CN206170065U - Control system that polishing robot and robot polished - Google Patents
Control system that polishing robot and robot polished Download PDFInfo
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- CN206170065U CN206170065U CN201620976453.2U CN201620976453U CN206170065U CN 206170065 U CN206170065 U CN 206170065U CN 201620976453 U CN201620976453 U CN 201620976453U CN 206170065 U CN206170065 U CN 206170065U
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Abstract
The utility model discloses a control system that polishing robot and robot polished, polishing robot include static platform, motion platform and a plurality of telescopic arm, the one end of arm connect in static platform, the other end connect in motion platform, the last head of polishing that is equipped with of motion platform, all be equipped with linear electric motor in every arm, linear electric motor is used for driving the arm carries out concertina movement, the arm is used for driving through concertina movement the head of polishing carries out 6 -degree of freedom's motion. The utility model discloses the head of polishing that can realize polishing robot carries out 6 -degree of freedom's motion to the utilization is polished the head and is floated to polish in the time of just avoiding polishing well and appear the breaking easily or damage the condition of work piece the irregular surface's of work piece processing, has prolonged the life of the head of polishing effectively, has promoted the efficiency of polishing simultaneously.
Description
Technical field
The utility model is related to a kind of automation field, more particularly to a kind of milling robot and robot polishing
Control system.
Background technology
The material workpiece deburring operation such as foundry goods, working of plastics, steel part of most domestic producer at present is adopted mostly
By hand, or using modes such as hand-held pneumatic, electric tool Jing polishings, grinding, files deburring is carried out, is easily caused product
Product fraction defective rises, inefficiency, the problems such as the product surface after processing is coarse uneven.Now also some producer starts
Installing electric and pneumatic instrument using robot carries out automation polishing, compares with hand-held polishing, and robotic deburring can be effective
Improve production efficiency, reduces cost improves product yield, but due to other factors such as mechanical arm rigidity, position errors, adopts
Robotic gripper is electronic, breaking easily occurs in pneumatic tool deburring when processing for irregular burr or workpiece is caused to damage
Bad situations such as, occurs.
Utility model content
The technical problems to be solved in the utility model be in order to overcome prior art in using robot install electronic or gas
Power driven tools carry out automation polishing, due to factors such as mechanical arm rigidity, position errors, breaking or the work to being polished easily occur
Part causes the defect damaged, there is provided a kind of milling robot and the control system of robot polishing.
The utility model is to solve above-mentioned technical problem by following technical proposals：
The utility model provides a kind of milling robot, and its feature is, if including static platform, motion platform and
Dry telescopic mechanical arm, one end of the mechanical arm is connected to the static platform, the other end and is connected to the motion platform,
The motion platform is provided with grinding head；
Linear electric motors are equipped with each mechanical arm, the linear electric motors are used to drive the mechanical arm to carry out flexible fortune
It is dynamic；The mechanical arm is used to drive the grinding head to carry out the motion of six degree of freedom by stretching motion.
It is preferred that one end of the mechanical arm is connected to the static platform, the other end by ball-joint or universal joint leading to
Cross ball-joint or universal joint is connected to the motion platform.
It is preferred that the linear electric motors are provided with Hall element, for the position of linear electric motors described in real-time detection.
The purpose of this utility model is the control system for additionally providing a kind of polishing of robot, and its feature is, including
Controller and above-mentioned milling robot；
The controller is used to send control instruction to the mechanical arm, to control the stretching motion of the mechanical arm.
Positive effect of the present utility model is：The utility model can realize that the grinding head of milling robot is carried out
The motion of six degree of freedom, so as to carry out irregular table when floating polishing just can avoid well polishing to workpiece using grinding head
Easily there is the situation of breaking or defective work piece in the process in face, effectively extends the service life of grinding head, while improving
Grinding efficiency.
Description of the drawings
Fig. 1 is the structural representation of the milling robot of embodiment of the present utility model 1.
Specific embodiment
The utility model is further illustrated below by the mode of embodiment, but is not therefore limited in the utility model
Among described scope of embodiments.
Embodiment 1
As shown in figure 1, the milling robot of the present embodiment includes that static platform 1, motion platform 2 and 6 are telescopic
Mechanical arm 3, one end of each mechanical arm 3 is connected to the static platform 1, other end and passes through universal joint 4 by universal joint 4
The motion platform 2 is connected to, grinding head 5 is provided with the motion platform 2.
Wherein, linear electric motors 6 are equipped with each mechanical arm 3, the linear electric motors 6 are used to drive the mechanical arm 3 to enter
Row stretching motion, and 6 mechanical arms 3 can drive the grinding head 5 to carry out the motion of six degree of freedom by stretching motion,
The motion of wherein six degree of freedom includes that X-axis in rectangular coordinate system in space, Y-axis, three rectangular space coordinates of Z axis are axial
It is mobile and around X-axis, Y-axis, Z axis rotation.
So, the motion of six degree of freedom is carried out using the grinding head 5, it is possible to which floating polishing is carried out to workpiece, so as to
Easily occur the situation of breaking or defective work piece when avoiding polishing to the process of the irregular surface of workpiece, effectively extend
The service life of grinding head, while improving grinding efficiency.
In the present embodiment, Hall element can be set on the linear electric motors 6, can be examined in real time using Hall element
Survey the position of the linear electric motors 6.Specifically, the mover synchronizing moving of the Hall element and the linear electric motors 6, due to
Linear electric motors inside has the permanent magnet of equidistant arrangement, so as to be readily available displacement, and then is assured that linear electric motors
Position.
During the implementing of the present embodiment, the mechanical arm can also be connected to described static flat by ball-joint
Platform and the motion platform.Wherein it is preferred to, 6 mechanical arms are non-uniformly distributed in the static platform.
Embodiment 2
A kind of control system of robot polishing is present embodiments provided, it includes the polishing of controller and embodiment 1
Robot, the controller is used to send control instruction to the mechanical arm, to control the stretching motion of the mechanical arm.
In the present embodiment, the controller can in real time obtain the electric current of the linear electric motors, and obtain institute according to electric current
The size of the active force of mechanical arm is stated, and the direction of the active force of the mechanical arm is obtained according to the direction of the mechanical arm；
The controller calculates the active force of the grinding head always according to the size and Orientation of the active force of the mechanical arm
Size and Orientation；
Specifically, after the electric current of linear electric motors is got, a coefficient is multiplied by, can just obtains the active force of mechanical arm
Size, and the direction of the active force of the mechanical arm can be just obtained according to the direction of the mechanical arm, all mechanical arms
Applied force vector is added, it is possible to obtain the size and Orientation of the active force of the grinding head.
The Hall element is additionally operable to the position of the linear electric motors that will be detected and sends to the controller, described
Controller is additionally operable to the position of the grinding head according to the position calculation of the linear electric motors；
The controller is additionally operable to the direction generation control of the position according to the grinding head, active force and active force and refers to
Order.
Specifically, according to the size of current active force and current location adjusting the attitude and stroke of mechanical arm and then adjust
The attitude and stroke of grinding head includes：
According to the electric current of each linear electric motors, the directed force F at grinding head can be in real time calculated1(i.e. each mechanical arm
Power vector sum), use F1Be compared with default directed force F, obtain difference DELTA F, then using PID (proportional, integral-
Differential) control algolithm, show that grinding head needs the displacement Δ Z for doing.Then the attitude for calculating motion platform using Δ Z will
Changes delta C done, reads the value of the PVT (position-Velocity-time) that current controller is generated, using Jacobian matrix, so that it may
To draw the stroke (being the stroke of linear electric motors) for needing to allow each mechanical arm to make.
Although the foregoing describing specific embodiment of the present utility model, it will be appreciated by those of skill in the art that
These are merely illustrative of, and protection domain of the present utility model is defined by the appended claims.Those skilled in the art
Member can make numerous variations to these embodiments or repair on the premise of without departing substantially from principle of the present utility model and essence
Change, but these changes and modification each fall within protection domain of the present utility model.
Claims (4)
1. a kind of milling robot, it is characterised in that including static platform, motion platform and some telescopic mechanical arms,
One end of the mechanical arm is connected to the static platform, the other end and is connected to the motion platform, sets on the motion platform
There is grinding head；
Linear electric motors are equipped with each mechanical arm, the linear electric motors are used to drive the mechanical arm to carry out stretching motion；Institute
Mechanical arm is stated for driving the grinding head to carry out the motion of six degree of freedom by stretching motion.
2. milling robot as claimed in claim 1, it is characterised in that one end of the mechanical arm passes through ball-joint or universal
Section is connected to the static platform, the other end and is connected to the motion platform by ball-joint or universal joint.
3. milling robot as claimed in claim 1, it is characterised in that the linear electric motors are provided with Hall element, uses
In the position of linear electric motors described in real-time detection.
4. the control system of a kind of robot polishing, it is characterised in that including controller and as any one in claim 1-3
Milling robot described in；
The controller is used to send control instruction to the mechanical arm, to control the stretching motion of the mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620976453.2U CN206170065U (en) | 2016-08-29 | 2016-08-29 | Control system that polishing robot and robot polished |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620976453.2U CN206170065U (en) | 2016-08-29 | 2016-08-29 | Control system that polishing robot and robot polished |
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| Publication Number | Publication Date |
|---|---|
| CN206170065U true CN206170065U (en) | 2017-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620976453.2U Active CN206170065U (en) | 2016-08-29 | 2016-08-29 | Control system that polishing robot and robot polished |
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| CN (1) | CN206170065U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107791236A (en) * | 2016-08-29 | 2018-03-13 | 上海铼钠克数控科技股份有限公司 | Milling robot, the control system and method for robot polishing |
-
2016
- 2016-08-29 CN CN201620976453.2U patent/CN206170065U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107791236A (en) * | 2016-08-29 | 2018-03-13 | 上海铼钠克数控科技股份有限公司 | Milling robot, the control system and method for robot polishing |
| CN107791236B (en) * | 2016-08-29 | 2023-12-26 | 上海铼钠克数控科技有限公司 | Polishing robot, robot polishing control system and robot polishing control method |
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| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Room 5124, building C, 555 Dongchuan Road, Minhang District, Shanghai 200241 Patentee after: SHANGHAI LYNUC NUMERICAL CONTROL TECHNOLOGY CO.,LTD. Address before: 279 Pingfu Road, Xuhui District, Shanghai, 200231 Patentee before: SHANGHAI LYNUC CNC TECHNOLOGY Co.,Ltd. |