control method, in particular to a flexible self-adaptive grinding permanent magnet electric spindle and a vibration reduction control method suitable for the end effector of a grinding robot.

Background technique

Permanent magnet motorized spindle is the end effector widely used in grinding robots, but during the grinding process, the permanent magnet motorized spindle rotor system is prone to cause friction between the motorized spindle, the grinding wheel and the grinding load when it is subjected to non-stationary processes such as load impact. Electromechanically coupled vibration. The electromechanical coupling vibration of the permanent magnet electric spindle is transmitted to the end grinding wheel, which will affect the positioning accuracy and dynamic characteristics of the system and then affect the grinding quality of metal castings. This is one of the key factors restricting the in-depth development and application of grinding equipment. At this stage, the permanent magnet electric spindle of the grinding robot is subjected to the elastic vibration generated by the dynamic load or impact, which causes the electromechanical coupling vibration between the electric spindle, the grinding wheel and the grinding load, and affects the positioning accuracy and dynamic characteristics of the system. The problem of grinding quality of castings. Therefore, a flexible and adaptive grinding permanent magnet electric spindle and a vibration reduction control method are needed to reduce the impact coupling vibration caused by the end impact and improve the grinding quality of the product.

SUMMARY OF THE INVENTION

Technical problem: the purpose of the present invention is to overcome the deficiencies in the prior art, to provide a flexible self-adaptive grinding permanent magnet electric spindle and vibration reduction with simple structure, convenient operation, strong stability, and improved product grinding quality Control Method.

Technical solution: In order to achieve the above purpose, a flexible self-adaptive grinding permanent magnet electric spindle of the present invention includes a driving source for the grinding permanent magnet electric spindle, a vibration reduction joint for the grinding permanent magnet electric spindle and a host computer. The output center shaft of the drive source of the permanent magnet motorized spindle is sequentially connected with a grinding permanent magnet motorized spindle vibration damping joint, a torque sensor and a grinding wheel; the grinding permanent magnet motorized spindle vibration damping joint includes an upper end cover and an end cover fixed Rod, upper connecting rod, rotating connecting block, lower connecting rod, worm gear fixing rod, lower end cover, bearing, output shaft, spring, intermediate connecting part, worm, worm gear and servo drive motor; the servo drive motor is fixed on the lower end cover Inside, the drive shaft of the servo drive motor is connected with the worm; the worm is engaged with the worm wheel and rotates relatively; the end cover fixing rod is fixed on the upper end cover; the worm wheel fixing rod is fixed on the edge of the inner worm wheel; the upper One end of the connecting rod is connected with the end cover fixing rod, and the other end is connected with the rotating connecting block, so that relative rotation can occur; one end of the lower connecting rod is connected with the worm gear fixing rod, and the other end is connected with the rotating connecting block, so that relative rotation can occur; One end of the spring piece is connected with the rotating connecting block, which can move in translation, and the other end is fixedly connected with the intermediate connecting part; the output shaft and the upper end cover are connected by a bearing, and the torque sensor and the servo drive motor are respectively connected with the upper computer through the transmission line. .

The said spring pieces are 4 pieces, which are symmetrically arranged on the middle connecting part, all of which are made of spring steel, and the cut-section shape is a rectangle.

The worm gear fixing rods fixed on the edge of the worm gear are arranged in a symmetrical manner, corresponding to the number of the spring sheets.

The end cover fixing rods fixed on the upper end cover are symmetrically arranged and correspond up and down with the worm gear fixing rod.

The drive shaft of the servo drive motor is connected with the worm and fixed in the form of key connection.

The position of the worm gear fixing rod is opposite to the lower link, and the lower link can rotate around the worm gear fixing rod.

The position of the end cover fixing rod is opposite to the upper connecting rod, and the upper connecting rod can rotate around the end cover fixing rod.

A vibration reduction control method using the above-mentioned flexible self-adaptive grinding permanent magnet electric spindle, comprising the following steps:

1) When the driving source of the grinding permanent magnet electric spindle is working, the torque signal generated by the grinding wheel is detected by the torque sensor and fed back to the host computer;

2) After the upper computer receives the feedback signal, it releases the control command and controls the servo drive motor to work. The servo drive motor makes the worm rotate, the worm drives the worm wheel to rotate, and the worm wheel fixing rod located on the edge of the worm wheel rotates accordingly, driving the lower link Rotate, so that the spring piece and the rotating connecting block move relatively;

3) By controlling the servo drive motor to adjust the rotation angle of the drive worm to adjust the deformation amount of the spring piece, change the energy storage capacity of the spring piece, and achieve the effect of accurately controlling the stiffness of the grinding permanent magnet electric spindle to reduce the vibration of the joint; when grinding the grinding wheel When in contact with the external load, the output shaft rotates around the central axis under the action of the external torque, and the spring piece is elastically deformed, and the external force impact work is converted into the elastic potential energy of the spring piece and stored, thereby reducing the impact of the external load and avoiding the permanent magnet. The elastic vibration of the electric spindle is generated, so as to realize the vibration reduction ability of the vibration reduction joint of the permanent magnet electric spindle, and realize the vibration absorption during the grinding process.

Beneficial effects: Due to the adoption of the above technical solutions, the flexible self-adaptive grinding permanent magnet electric spindle and the vibration reduction control method of the present invention solve the problems of low grinding stability and low grinding robot efficiency caused by electromechanical coupling vibration of grinding robots at the present stage. low quality of ground metal castings. It has flexibility and adaptability, and can change the rigidity of the grinding wheel during the grinding contact process according to the rigidity of the metal casting through the flexible variable rigidity joint in real time, so as to achieve the effect of flexibility and adaptability. The multi-dimensional coupling vibration is effectively suppressed, and the high-efficiency, high-quality and stable grinding work of the grinding robot is realized. It is simple, easy to operate, and has wide practicability in the technical field.

Description of drawings

FIG. 1 is a schematic three-dimensional structure diagram of a flexible self-adaptive grinding permanent magnet electric spindle of the present invention.

FIG. 2 is a schematic structural diagram of the meshing relationship of the worm gear in FIG. 1 .

FIG. 3 is a perspective view of the three-dimensional structure of the flexible self-adaptive grinding permanent magnet electric spindle.

In the figure: 1. Grinding wheel; 2. Torque sensor; 3-1. Upper end cap; 3-2, End cap fixing rod; 3-3, Upper connecting rod; 3-4, Rotating connecting block; 3-5, Lower connecting rod; 3-6, worm gear fixing rod; 3-7, lower end cover; 3-8, bearing; 3-9, output shaft; 3-10, spring sheet; 3-11 Intermediate connecting part; 3-12, Worm gear; 3-13, worm; 3-14, servo drive motor; 3-15, worm fixing part; 4, grinding permanent magnet electric spindle drive source; 5, host computer.

Detailed ways

Below in conjunction with accompanying drawing, one embodiment of the present invention is further described:

As shown in FIG. 1 and FIG. 2 , the flexible self-adaptive grinding permanent magnet electric spindle of the present invention includes a grinding permanent magnet electric spindle drive source 4, a grinding permanent magnet electric spindle vibration reduction joint and a host computer 5. The grinding The output center shaft of the permanent magnet electric spindle drive source 4 is sequentially connected with a grinding permanent magnet electric spindle vibration reduction joint, a torque sensor 2 and a grinding wheel 1; the grinding permanent magnet electric spindle vibration reduction joint includes an upper end cover 3 -1. End cover fixing rod 3-2, upper connecting rod 3-3, rotating connecting block 3-4, lower connecting rod 3-5, worm gear fixing rod 3-6, lower end cover 3-7, bearing 3-8, Output shaft 3-9, spring sheet 3-10, intermediate connecting part 3-11, worm wheel 3-12, worm 3-13, servo drive motor 3-14 and worm fixing piece 3-15; the servo drive motor 3 -14 is located on the end face of the grinding permanent magnet electric spindle drive source 4 and fixed on the lower end cover 3-7, the drive shaft of the servo drive motor 3-14 is connected with the worm 3-13 and fixed in the form of a key connection; the worm wheel 3 -12 engages with the worm 3-13 for relative rotation; the end cover fixing rod 3-2 is fixed on the upper end cover 3-1; the worm wheel fixing rod 3-6 is fixed on the edge of the worm wheel 3-12; the One end of the upper connecting rod 3-3 is connected with the end cover fixing rod 3-2, and rotates relatively, and the other end is connected with the rotating connecting block 3-4, and the relative rotation occurs; one end of the lower connecting rod 3-5 is connected with the worm wheel fixing rod. 3-6 is connected, and relative rotation can occur, and the other end is connected with rotating connecting block 3-4, and relative rotation occurs; The intermediate connecting portion 3-11 is fixedly connected; the spring pieces 3-10 are 4 pieces, which are arranged symmetrically at 90° on the intermediate connecting portion 3-11, all of which are made of spring steel and have a rectangular cross-sectional shape. The worm gear fixing rods 3-6 fixed on the edge of the worm gear 3-12 are symmetrically arranged, corresponding to the number of the spring sheets 3-10. The output shaft 3-9 is connected with the upper end cover 3-1 through a bearing 3-8, and the end cover fixing rod 3-2 fixed on the upper end cover 3-1 is symmetrically arranged, up and down with the worm gear fixing rod 3-6 Correspondingly; the torque sensor 2 and the servo drive motor 3-14 are respectively connected to the host computer through the transmission line, and the servo drive motor 3-14 controls the deformation amount of the spring piece 3-10 by adjusting the rotation angle of the worm 3-13. The position of the worm gear fixing rod 3-6 is opposite to the lower connecting rod 3-5, and the lower connecting rod 3-5 can rotate around the worm gear fixing rod 3-6; the end cover fixing rod 3-2 and the upper connecting rod 3- The position of 3 is opposite, and the upper link 3-3 can rotate around the end cover fixing rod 3-2.

The vibration reduction control method of the flexible self-adaptive grinding permanent magnet electric spindle of the present invention has the following specific steps:

1) When the driving source 4 of the grinding permanent magnet electric spindle is working, the torque signal generated by the grinding wheel 1 is detected by the torque sensor 2 and fed back to the upper computer 5;

2) After the host computer 5 receives the feedback signal, it releases the control command, controls the servo drive motor 3-14 to work, the servo drive motor 3-14 makes the worm 3-13 rotate, and the worm 3-13 drives the worm wheel 3-12 to rotate, The worm gear fixing rod 3-6 located on the edge of the worm gear 3-12 rotates accordingly, driving the lower connecting rod 3-5 to rotate, thereby causing the spring plate 3-10 to move relative to the rotating connecting block 3-4;

3) By controlling the servo drive motor 3-14 and adjusting the rotation angle of the worm 3-13, the deformation of the spring plate 3-10 can be adjusted, and the energy storage capacity of the spring plate 3-10 can be changed to accurately control the grinding permanent magnet electric spindle. The function of damping joint stiffness; when the grinding wheel 1 is in contact with the external load, the output shaft 3-9 rotates around the central axis under the action of the external torque, and the spring pieces 3-10 produce elastic deformation, converting the external force impact work into spring pieces The elastic potential energy of 3-10 is stored, thereby reducing the impact of external loads and avoiding the elastic vibration of the permanent magnet electric spindle, so as to realize the vibration reduction ability of grinding the vibration reduction joint of the permanent magnet electric spindle, and realize the vibration absorption during the grinding process. .

Claims (7)

1. The utility model provides a flexible self-adaptation grinding permanent magnetism electric main shaft, includes grinding permanent magnetism electric main shaft driving source (4), grinding permanent magnetism electric main shaft damping joint and host computer (5), its characterized in that: the output central shaft of the grinding permanent magnet electric spindle driving source (4) is sequentially connected with a grinding permanent magnet electric spindle vibration reduction joint, a torque sensor (2) and a grinding wheel (1); the grinding permanent magnet spindle vibration damping joint comprises an upper end cover (3-1), an end cover fixing rod (3-2), an upper connecting rod (3-3), a rotating connecting block (3-4), a lower connecting rod (3-5), a worm wheel fixing rod (3-6), a lower end cover (3-7), a bearing (3-8), an output shaft (3-9), a spring piece (3-10), an intermediate connecting part (3-11), a worm wheel (3-12), a worm (3-13), a servo drive motor (3-14) and a worm fixing part (3-15); the servo driving motors (3-14) are fixed in the lower end covers (3-7), and transmission shafts of the servo driving motors (3-14) are connected with the worms (3-13); the worm (3-13) is meshed with the worm wheel (3-12) to rotate relatively; the end cover fixing rod (3-2) is fixed on the upper end cover (3-1); the worm wheel fixing rod (3-6) is fixed on the edge of the worm wheel (3-12); one end of the upper connecting rod (3-3) is connected with the end cover fixing rod (3-2), and the other end of the upper connecting rod is connected with the rotating connecting block (3-4) and can rotate relatively; one end of the lower connecting rod (3-5) is connected with the worm wheel fixing rod (3-6), and the other end of the lower connecting rod is connected with the rotating connecting block (3-4) and can rotate relatively; one end of the spring piece (3-10) is connected with the rotary connecting block (3-10) and can perform translational motion, and the other end of the spring piece is fixedly connected with the middle connecting part (3-11); the output shaft (3-9) is connected with the upper end cover (3-1) in a bearing (3-8) mode, the torque sensor (2) and the servo drive motor (3-14) are respectively connected with an upper computer through transmission lines, and when the grinding permanent magnet spindle drive source (4) works, a torque signal generated by the grinding wheel (1) is detected through the torque sensor (2) and fed back to the upper computer (5); after receiving the feedback signal, the upper computer (5) releases a control instruction to control the servo driving motors (3-14) to work, the servo driving motors (3-14) enable the worms (3-13) to rotate, the worms (3-13) drive the worm wheels (3-12) to rotate, worm wheel fixing rods (3-6) positioned on the edges of the worm wheels (3-12) rotate along with the worm wheel fixing rods, the lower connecting rods (3-5) are driven to rotate, and then the spring pieces (3-10) and the rotating connecting blocks (3-4) move relatively; the deformation of the spring pieces (3-10) is adjusted by controlling the rotation angles of the adjusting worms (3-13) of the servo driving motors (3-14), the energy storage capacity of the spring pieces (3-10) is changed, the effect of accurately controlling the rigidity of the vibration reduction joint of the grinding permanent magnet electric spindle is achieved, when the grinding wheel (1) is in contact with an external load, the output shaft (3-9) rotates around a central shaft under the action of external torque, the spring pieces (3-10) generate elastic deformation, external force impact acting is converted into elastic potential energy of the spring pieces (3-10) to be stored, further external load impact is reduced, the elastic vibration of the permanent magnet electric spindle is avoided, the vibration reduction capacity of the vibration reduction joint of the grinding permanent magnet electric spindle is achieved, and vibration absorption in the grinding process is achieved.

2. A flexible adaptive grinding permanent magnet electric spindle according to claim 1, characterized in that; the number of the spring pieces (3-10) is 4, the spring pieces are symmetrically arranged on the middle connecting parts (3-11) and are all made of spring steel, and the shape of the section of each spring piece is rectangular.

3. The flexible adaptive grinding permanent magnet electric spindle according to claim 1, characterized in that: the worm wheel fixing rods (3-6) fixed on the edges of the worm wheels (3-12) are symmetrically arranged and correspond to the number of the spring pieces (3-10).

4. The flexible adaptive grinding permanent magnet electric spindle according to claim 1, characterized in that: the end cover fixing rods (3-2) fixed on the upper end cover (3-1) are symmetrically arranged and vertically correspond to the worm wheel fixing rods (3-6).

5. The flexible adaptive grinding permanent magnet electric spindle according to claim 1, characterized in that: and a transmission shaft of the servo drive motor (3-14) is connected with the worm (3-13) and is fixed in a key connection mode.

6. The flexible adaptive grinding permanent magnet electric spindle according to claim 1, characterized in that: the worm wheel fixing rod (3-6) is opposite to the lower connecting rod (3-5), and the lower connecting rod (3-5) can rotate around the worm wheel fixing rod (3-6).

7. The flexible adaptive grinding permanent magnet electric spindle according to claim 1, characterized in that: the end cover fixing rod (3-2) is opposite to the upper connecting rod (3-3), and the upper connecting rod (3-3) can rotate around the end cover fixing rod (3-2).

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