CN113098195B - Flexible self-adaptive grinding permanent magnet electric spindle and vibration reduction control method - Google Patents
Flexible self-adaptive grinding permanent magnet electric spindle and vibration reduction control method Download PDFInfo
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- CN113098195B CN113098195B CN202110479401.XA CN202110479401A CN113098195B CN 113098195 B CN113098195 B CN 113098195B CN 202110479401 A CN202110479401 A CN 202110479401A CN 113098195 B CN113098195 B CN 113098195B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/007—Weight compensation; Temperature compensation; Vibration damping
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/24—Devices for sensing torque, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/24—Casings; Enclosures; Supports specially adapted for suppression or reduction of noise or vibrations
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
- H02K7/1166—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion comprising worm and worm-wheel
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
A flexible self-adaptive grinding permanent magnet electric spindle and a vibration damping control method are disclosed, wherein the grinding permanent magnet electric spindle comprises a grinding permanent magnet electric spindle driving source, a grinding permanent magnet electric spindle vibration damping joint and an upper computer, and the grinding permanent magnet electric spindle driving source output central shaft is sequentially connected with the grinding permanent magnet electric spindle vibration damping joint, a torque sensor and a grinding wheel; the load impact is detected by the torque sensor and fed back to the servo motor controller in time, and the rigidity of the vibration damping device is changed by adjusting the control parameters of the controller, so that the tail end impact is absorbed, and the vibration is reduced; the problem of elastic vibration that produces when traditional permanent magnetism electric main shaft of grinding robot receives dynamic load or impact action at present stage to cause the electromechanical coupling vibration between electric main shaft, emery wheel and the grinding load, and influence positioning accuracy and the dynamic characteristic of system and then influence the grinding quality of metal casting is solved, thereby realize the gentle and agreeable control of robot grinding permanent magnetism electric main shaft and terminal impact load, improve the quality and the precision of grinding.
Description
Technical Field
The invention relates to a grinding permanent magnet electric spindle and a vibration damping control method, in particular to a flexible self-adaptive grinding permanent magnet electric spindle suitable for a tail end actuating mechanism of a grinding robot and a vibration damping control method.
Background
The permanent magnet electric spindle is a tail end actuating mechanism widely used for a grinding robot, but in the grinding process, the permanent magnet electric spindle rotor system is easy to cause electromechanical coupling vibration among the electric spindle, a grinding wheel and a grinding load in the non-stable process of load impact and the like. The electromechanical coupling vibration of the permanent magnet spindle is transmitted to the tail end grinding wheel, the positioning precision and the dynamic characteristic of a system are influenced, the grinding quality of a metal casting is further influenced, and the grinding spindle is one of key factors for restricting the deep development and application of grinding equipment. At the present stage, the permanent magnet electric spindle of the grinding robot generates elastic vibration under the action of dynamic load or impact, so that the electromechanical coupling vibration among the electric spindle, a grinding wheel and the grinding load is caused, the positioning precision and the dynamic characteristic of a system are influenced, and the grinding quality of a metal casting is further influenced. Therefore, a flexible self-adaptive grinding permanent magnet electric spindle and a vibration reduction control method are needed to reduce impact coupling vibration caused by end impact and improve the grinding quality of products.
Disclosure of Invention
The technical problem is as follows: the invention aims to overcome the defects in the prior art and provides the flexible self-adaptive grinding permanent magnet electric spindle and the vibration reduction control method, which have the advantages of simple structure, convenience in operation and strong stability and can improve the grinding quality of products.
The technical scheme is as follows: in order to achieve the purpose, the flexible self-adaptive grinding permanent magnet electric spindle comprises a grinding permanent magnet electric spindle driving source, a grinding permanent magnet electric spindle vibration reduction joint and an upper computer, wherein the grinding permanent magnet electric spindle driving source output central shaft is sequentially connected with the grinding permanent magnet electric spindle vibration reduction joint, a torque sensor and a grinding wheel; the grinding permanent magnet electric spindle vibration damping joint comprises an upper end cover, an end cover fixing rod, an upper connecting rod, a rotating connecting block, a lower connecting rod, a worm wheel fixing rod, a lower end cover, a bearing, an output shaft, a spring, an intermediate connecting part, a worm wheel and a servo driving motor; the servo driving motor is fixed in the lower end cover, and a transmission shaft of the servo driving motor is connected with the worm; the worm is meshed with the worm wheel to rotate 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; one end of the upper connecting rod is connected with the end cover fixing rod, and the other end of the upper connecting rod is connected with the rotating connecting block and can rotate relatively; one end of the lower connecting rod is connected with the worm wheel fixing rod, and the other end of the lower connecting rod is connected with the rotating connecting block and can rotate relatively; one end of the spring piece is connected with the rotary connecting block and can perform translational motion, and the other end of the spring piece is fixedly connected with the middle connecting part; the output shaft is connected with the upper end cover through a bearing, and the torque sensor and the servo driving motor are connected with the upper computer through transmission lines respectively.
The spring leaf be 4, the symmetrical arrangement all adopts the spring steel to make on the intermediate junction portion, the section shape of cutting is the rectangle.
The worm wheel fixing rods fixed on the edge of the worm wheel are symmetrically arranged and correspond to the number of the spring pieces.
The end cover fixing rods fixed on the upper end cover are symmetrically arranged and vertically correspond to the worm wheel fixing rods.
And a transmission shaft of the servo drive motor is connected with the worm and is fixed in a key connection mode.
The worm wheel fixing rod is opposite to the lower connecting rod in position, and the lower connecting rod can rotate around the worm wheel fixing rod.
The end cover fixing rod is opposite to the upper connecting rod in position, and the upper connecting rod can rotate around the end cover fixing rod.
A vibration reduction control method for flexibly and adaptively grinding a permanent magnet electric spindle comprises the following steps:
1) when the grinding permanent magnet electric spindle driving source works, a torque signal generated by a grinding wheel is detected by a torque sensor and fed back to an upper computer;
2) after receiving the feedback signal, the upper computer releases a control instruction to control the servo driving motor to work, the servo driving motor enables the worm to rotate, the worm drives the worm wheel to rotate, a worm wheel fixing rod on the edge of the worm wheel rotates along with the worm wheel fixing rod, the lower connecting rod is driven to rotate, and the spring piece and the rotating connecting block move relatively;
3) the deformation of the spring pieces is adjusted by controlling a servo drive motor to adjust the rotation angle of the drive worm, the energy storage capacity of the spring pieces is changed, and 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 is in contact with an external load, the output shaft rotates around the central shaft under the action of the external torque, the spring piece generates elastic deformation, external force impact work is converted into elastic potential energy of the spring piece to be stored, external load impact is further reduced, elastic vibration of the permanent magnet electric spindle is avoided, and therefore vibration damping capacity of a vibration damping joint of the grinding permanent magnet electric spindle is achieved, and vibration absorption in the grinding process is achieved.
Has the advantages that: by adopting the technical scheme, the flexible self-adaptive grinding permanent magnet electric spindle and the vibration reduction control method solve the problems of low grinding stability, low grinding robot efficiency, low grinding metal casting quality and the like of the grinding robot in the prior art caused by electromechanical coupling vibration. The flexible self-adaptive grinding wheel has flexible self-adaptability, can change the rigidity of the grinding wheel in the grinding contact process through the flexible rigidity-variable joint according to the rigidity of a metal casting in real time, and achieves the effect of flexible self-adaptation. Effectively inhibits multidimensional coupling vibration and realizes high-efficiency and high-quality stable grinding work of the grinding robot. Simple and easy to operate, convenient to operate, and has wide practicability in the technical field.
Drawings
Fig. 1 is a schematic perspective view of a flexible adaptive grinding permanent magnet electric spindle according to the present invention.
Fig. 2 is a schematic view of the meshing relationship of the worm wheel in fig. 1.
Fig. 3 is a perspective view of a flexible adaptive grinding permanent magnet electric spindle in a three-dimensional structure.
In the figure: 1. grinding the grinding wheel; 2. a torque sensor; 3-1, an upper end cover; 3-2, fixing a rod by an end cover; 3-3, an upper connecting rod; 3-4, rotating the connecting block; 3-5, a lower connecting rod; 3-6, worm wheel fixing rods; 3-7, a lower end cover; 3-8, a bearing; 3-9, output shaft; 3-10 parts of spring piece; 3-11 intermediate connections; 3-12, a worm gear; 3-13, worm; 3-14, a servo drive motor; 3-15, a worm fixing piece; 4. grinding the permanent magnet electric main shaft driving source; 5. and (4) an upper computer.
Detailed Description
An embodiment of the invention is further described below with reference to the accompanying drawings:
as shown in fig. 1 and fig. 2, the flexible self-adaptive grinding permanent magnet electric spindle of the present invention comprises a grinding permanent magnet electric spindle driving source 4, a grinding permanent magnet electric spindle vibration damping joint and an upper computer 5, wherein the output central shaft of the grinding permanent magnet electric spindle driving source 4 is sequentially connected with the grinding permanent magnet electric spindle vibration damping 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 leaf 3-10, an intermediate connecting part 3-11, a worm wheel 3-12, a worm 3-13, a servo driving motor 3-14 and a worm fixing part 3-15; the servo driving motors 3-14 are positioned on the end face of the grinding permanent magnet electric spindle driving source 4 and fixed on the lower end covers 3-7, and transmission shafts of the servo driving motors 3-14 are connected with the worms 3-13 and fixed in a key connection mode; the worm wheel 3-12 is meshed with the worm 3-13 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 rotates relatively, and the other end of the upper connecting rod is connected with the rotating connecting block 3-4 and rotates relatively; one end of the lower connecting rod 3-5 is connected with the worm wheel fixing rod 3-6 and can rotate relatively, 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 spring pieces 3-10 are 4, are symmetrically arranged on the middle connecting parts 3-11 at an angle of 90 degrees, are all made of spring steel, and have rectangular cut sections. 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. The output shaft 3-9 is connected with the upper end cover 3-1 through a bearing 3-8, and 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; the torque sensor 2 and the servo driving motors 3-14 are respectively connected with an upper computer through transmission lines, and the servo driving motors 3-14 control the deformation quantity of the spring pieces 3-10 by adjusting the rotation angles of the worms 3-13. 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; 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.
The invention discloses a vibration reduction control method for a flexible self-adaptive grinding permanent magnet electric spindle, which comprises the following specific steps of:
1) when the grinding permanent magnet spindle driving 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;
2) 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, and the worm wheel fixing rods 3-6 on the edges of the worm wheels 3-12 rotate along with the worm wheel fixing rods to drive the lower connecting rods 3-5 to rotate, so that the spring pieces 3-10 and the rotating connecting blocks 3-4 move relatively;
3) the deformation of the spring pieces 3-10 is adjusted by controlling the servo driving motors 3-14 to adjust the rotation angles of the worms 3-13, the energy storage capacity of the spring pieces 3-10 is changed, and 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 the central shaft under the action of external torque, the spring pieces 3-10 generate elastic deformation, external force impact acting work is converted into elastic potential energy of the spring pieces 3-10 to be stored, external load impact is further reduced, elastic vibration of the permanent magnet electric spindle is avoided, vibration reduction capacity of a vibration reduction joint of the grinding permanent magnet electric spindle is achieved, and vibration absorption in the grinding process is achieved.
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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| Application Number | Priority Date | Filing Date | Title |
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| CN202110479401.XA CN113098195B (en) | 2021-04-30 | 2021-04-30 | Flexible self-adaptive grinding permanent magnet electric spindle and vibration reduction control method |
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| CN202110479401.XA CN113098195B (en) | 2021-04-30 | 2021-04-30 | Flexible self-adaptive grinding permanent magnet electric spindle and vibration reduction control method |
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| CN113098195B true CN113098195B (en) | 2022-04-05 |
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| CN115833467B (en) * | 2023-02-14 | 2023-05-02 | 三谷科技(东莞)有限公司 | DC brushless motor with output vibration reduction function |
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|---|---|---|---|---|
| US5224032A (en) * | 1989-07-08 | 1993-06-29 | Kuka Schwessanlagen+Roboter Gmbh | Process for controlling the movements of an axis on program-controlled machines and control system |
| CN107144409A (en) * | 2017-06-15 | 2017-09-08 | 重庆大学 | Rotating flexible beam Coupling System of Flexible Structures And Rigid Body vibration measurement control device and method |
| CN107486850A (en) * | 2017-09-08 | 2017-12-19 | 四川大学 | A kind of Wire driven robot robot variation rigidity elastic joint |
| CN108032177A (en) * | 2018-01-08 | 2018-05-15 | 新乡中新化工有限责任公司 | A kind of grinding tool for sealing surface of safety valve |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007078172A (en) * | 2005-08-19 | 2007-03-29 | Univ Nagoya | Rotor device |
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2021
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Patent Citations (4)
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|---|---|---|---|---|
| US5224032A (en) * | 1989-07-08 | 1993-06-29 | Kuka Schwessanlagen+Roboter Gmbh | Process for controlling the movements of an axis on program-controlled machines and control system |
| CN107144409A (en) * | 2017-06-15 | 2017-09-08 | 重庆大学 | Rotating flexible beam Coupling System of Flexible Structures And Rigid Body vibration measurement control device and method |
| CN107486850A (en) * | 2017-09-08 | 2017-12-19 | 四川大学 | A kind of Wire driven robot robot variation rigidity elastic joint |
| CN108032177A (en) * | 2018-01-08 | 2018-05-15 | 新乡中新化工有限责任公司 | A kind of grinding tool for sealing surface of safety valve |
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| Title |
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| 采煤机滚筒调高滑模变结构控制策略;苏秀平等;《煤炭学报》;20121231;第37卷(第12期);第2107-2111页 * |
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