CN206216693U - A kind of robot grinding system for solution deformation problems - Google Patents
A kind of robot grinding system for solution deformation problems Download PDFInfo
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- CN206216693U CN206216693U CN201621186284.9U CN201621186284U CN206216693U CN 206216693 U CN206216693 U CN 206216693U CN 201621186284 U CN201621186284 U CN 201621186284U CN 206216693 U CN206216693 U CN 206216693U
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- grinding
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- cartesian
- curve surface
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Abstract
The utility model discloses a kind of for the robot grinding system for solving deformation problems, the system is Cartesian robot grinding system, Cartesian robot grinding system includes Working gantry, pilot unit, the driver element of three axle Cartesian robots, six-dimension force sensor measuring unit, grinding knife tool, curve surface work pieces, the Cartesian robot grinding system also include installing the two axle rotary working platforms and deformation calculation module and interpolated point optimization module of curve surface work pieces.The utility model combines grinding stressing conditions according to robot grinding system, by two axle rotation platforms and deformation calculation module and interpolated point optimization module, change the angle between workpiece and cutter, deformation situation to robot cutting system under different cutting angles and feed speed is estimated, the machining locus of final optimization pass curve surface grinding, solve the deformation problems that existing industrial robot exists in Grinding Technology.
Description
Technical field
The utility model belongs to processing of robots applied technical field, is related to a kind of industrial robot grinding track excellent
Change technology, and in particular to a kind of for the robot mill for solving grinding deformation calculation, constraint of velocity and interpolated point planning problem
Cut system.
Background technology
One of Main Means as machining, grinding is subject to extensive use in manufacturing industry.Current robot
Grinding implementation method mainly includes two kinds：Substantial amounts of grinding experiment is carried out, the machine of certain material is asked for using regression analysis
Device people's grinding model；Power control is carried out to robot end, in the case where robot end and absorption surface is ensured, control mill
Cut the position of instrument and the contact force between instrument and workpiece.
1) method that robot grinding model is asked for by regression analysis, the realization of the method needs substantial amounts of experiment number
According to, and the grinding model that the method is asked for can only be directed to the material specified, it is impossible to it is applied on other materials, lacks versatility.
2) method that contact force control is carried out to robot end, the method can be divided mainly into belt sensor and without sensing
Two kinds of device.The force control method of belt sensor is not mainly by being read out to robot motor's data, by motor data
Robot end position is judged.This method low cost, but do not consider that deformation and workpiece assembling are missed in itself for robot
The problems such as difference, machining accuracy is low；The data feedback that the force control method of belt sensor is mainly dependence sensor judges robot
The power position situation of end, realizes the control of real-time power position.It is this not account for robot grinding angle and feed speed difference
Influence to system deformation.
The content of the invention
To realize popularization of the industrial robot in grinding, the utility model provides a kind of for solving deformation problems
Robot grinding system, the robot grinding system combines grinding stressing conditions, and system of robot is assessed by method for planning track
System deformation, and the grinding and feeding constraint of velocity formula based on grinding deformation, final optimization pass curved surface mill are derived according to required precision
The machining locus cut, solve the above mentioned problem that existing industrial robot exists in Grinding Technology.
The technical scheme that the utility model is used is, a kind of robot grinding system for solving deformation problems, the system
It is Cartesian robot grinding system, Cartesian robot grinding system includes Working gantry, three axle rectangular co-ordinate machines
The pilot unit of people, driver element, six-dimension force sensor measuring unit, grinding knife tool, curve surface work pieces, the rectangular co-ordinate machine
People's grinding system also includes installing the two axle rotary working platforms and deformation calculation module of curve surface work pieces and interpolated point optimization mould
Block；The pilot unit be arranged on Working gantry and driven moving cell driving, six-dimension force sensor measuring unit, grinding cutter
Tool is sequentially arranged at the end of three axle Cartesian robot pilot units；
The Cartesian robot grinding system is revolved by driving rotary working platform A axles rotary working platform and B axle
Turn platform, adjust robot grinding cut-in angle and attitude；Wherein, A axles rotation platform drives servomotor, shaft coupling, synchronization
Wheel, the curve surface work pieces being rotated on disk and anistree plate are rotated, and change angle of the workpiece with respect to cutter on X-Z plane；B axle is revolved
Turn platform then disk to be rotated and is rotated by driving servomotor, gear-box；Drive the curved surface on A axle rotary working platforms
Workpiece is rotated, and changes workpiece angle；The sextuple sensing that the curve surface work pieces grinding stressing conditions are installed by grinding knife tool end
Device measuring unit is measured in real time.
The utility model is ground according to Cartesian robot first for the robot grinding system for solving deformation problems
The design feature of system, sets up grinding system stiffness matrix, by analyzing grinding force, feed speed, grinding included angle with grinding shape
Relation between change, calculates formation and the releasing degree of deformation in grinding process, and on the basis of traditional grinding model, introduces
Grinding system stiffness matrix and grinding system deformation equation, set up the grinding model suitable for Cartesian robot, derive
Grinding and feeding constraint of velocity formula.Then according to required precision, the corresponding constraint of velocity value in curve surface grinding track is calculated, so that
The position of optimization planning locus interpolation point, realizes the optimization of planned trajectory.
Brief description of the drawings
Fig. 1, Fig. 2 are Cartesian robot grinding system structural representations of the present utility model；
Fig. 3 is the method for planning track schematic diagram of the utility model Cartesian robot grinding system；
Fig. 4 is two axle rotating platform structure schematic diagrames in Cartesian robot grinding system of the present utility model；
Fig. 5 is the utility model Cartesian robot grinding method and deformation forming process schematic diagram.
In figure, 1. Working gantry, the 2. pilot unit of three axle Cartesian robots, 3. driver element, 4. six-dimensional force pass
Sensor measuring unit, 5. grinding knife tool, 6. curve surface work pieces, 7. liang axle rotary working platform；
2-1.X axle line slideways, 2-2.Y axle line slideways, 2-3.Z axle line slideways；
7-1.A axle rotation platforms, 7-2.B axle rotation platforms.
7-11. servomotors, 7-12. shaft couplings, 7-13. synchronizing wheels, 7-14. anise plates, 7-15. rotating disks, 7-16. teeth
Roller box；
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
A kind of robot grinding system for solving deformation problems, as depicted in figs. 1 and 2, the system is rectangular co-ordinate machine
People's grinding system, Cartesian robot grinding system include Working gantry 1, the pilot unit 2 of three axle Cartesian robots,
Driver element 3, six-dimension force sensor measuring unit 4, grinding knife tool 5, curve surface work pieces 6, the Cartesian robot grinding system
System also includes installing the two axle rotary working platforms 7 and deformation calculation module and interpolated point optimization module of curve surface work pieces 6；It is described
Pilot unit 2 be arranged on Working gantry 1 and driven moving cell 3 driving, six-dimension force sensor measuring unit 4, grinding knife tool 5
It is sequentially arranged at the end of three axle Cartesian robot pilot units 2；
The utility model Cartesian robot grinding system is by driving rotary working platform 7A axle rotary working platforms
7-1 and B axle rotation platform 7-2, adjusts robot grinding cut-in angle and attitude；As shown in figure 4, A axle rotation platforms 7-1 drives
Servomotor 7-11, shaft coupling 7-12, synchronizing wheel 7-13, are rotated 6 turns of curve surface work pieces on disk 7-15 and anistree plate 7-14
It is dynamic, change angle of the workpiece with respect to cutter on X-Z plane；B axle rotation platform 7-2 is then by driving servomotor 7-11, tooth
Roller box 7-16 is rotated disk 7-15 and is rotated；Drive the curve surface work pieces 6 on A axle rotary working platforms 7-1 to rotate, change work
Part angle；The grinding stressing conditions of the curve surface work pieces 6 are real by the sextuple Sensor Measurement Unit 4 that the end of grinding knife tool 5 is installed
When measure.
The characteristics of combination of sextuple Sensor Measurement Unit 4 and grinding knife tool 5 is that the end that its measurement is obtained is cut
Cutting power need not be demarcated and be decoupled, can be with fine-resolution cutting force size and Orientation.And the connection of two axle rotary working platforms 7
It is dynamic, then can enter the cutting angle of curve surface work pieces 6 with grinding knife tool 5, while change as requested at any time in working angles cutting
Cut feeding angle.
For the robot grinding system for solving deformation problems, the method for planning track of specific implementation is base to the utility model
Formulated in a kind of new Cartesian robot grinding system, as shown in figure 3, the step of specific implementation is as follows：
Step 1, first according to Cartesian robot grinding attachment structure, foundation includes leading for three axle Cartesian robots
To unit 2, six-dimension force sensor measuring unit 4, curve surface work pieces 6, curve surface work pieces 6, two axle rotary working platforms 7 rectangular co-ordinate
Robot grinding system stiffness matrix；
Step 2, by the end of pilot unit 2 of the drive dynamic triaxial Cartesian robot of the driver element 3 on Working gantry 1
End drives six-dimension force sensor measuring unit 4 and grinding knife tool 5 close to curve surface work pieces 6, and grinding knife tool 5 is planning depth ap、
Feed speedIncision workpiece is ground, and now the system end of pilot unit 2 of three axle Cartesian robots occurs as schemed
Shown in 5, winding degree is the deformation of β, if σ is equivalent displacement deformation.The deformation can collect cutter stress by six-dimension force sensor
Situation is simultaneously transferred to host computer, using the end stressing conditions of six-dimension force sensor measuring unit 4, with reference to robot matrix according to public affairs
Formula 1
Calculate system deformation σt, while according to formula 2
Ask for material removal speedThe relation formula 3 of deformation and feed speed is then derived,
Constraint of velocity formula 4 is finally obtained,
Recorded；
Step 3, by the servomotor 7-11 sliding tooth roller boxs 7- of the B axle rotation platform 7-2 of two axle rotary working platforms 7
16 drive A axle rotation platforms 7-1 are rotated, and change the angle of grinding knife tool 5 and curve surface work pieces 6 on X-Z plane；It is then logical
The servomotor 7-11 for crossing A axle rotation platforms 7-1 drives, and changes grinding knife tool 5 and curve surface work pieces 6 in A axle rotation platform 7-1 faces
On angle, repeat step 2 simultaneously measures the grinding force after Angulation changes, according to formula 5,6,
The grinding area after Angulation changes and material removal speed are calculated, grinding angle, feed speed and shape is derived
The relational expression of change, finally sets up angle and Grinding Contact area, the constraint of velocity formula 7 of material removal,
The surface tracks of curve surface work pieces 6 are substituted into model by step 4, are become according to the contact area that formula 6 calculates Machining of Curved Surface
Change, then according to required precision, the maximum feed speed that each point is allowed on processing curve track is calculated by formula 7；Adjustment
The angle of two axle rotary working platform 7, changes the relative angle of grinding knife tool 5 and curve surface work pieces 6；
Step 5, according to constraint of velocity formula 7, with reference to B-spline surface locus interpolation point planning mode (formula 8),
The maximum allowable range between interpolated point is calculated, so that optimization planning interpolated point position.
Above-described embodiment is present aspect preferably implementation method, but the bright implementation method of we is not by above-described embodiment
Limitation, it is other it is any away from Spirit Essence of the present utility model and the change, modification, replacement made under principle, combine, it is simple
Change, should be equivalent substitute mode, be included within protection domain of the present utility model.
Claims (1)
1. it is a kind of solve deformation problems robot grinding system, the system be Cartesian robot grinding system, right angle sit
Scalar robot grinding system includes Working gantry (1), the pilot unit (2) of three axle Cartesian robots, driver element (3),
Six-dimension force sensor measuring unit (4), grinding knife tool (5), curve surface work pieces (6), it is characterised in that the Cartesian robot
Grinding system also includes that the two axle rotary working platforms (7) and deformation calculation module and interpolated point of installing curve surface work pieces (6) are excellent
Change module；The pilot unit (2) be arranged on Working gantry (1) and driven moving cell (3) driving, six-dimension force sensor survey
Amount unit (4), grinding knife tool (5) are sequentially arranged at the end of three axle Cartesian robots pilot unit (2)；
The Cartesian robot grinding system is by driving rotary working platform (7) A axles rotary working platform (7-1) and B
Axle rotation platform (7-2), adjusts robot grinding cut-in angle and attitude；Wherein, A axles rotation platform (7-1) drives servo electricity
Machine (7-11), shaft coupling (7-12), synchronizing wheel (7-13), are rotated the curve surface work pieces on disk (7-15) and anistree plate (7-14)
(6) rotate, change angle of the workpiece with respect to cutter on X-Z plane；B axle rotation platform (7-2) is then by driving servomotor
(7-11), gear-box (7-16) are rotated disk (7-15) and are rotated；Drive the curved surface on A axles rotary working platform (7-1)
Workpiece (6) is rotated, and changes workpiece angle；What curve surface work pieces (6) the grinding stressing conditions were installed by grinding knife tool (5) end
Sextuple Sensor Measurement Unit (4) measures in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621186284.9U CN206216693U (en) | 2016-11-04 | 2016-11-04 | A kind of robot grinding system for solution deformation problems |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621186284.9U CN206216693U (en) | 2016-11-04 | 2016-11-04 | A kind of robot grinding system for solution deformation problems |
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| CN206216693U true CN206216693U (en) | 2017-06-06 |
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| CN201621186284.9U Expired - Fee Related CN206216693U (en) | 2016-11-04 | 2016-11-04 | A kind of robot grinding system for solution deformation problems |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426173A (en) * | 2016-11-04 | 2017-02-22 | 华南理工大学 | Robot grinding system for solving deformation problem and track planning method of robot grinding system |
| CN108890468A (en) * | 2018-06-11 | 2018-11-27 | 华中科技大学 | A kind of intelligent robot grinding and polishing method suitable for integral blade disk |
| CN110303493A (en) * | 2018-03-22 | 2019-10-08 | 发那科株式会社 | Setting device, robot and its control method of the operation program of robot |
-
2016
- 2016-11-04 CN CN201621186284.9U patent/CN206216693U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426173A (en) * | 2016-11-04 | 2017-02-22 | 华南理工大学 | Robot grinding system for solving deformation problem and track planning method of robot grinding system |
| CN106426173B (en) * | 2016-11-04 | 2019-08-20 | 华南理工大学 | For the robot grinding system and its method for planning track for solving deformation problems |
| CN110303493A (en) * | 2018-03-22 | 2019-10-08 | 发那科株式会社 | Setting device, robot and its control method of the operation program of robot |
| CN110303493B (en) * | 2018-03-22 | 2021-04-23 | 发那科株式会社 | Setting device for robot operation program, robot and control method thereof |
| CN108890468A (en) * | 2018-06-11 | 2018-11-27 | 华中科技大学 | A kind of intelligent robot grinding and polishing method suitable for integral blade disk |
| CN108890468B (en) * | 2018-06-11 | 2020-05-19 | 华中科技大学 | Robot intelligent grinding and polishing method suitable for blisk |
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Granted publication date: 20170606 Termination date: 20201104 |
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| CF01 | Termination of patent right due to non-payment of annual fee |