CN208861156U - A kind of constant force grinding control system - Google Patents
A kind of constant force grinding control system Download PDFInfo
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- CN208861156U CN208861156U CN201820690789.1U CN201820690789U CN208861156U CN 208861156 U CN208861156 U CN 208861156U CN 201820690789 U CN201820690789 U CN 201820690789U CN 208861156 U CN208861156 U CN 208861156U
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- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
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Abstract
The utility model discloses a kind of constant force grinding control systems, the system mainly includes robot, grinder, Precision Linear Moving mould group, AC servo motor, pressure sensor and industrial computer etc., the AC servo motor and Precision Linear Moving mould group drive grinder to carry out floating displacement, the robot is according to good operation program prepared in advance, workpiece is driven constantly to grind on the grinder of floating, abrasive power is can be controlled near desired abrasive power during making, and actual grinding force signal is transmitted to by industrial computer by pressure sensor, the industrial computer uses Kalman filtering and handles noise, constant force griding is realized using FUZZY ALGORITHMS FOR CONTROL.The constant force grinding control system of the utility model can obviously improve grinding quality, sensor-based system uses efficient real-time control system, the real-time data acquisition of the Millisecond to grinding force signal can be achieved, and real-time control AC servo motor drives emery disc to do upper and lower displacement realization constant force grinding.
Description
Technical field
The utility model relates to robot attrition process and control engineering field, in particular to a kind of attrition process process is ground
Grind the stable grinding control system near desired value of power.
Background technique
Conventionally manufactured industry, polishing grinding is a most basic procedure, but its cost accounts for the 30% of totle drilling cost.
Grinding and polishing part is not only various in style but also most appearances are complicated, and usually industry grinding and polishing operation is complete by manual operation
At operation labor intensity is big, and working efficiency is low, and operating environment is very poor.The polishing grinding that small part regular workpiece is researched and developed in market
Special plane is only capable of completing single process task, is not basically completed other tasks in addition to original process, and development process is cumbersome
And flexibility usability is very poor, it is expensive.
Robot grinding and polishing has the following advantages: (1) improving grinding quality and product glossiness, guarantee its consistency；(2)
Improve productivity；(3) improve worker's working condition, it can be in long-term work under hostile environment；(4) it reduces to worker operation technology
It is required that；(5) shorten the period that product remodeling is regenerated, reduce corresponding equipment investment；(6) redevelopment property, user can be according to not
Same piece carries out quadratic programming.
Utility model content
The problem of utility model aims to solve underhand polish product surface quality is not high and low efficiency, provides one
Kind constant force grinding control system, the research of robot constant force grinding can be carried out using this device, design, control including mechanical body
Technology processed and filter design are stablized near desired abrasive power to reach abrasive power in process of lapping, improve workpiece surface
Quality simultaneously improves processing efficiency.
In order to achieve the above object, the utility model adopts the following technical scheme:
A kind of constant force grinding control system, comprising: mechanical body, AC synchronous sampling mechanism and control module；It is described
Mechanical body includes manual teaching machine, robot and grinding mechanism, and the robot and grinding mechanism are fixed on same plate
On pedestal；The manual teaching machine is used to work out the motion profile of the robot；It is set on the end effector of the robot
Special fixture is set, clamping workpiece does particular track movement；The AC synchronous sampling mechanism is used to control the motor of grinding mechanism
Velocity of rotation；The grinding mechanism includes grinding plate, pressure sensor, servo movement mechanism and accessory；It is described auxiliary
Helping component includes pulley blocks and to pouring weight, and most of weight of grinding plate is balanced by pulley blocks and to pouring weight；The grinding
Platform is provided with the abrasive disk of constant speed rotation, and the abrasive disk does constant force grinding for robotic gripper workpiece；The servo fortune
Motivation structure is for controlling the displacement of grinding plate in the vertical direction；The pressure sensor is for detecting grinding plate vertical
The pressure signal being subject on direction, and the pressure signal is transferred to control module, between the control module is to detecting
It connects abrasive power and it is expected that noise signal makes respective handling in the deviation signal and process of lapping between abrasive power, using Fuzzy Control
Algorithm processed realizes constant force griding to workpiece.
As a preferred technical solution, the grinding mechanism include grinding plate, pressure sensor, servo movement mechanism,
And accessory；The accessory includes flat base, T-type bracket, pulley blocks, cord and to pouring weight；The servo
Movement mechanism includes linear guide, linear motion mould group, shaft coupling and the first AC servo motor；The grinding plate packet
Include abrasive disk, the second AC servo motor and electric machine support；
The robot is bolted robot base and is fixed on flat base, the T-type bracket and plate
Pedestal is bolted fixation by several, and the T-type branch is provided with the vertical steel plate having a size of 420*500*660mm；Described
Installation linear motion mould group on the side plane of vertical steel plate installs shaft coupling, the shaft coupling on the top of linear motion mould group
Connect the first AC servo motor；
Second AC servo motor is fixed on inverted electric machine support, the second AC servo motor top and grinding
Disk is connected by keyway, so that abrasive disk be driven to do constant speed rotation, collectively constitutes grinding plate；The motor branch of the grinding plate
The side of frame connects one end of pressure sensor and linear guide side by side, and pressure sensor connects directly with the other end of linear guide
Line moves mould group, specifically: described pressure sensor one end connects electric machine support, the cunning of other end connection linear motion mould group
Block, the linear guide include guide rail and guide rail slide block, and the guide rail slide block of the linear guide connects electric machine support, sliding with guide rail
The sliding block of the matched guide rail connection linear motion mould group of block；First AC servo motor passes through driving linear motion mould group,
Linear motion mould group drives grinding plate to be displaced in vertical direction by linear guide；
Pulley blocks are installed on the vertical steel plate top, described to be connected with grinding plate by cord to pouring weight, cord around
It is suitable with grinding plate quality to pouring weight quality on pulley blocks；Guarantee pressure sensor when grinding plate is not affected by external force
Registration levels off to 0.
The AC synchronous sampling mechanism includes the first AC servo machinery driving device and the as a preferred technical solution,
Two AC servo machinery driving devices；The photoelectric encoder of first AC servo motor and the second AC servo motor is distinguished
Pass through the standard interface CN2 terminal and the first AC servo machinery driving device and the second AC servo motor on servo-driver
It is drivingly connected；The first AC servo machinery driving device work passes through the frequency of externally input pulse in position control mode
Rate determines the size of the first AC servo motor velocity of rotation, the angle of rotation is determined by the number of pulse, together
When control the output pulse of the first AC servo motor, and export the photoelectric encoder current value of the first AC servo motor；Institute
The work of the second AC servo machinery driving device is stated in speed control mode, the control of velocity of rotation is carried out by the frequency of pulse,
The pulse output frequencies for controlling the second AC servo motor, achieve the purpose that speed control.
The control module includes controller, coupler, Analog input mModule, number as a preferred technical solution,
Measure input module, digital output module and single channel operational amplifier；The controller, which uses, is equipped with German times good fortune
The industrial computer of real-time control software TwinCAT is communicated by ethernet line and coupler；The coupler is for controlling mould
Analog quantity input module, digital quantity input module and digital quantity output module, minimum sampling period are 1 millisecond；
The charge signal that pressure sensor exports is converted to corresponding ± 5v mould by the single channel operational amplifier
Analog quantity voltage signal, by inputting the industrial computer after Analog input mModule A/D conversion；
The digital quantity input module is used for the industrial computer that the input of robotic diagnostic signal is described, the robot
Diagnostic signal be detect robot whether failure and the signal that whether moves；
The digital output module is used to believe the number that remote control robot switching on and shutting down and emergent stopping operate
The I/O interface number being output in robot control cabinet.
Robot control cabinet is arranged in the manual teaching machine as a preferred technical solution, controls robot motion track
Instruction robot is passed to by robot control cabinet.
The pressure sensor uses small S type pressure sensor as a preferred technical solution, and range 5kg is defeated
It is out -5~5V voltage signal, sensitivity is 2.0 ± 0.1mv/V, and sealing grade is IP66.
The robot uses the cooperation robot UR5 of Denmark's production as a preferred technical solution, and specially six freely
Robot is spent, is bolted in robot base and is finally fixed on flat base.
The software of the control module includes Real time capable module and non real-time module as a preferred technical solution, described non-
Real time capable module uses 2010 platform development of Microsoft Visual Studio, is used for finishing man-machine interaction function, including set
Desired abrasive power, display and storage grinding force signal and servo motor pulse signal, setting sampling period are set, control is started and stopped
System operation processed；On real-time core of the Real time capable module based on German times good fortune TwinCAT software, using programmable controller
The international standard IEC61131-3 of programming language is developed, for acquiring input signal, issuing digital output signal and establishment control
Algorithm routine processed, the input signal include pressure sensor input signal and digital input signals.
The utility model has the following advantages compared with the existing technology and effect:
(1) the utility model uses one-dimensional force snesor, and at low cost and dynamometry is accurate, uses six compared to other constant force devices
It is more simple and reliable that dimension power senses the utility model.
(2) the utility model is balanced grinder major part weight by Weighting system, and small-range high-precision can be selected
Sensor.
(3) Real time capable module of the utility model controller is run on the real-time core of German times good fortune TwinCAT software, in conjunction with
High-speed industrial industry ethernet EtherCAT communication system, control system sampling period minimum can reach 1 millisecond.
Detailed description of the invention
Fig. 1 is the block diagram representation of the utility model constant force grinding control system；
Fig. 2 (a) and Fig. 2 (b) is the structural schematic diagram of the mechanical body of the utility model constant force grinding control system；Wherein
Fig. 2 (a) is manual teaching machine schematic diagram；Fig. 2 (b) is robot and grinding structural scheme of mechanism；Appended drawing reference: 1-industrial machine
People UR5,2-fixtures, 3-workpiece, 4-shaft couplings, 5-AC servo motors, 6-pulleys, 7-cords, 8-to pouring weight, and 9-
AC servo motor, 10-motor racks, 11-abrasive disks, 12-S type pressure sensors, 13-linear guides, 14-straight lines fortune
Dynamic model group, 15-robot control cabinets, 16-manual teaching machines, 17-robot bases, 18-flat bases, 19-T-type branch
Frame；
Fig. 3 is the electronic schematic diagram of the method for the utility model constant force grinding control system；
Fig. 4 is the control flow chart of the utility model constant force grinding control system.
Specific embodiment
In order to which the purpose of this utility model, technical solution and advantage is more clearly understood, below in conjunction with attached drawing and reality
Example is applied, the utility model is described in further detail.It should be appreciated that specific embodiment described herein is only used for solving
Release the utility model, however it is not limited to the utility model.
Embodiment
As shown in Figure 1, a kind of constant force grinding control system, specifically includes that industrial robot UR5, robot control cabinet, work
Part, abrasive disk, the first AC servo motor, the second AC servo motor, linear motion mould group, the first AC servo driver,
Second AC servo driver, S type pressure sensor, Analog input mModule, digital quantity input module, digital output mould
Block, coupler and industrial computer；
Working principle: industrial robot UR5 is connected on end effector according to Sequence motion prepared in advance, drive
Workpiece does grinding feed motion, and grinding main motion is the constant speed rotary movement of the second AC servo machinery driving abrasive disk.Second
The position of AC servo motor and abrasive disk forms grinding plate, and the relative displacement of grinding plate and workpiece is by the first AC servo
The motor driven mould group that moves along a straight line determines, accurate displacement by the pressure sensor abrasive power measured and desired value difference and
Difference change rate is calculated.It (is adjusted indirectly to realize that process of lapping grinding plate floats in real time according to the size of abrasive power
Grinding depth) achieve the purpose that constant force is ground.
In the present embodiment, constant force grinding control system is divided into three parts description, i.e. mechanical body, AC servo drives
Motivation structure and control module, specific as follows:
(1) mechanical body
As shown in Fig. 2 (a) and Fig. 2 (b), the mechanical body include robot 1, special fixture 2, workpiece 3, shaft coupling 4,
First AC servo motor 5, pulley blocks 6, cord 7, to pouring weight 8, the second AC servo motor 9, electric machine support 10, abrasive disk
11, pressure sensor 12, linear guide 13, linear motion mould group 14, robot control cabinet 15, manual teaching machine 16, robot
Pedestal 17, flat base 18, T type bracket 19；
The manual teaching machine 16 is used to work out the motion profile of robot, and robot control is arranged in the manual teaching machine 16
The instruction of cabinet 15 processed, control robot motion track passes to robot 1 by robot control cabinet 15；The robot 1
Special fixture 2 is set on end effector, and clamping workpiece 3 does particular track movement；
The robot 1 is bolted in robot base 17 and is finally fixed on flat base 18, the T-type
Bracket 19 is bolted with flat base 18 by several, and the T-type branch is provided with having a size of the vertical of 420*500*660mm
Steel plate；The installation linear motion mould group 14 on the side plane of the vertical steel plate installs connection on the top of linear motion mould group 14
Axis device 4, the shaft coupling 4 connect the first AC servo motor 5；The pedestal and T-type bracket 19 of the linear motion mould group 14
Vertical steel plate is by being bolted；
For second AC servo motor 9 on inverted electric machine support 10, upper part passes through keyway phase with abrasive disk 11
Even, so that abrasive disk 11 be driven to do constant speed rotation, grinding plate is collectively constituted；The side of the electric machine support 10 of the grinding plate
One end of pressure sensor 12 and linear guide 13 is connected side by side, and pressure sensor 12 connects directly with the other end of linear guide 13
Line moves mould group 14, limits grinding plate with this and is displaced in vertical direction, specific connection type is: the pressure sensor 12
One end connects electric machine support 10, the sliding block of other end connection linear motion mould group 14, and the linear guide 13 includes guide rail and leads
Rail sliding block, the guide rail slide block of the linear guide 13 connect electric machine support 10, and guide rail matched with guide rail slide block connect straight line fortune
The sliding block of dynamic model group 14；
First AC servo motor 5 is led by driving linear motion mould group 14, linear motion mould group 14 by straight line
Rail 13 drives grinding plate to be displaced in vertical direction；
The installation fixed form of the pressure sensor 12 can make pressure sensor more accurately detect grinding plate to exist
The pressure signal being subject on vertical direction；Guarantee that pressure sensor reading levels off to 0, is convenient for when grinding plate is not affected by external force
Select the high-precision pressure sensor of small-range；
A pair of of high-precision pulley blocks 6 of steel are fixed on the top of T-type bracket 19 by bolt and nut, described to pouring weight 8
It is connected with grinding plate by cord 7, cord is wound on the pulley blocks 6, to 8 mass of pouring weight and grinding plate quality phase
When, and the position of pulley blocks 6 ensures that 7 two sides of cord are in a vertical state；
In the present embodiment, the robot 1 is using the cooperation robot UR5 of Denmark's production, specially six degree of freedom machine
Device people；
The small S type pull pressure sensor of the pressure sensor 12 using Bangbu Sensitive Object, range 5kg are defeated
It is out -5~5V voltage signal, sensitivity is 2.0 ± 0.1mv/V, and sealing grade is IP66；
First AC servo motor 5 and the second AC servo point 9 are all made of the AC servo electricity of Delta company production
Machine ECMA-CA0604RS, rated power 400W, rated speed 3000r/min, nominal torque 1.27Nm, without
Electromagnetic brake；
The shaft coupling 4 uses Wound-rotor type yielding coupling；
KK86 series of the linear motion mould group 14 using the production of Taiwan Shang Yin company, compact type, stroke are
The rolling guide intelligences combination unit of 210mm；
For the linear guide 13 using the MGW7C guide track series of Shang Yin company production, basic rated static load is 210kgf,
Basic dynamic load rating is 140kgf；
The T-type bracket 19 is welded using 12mm thick steel plate, and the size of vertical steel plate is 420*500*660mm；
The electric machine support 10 is welded using 6mm thick steel plate, overall dimensions 130*112*80mm；
The abrasive disk 11 by machining and passes through dynamic balance treatment using with a thickness of 6mm steel.
(2) AC synchronous sampling mechanism
The AC synchronous sampling mechanism includes the first AC servo machinery driving device and the second AC servo machinery driving
Device；
The first AC servo machinery driving device work passes through the frequency of externally input pulse in position control mode
It determines the size of the first AC servo motor velocity of rotation, the angle of rotation is determined by the number of pulse, simultaneously
The output pulse of the first AC servo motor is controlled, and exports the photoelectric encoder current value of the first AC servo motor；
The second AC servo machinery driving device work carries out rotation speed in speed control mode, by the frequency of pulse
The control of degree controls the pulse output frequencies of the second AC servo motor, achievees the purpose that speed control；
In the present embodiment, the first AC servo machinery driving device and the second AC servo machinery driving device use
ASD-A2-041-E motor driver, rated output 400W；
The photoelectric encoder of first AC servo motor and the second AC servo motor passes through servo-drive respectively
Standard interface CN2 terminal on device is connect with the first AC servo machinery driving device and the second AC servo machinery driving；
(3) control module
The control module is used for the deviation signal and grinding between the indirect abrasive power detected and expectation abrasive power
Noise signal makes respective handling in the process, realizes constant force griding using FUZZY ALGORITHMS FOR CONTROL.
The control module includes that controller, coupler, Analog input mModule, digital quantity input module, digital quantity are defeated
Module and single channel operational amplifier out；The coupler for control Analog input mModule, digital quantity input module and
Digital output module, minimum sampling period are 1 millisecond；
In the present embodiment, the controller uses the industry for being equipped with the real-time control software TwinCAT of German times good fortune
Computer is communicated by ethernet line and coupler, and the coupler and I/O terminal module are installed along on DIN strip；Institute
Coupler is stated using EtherCAT coupler EK1100, voltage rating 24VDC, maximum load current 10A, outer dimension
For 44*100*68mm, band LED signal display lamp；
In the present embodiment, all I/O modular power source voltage ratings are 24VDC, and degree of protection is IP20, are had
LED signal display lamp, width single mode are 12mm, bimodulus 24mm；
The charge signal that pressure sensor exports is converted to corresponding ± 5v mould by the single channel operational amplifier
Analog quantity voltage signal, by inputting the industrial computer after Analog input mModule A/D conversion；In the present embodiment, described
Analog input mModule use EL3104, be 4 channel analogy amount output terminal modules, output -10v~+10v voltage signal, 16
Bit resolution, E-bus current drain representative value are 180mA；
The digital quantity input module is used for the industrial computer that the input of robotic diagnostic signal is described, the robot
Diagnostic signal be detect robot whether failure and the signal that whether moves；In the present embodiment, the digital quantity input module
It is 8 channel number word amount input terminal modules, band 3ms input filter, E-bus current drain representative value is 90mA using EL1008；
The digital output module is used to believe the number that remote control robot switching on and shutting down and emergent stopping operate
The I/O interface number being output in robot control cabinet；In the present embodiment, the digital output module uses EL2008, is 8
Channel number word amount output terminal module, E-bus current drain representative value are 110mA；
In the present embodiment, the motion state of robot with whether the digital output signal of emergency shutdown is inputted by digital quantity
1st, 2 and 3 of module, the acquisition of 4 channels；The signals such as robot switching on and shutting down and motor pattern conversion are controlled by digital output module
Issue and pass to the digital quantity input module of robot control cabinet.
In the present embodiment, as shown in figure 3, the control module of this system also uses conventional electrical element, including general supply,
Three groups of air switches, Switching Power Supply, electromagnetic relay, signal amplifier, breakers；The general supply provides for whole system
220v, 50Hz alternating current；Wherein two groups of air switches play overload and short-circuit protection to servo-driver and AC servo motor
Effect；The Switching Power Supply is that coupler and electromagnetic relay are powered；The analog quantity voltage letter of the signal amplifier output
Number by Analog input mModule the 1st channel acquire；
In the present embodiment, three groups of air switches select the DZ47-60 series of Zheng Tai electrician company production, specified electricity
Stream is 10A；The two-way isolated form relay control module of electromagnetic relay group selection RM16E, module operating voltage are 24V.
In the present embodiment, the software of the control module includes Real time capable module and non real-time module, the non real-time mould
Block uses 2010 platform development of Microsoft Visual Studio, is used for finishing man-machine interaction function, including setting expectation
Abrasive power, display and storage grinding force signal and servo motor pulse signal, setting sampling period, start and stop control system
Operation；
On real-time core of the Real time capable module based on German times good fortune TwinCAT software, programmed using programmable controller
The international standard IEC61131-3 of language is developed, for acquiring input signal, issuing digital output signal and establishment control calculation
Method program, the input signal include pressure sensor input signal and digital input signals.
In the present embodiment, as shown in figure 4, a kind of control method of constant force grinding control system, includes the following steps:
Force signal, and the sampling period of setting control system are ground in S1, controller setting expectation；
S2, controller make grinding rate reach setting value by setting grinding motor speed；The grinding motor is
Two AC servo motors；
S3, controller obtain the pressure signal of grinding plate by pressure sensor and Analog input mModule, by the
The pulse signal of one AC servo motor obtains the current position signal of grinding plate；In the present embodiment, in pressure sensor
Signal amplifier is installed between Analog input mModule, guarantees that the pressure signal of grinding plate is received very well；
S4, controller carry out Kalman filtering processing to the pressure signal and current position signal of the grinding plate of acquisition,
And output signal is generated by fuzzy controller, it is changed into voltage signal by servo-driver and controls the first AC servo motor
Movement, and linear motion mould group is combined to keep grinding plate mobile in vertical direction, abrasive disk grinds workpiece, pressure sensing
Device obtains grinding plate in the pressure signal of vertical direction and is transferred to controller, and repeats step S3 and current procedures, realizes
Constant force grinding control；
The Kalman filtering processing, specific as follows:
Time updates:
X (k | k-1)=Ax (k-1 | k-1)+BU (k-1) (1)
P (k | k-1)=Ap (k-1 | k-1) AT+Q (2)
State updates:
Kg (k)=p (k | k-1) HT/[Hp(k|k-1)+R] (3)
X (k | k)=x (k | k-1)+kg (k) [Z (k)-Hx (k | k-1)] (4)
P (k | k)=[I-kg (k) H] p (k | k-1) (5)
X in formula (k | k-1) is that (k-1 | k-1) is that a upper periodic state is optimal as a result, x using the prediction of a upper periodic state
As a result, U (k-1) is the control amount of a upper periodic state, p (k | k-1) is the corresponding covariance of x (k | k-1), p (k-1 | k-1)
It is the corresponding covariance of x (k-1 | k-1), Q and R are process and measurement noise, it is assumed that Q and R is white Gaussian noise；Kg (k) is indicated
The kalman gain of current state；Z (k) indicates observed quantity；A, B are system parameter, and H is observation system parameter；X (k | k) it indicates
Optimal estimated value under current state, p (k | k) are the corresponding covariances of x (k | k)；
Enable the time update by continuous iteration terminates to obtain optimal output signal to process with state update continuous renewal.
In the present embodiment, the fuzzy controller generates output signal, specifically include the following steps:
(1) the fuzzy fuzzy controller that turns to of abrasive power deviation signal and deviation variation rate is inputted, the abrasive power deviation
Signal grinds force signal by current pressure signal and expectation and is calculated as difference, and abrasive power deviation variation rate is by current abrasive power
Deviation signal and the abrasive power deviation signal of last moment are calculated as difference；In fuzzification process, subordinating degree function is adopted
With following Triangleshape grade of membership function:
(2) fuzzy rule base or fuzzy rule are formulated according to manual control experience；
(3) according to fuzzy rule base or fuzzy rule, fuzzy output control amount is obtained according to Indistinct Input reasoning；?
During ambiguity solution, subordinating degree function uses Triangleshape grade of membership function, obtains fuzzy output control amount using gravity model appoach；It is described
The formula that gravity model appoach utilizes is as follows:
In formula,<>indicates rounding operation,Indicate fuzzy value AiCorresponding subordinating degree function value, subscript AiIndicate mould
I-th of fuzzy value in paste set, a, b, c indicate the corresponding abscissa value of three inflection points of Triangleshape grade of membership function, uiIt indicates
Fuzzy output amount；uc*Indicate the corresponding subordinating degree function value of fuzzy output amount；U* indicates fuzzy output control amount；
(4) fuzzy output control amount is handled to obtain accurate output control amount by sharpening.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it should not be understood as limiting the scope of the patent of the utility model.It should be pointed out that for the common of this field
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the protection scope of the utility model.Therefore, the protection scope of the utility model patent should subject to the claims.
Claims (7)
1. a kind of constant force grinding control system characterized by comprising mechanical body, AC synchronous sampling mechanism and control
Module；The mechanical body includes manual teaching machine, robot and grinding mechanism, and the robot and grinding mechanism are fixed
On same flat base；The manual teaching machine is used to work out the motion profile of the robot；The end of the robot
Special fixture is set on actuator, and clamping workpiece does particular track movement；The AC synchronous sampling mechanism is for controlling grinding
The motor rotation speed of mechanism；The grinding mechanism includes grinding plate, pressure sensor, servo movement mechanism and auxiliary
Component；The accessory includes pulley blocks and most of the weighing to pouring weight, by pulley blocks and to pouring weight balance grinding plate
Amount；The grinding plate is provided with the abrasive disk of constant speed rotation, and the abrasive disk does constant force grinding for robotic gripper workpiece；
The servo movement mechanism is for controlling the displacement of grinding plate in the vertical direction；The pressure sensor is for detecting grinding
The pressure signal that platform is subject in the vertical direction, and the pressure signal is transferred to control module, the control module pair
Noise signal makes respective handling in deviation signal and process of lapping between the indirect abrasive power detected and expectation abrasive power,
Constant force griding is realized to workpiece using FUZZY ALGORITHMS FOR CONTROL.
2. constant force grinding control system according to claim 1, which is characterized in that the grinding mechanism includes that grinding is flat
Platform, pressure sensor, servo movement mechanism and accessory；The accessory includes flat base, T-type bracket, pulley
Group, cord and to pouring weight；The servo movement mechanism includes linear guide, linear motion mould group, shaft coupling and first
AC servo motor；The grinding plate includes abrasive disk, the second AC servo motor and electric machine support；
The robot is bolted robot base and is fixed on flat base, the T-type bracket and flat base
It is bolted fixation by several, the T-type branch is provided with the vertical steel plate having a size of 420*500*660mm；Described vertical
Installation linear motion mould group on the side plane of steel plate installs shaft coupling, the shaft coupling connection on the top of linear motion mould group
First AC servo motor；
Second AC servo motor is fixed on inverted electric machine support, and the second AC servo motor top and abrasive disk are logical
It crosses keyway to be connected, so that abrasive disk be driven to do constant speed rotation, collectively constitutes grinding plate；The electric machine support of the grinding plate
Side connects one end of pressure sensor and linear guide side by side, and pressure sensor connects straight line fortune with the other end of linear guide
Dynamic model group, specifically: described pressure sensor one end connects electric machine support, the sliding block of other end connection linear motion mould group, institute
Stating linear guide includes guide rail and guide rail slide block, and the guide rail slide block of the linear guide connects electric machine support, matches with guide rail slide block
The sliding block of the guide rail connection linear motion mould group of set；First AC servo motor passes through driving linear motion mould group, straight line
Movement mould group drives grinding plate to be displaced in vertical direction by linear guide；
Pulley blocks are installed on the vertical steel plate top, and described to be connected with grinding plate by cord to pouring weight, cord is wound on cunning
It is suitable with grinding plate quality to pouring weight quality in wheel group；Guarantee pressure sensor reading when grinding plate is not affected by external force
Level off to 0.
3. constant force grinding control system according to claim 1, which is characterized in that the AC synchronous sampling mechanism includes
First AC servo machinery driving device and the second AC servo machinery driving device；First AC servo motor and the second exchange
The photoelectric encoder of servo motor passes through the standard interface CN2 terminal and the first AC servo electricity on servo-driver respectively
Machine driver and the connection of the second AC servo machinery driving；The first AC servo machinery driving device work is in position control mould
Formula is determined the size of the first AC servo motor velocity of rotation by the frequency of externally input pulse, passes through pulse
Number determine the angle of rotation, while controlling the output pulse of the first AC servo motor, and export the first AC servo
The photoelectric encoder current value of motor；The second AC servo machinery driving device work passes through pulse in speed control mode
Frequency carry out velocity of rotation control, control the second AC servo motor pulse output frequencies, reach the mesh of speed control
's.
4. constant force grinding control system according to claim 1, which is characterized in that the control module include controller,
Coupler, Analog input mModule, digital quantity input module, digital output module and single channel operational amplifier；It is described
Controller using the real-time control software TwinCAT for being equipped with German times good fortune industrial computer, by ethernet line with couple
Device communication；The coupler is adopted for controlling Analog input mModule, digital quantity input module and digital quantity output module, minimum
The sample period is 1 millisecond；
The charge signal that pressure sensor exports is converted to corresponding ± 5v analog quantity by the single channel operational amplifier
Voltage signal, by inputting the industrial computer after Analog input mModule A/D conversion；
The digital quantity input module is used for the industrial computer that the input of robotic diagnostic signal is described, the robotic diagnostic
Signal be detect robot whether failure and the signal that whether moves；
The digital signal that the digital output module is used to operate remote control robot switching on and shutting down and emergent stopping is defeated
I/O interface into robot control cabinet out.
5. constant force grinding control system according to claim 1, which is characterized in that robot is arranged in the manual teaching machine
The instruction of control cabinet, control robot motion track passes to robot by robot control cabinet.
6. constant force grinding control system according to claim 2, which is characterized in that the pressure sensor uses small S
Type pressure sensor, range 5kg export as -5~5V voltage signal, and sensitivity is 2.0 ± 0.1mv/V, and sealing grade is
IP66。
7. constant force grinding control system according to claim 2, which is characterized in that the robot is using Denmark's production
Cooperate robot UR5, specially six-DOF robot, is bolted in robot base and is finally fixed at plate bottom
On seat.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820690789.1U CN208861156U (en) | 2018-05-10 | 2018-05-10 | A kind of constant force grinding control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820690789.1U CN208861156U (en) | 2018-05-10 | 2018-05-10 | A kind of constant force grinding control system |
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| CN208861156U true CN208861156U (en) | 2019-05-14 |
Family
ID=66411059
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| CN201820690789.1U Expired - Fee Related CN208861156U (en) | 2018-05-10 | 2018-05-10 | A kind of constant force grinding control system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762071A (en) * | 2018-05-10 | 2018-11-06 | 华南理工大学 | A kind of constant force grinding control system and method |
| CN110362017A (en) * | 2019-08-02 | 2019-10-22 | 上海电气集团股份有限公司 | A kind of control system of robot |
| CN113655865A (en) * | 2021-08-25 | 2021-11-16 | 上海春鸟网络科技有限公司 | Data processing server for food safety |
| CN113714820A (en) * | 2021-09-09 | 2021-11-30 | 孚坤智能科技(上海)有限公司 | Force-controlled floating milling and polishing integrated device and operation method thereof |
| CN115415929A (en) * | 2022-08-30 | 2022-12-02 | 中国船舶重工集团公司第七0七研究所 | Spherical surface combination grinding control system for spherical hinge and use method |
-
2018
- 2018-05-10 CN CN201820690789.1U patent/CN208861156U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108762071A (en) * | 2018-05-10 | 2018-11-06 | 华南理工大学 | A kind of constant force grinding control system and method |
| CN108762071B (en) * | 2018-05-10 | 2023-12-22 | 华南理工大学 | Constant force grinding control system and method |
| CN110362017A (en) * | 2019-08-02 | 2019-10-22 | 上海电气集团股份有限公司 | A kind of control system of robot |
| CN113655865A (en) * | 2021-08-25 | 2021-11-16 | 上海春鸟网络科技有限公司 | Data processing server for food safety |
| CN113714820A (en) * | 2021-09-09 | 2021-11-30 | 孚坤智能科技(上海)有限公司 | Force-controlled floating milling and polishing integrated device and operation method thereof |
| CN115415929A (en) * | 2022-08-30 | 2022-12-02 | 中国船舶重工集团公司第七0七研究所 | Spherical surface combination grinding control system for spherical hinge and use method |
| CN115415929B (en) * | 2022-08-30 | 2024-04-19 | 中国船舶重工集团公司第七0七研究所 | Combined grinding control system for spherical surface of ball hinge and use method |
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