TWI718945B - Active constant force imposing sensing and controlling system - Google Patents

Abstract

An active constant force imposing sensing and controlling system includes a processing carrier, a multiaxial device connected with a gas source and having an air pressure detector, and a terminal device. The multiaxial device holds a workpiece. The air pressure detector senses the pressure supplied by the gas source to generate an air pressure signal. The terminal device stores operation route data and process parameters. A processing module, according to the workpiece, transmits the operation route data to the processing carrier which drives the multiaxial device to move. The gas source outputs an air pressure based on the processing parameter. During the operation of the multiaxial device, the terminal device receives the air pressure signal which is then processed with the processing parameter for generating a diagnosis information, according to which the pressure supplied by the gas source is adjusted.

Description

Active constant force sensing control system

The present invention relates to a field related to force sensing, in particular to an active constant force sensing control system used in precision machining operations.

With the rapid development of industrial technology, the processing of workpieces is becoming more and more refined. In order to make the precision of the workpiece meet the demand, the automated processing plant will rely on the processing carrier for the processing of the workpiece.

Therefore, it is a very important technology to control the precision power of the processing carrier. Usually, a sensor is installed on the processing carrier to sense the force of the processing carrier when the workpiece is processed. Whether the sensor can accurately sense the processing load The force applied or received from different directions must be adjusted to avoid the accuracy of the workpiece due to the inaccuracy of the sensor.

In order to solve the above problems, the present invention provides an active constant force sensing and control system, which drives a multi-axis actuation device and outputs the corresponding supply pressure according to the actuation path data and processing parameters. During the actuation process of the multi-axis actuation device, the terminal device receives the air pressure. The signal is calculated and processed, and based on the generated diagnostic information, it is judged whether to adjust the supply pressure to achieve the effect of power perception and feedback control.

An embodiment of the present invention provides an active constant force sensing control system, which includes: a controller installed on a processing carrier; a multi-axis actuation device connected to one end of the processing carrier, The multi-axis actuation device has a plurality of air pressure drives, a plurality of air pressure detectors, and an adapter interface. Each air pressure drive member is connected to an air pressure group. Each air pressure drive member is connected to the adapter interface. The adapter interface provides clamping processing objects. Air pressure detectors are installed in each air pressure driving part; when the air pressure group provides air pressure to drive each air pressure driving part to drive the switching interface to operate, each air pressure sensor senses the supply pressure of each air pressure group to generate an air pressure signal; and a terminal Device, the signal is connected to the controller, multi-axis actuation device and air pressure group. The terminal device has a database and a processing module. The database has multiple operating path data and multiple processing parameters corresponding to different processing object types. Processing module According to the type of the processing object, read one of the actuation path data and send it to the controller, and read one of the processing parameters and send it to the air pressure group, where the processing carrier will drive the multi-axis actuation device to move according to the actuation path data. The air pressure group outputs the corresponding air pressure to each air pressure driving part according to the processing parameters, so that the transfer interface drives the processing object for processing. During the operation of the multi-axis actuator, the processing module receives the air pressure signal and calculates the air pressure signal and the processing parameters. Processing, generating a diagnostic information, and the processing module determines whether to adjust the supply pressure of the air pressure group to each air pressure group according to the diagnostic information.

Based on the foregoing, the terminal device of the present invention controls the processing carrier according to the actuation path data to drive the multi-axis actuation device to drive the processing object to move, and controls the air pressure group to output the corresponding supply pressure according to the processing parameters, so that the multi-axis actuation device drives the processing object for processing During the operation of the multi-axis actuator, the terminal device will continue to receive the air pressure signal and perform calculations with the data in the database to generate diagnostic information; and based on the diagnostic information, determine whether to adjust the supply pressure of the air pressure group; Active power perception, calculation and judgment of data, and then achieve the effect of feedback control.

1: Processing object

2: Processing machine

100: Active constant force sensing control system

10: Controller

11: Processing vehicle

20: Multi-axis actuator

21: Pneumatic drive

22: Universal rotary joint

23: The first flange

24: second flange

25: Transfer interface

26: Air pressure detector

27: position detector

30: Air pressure group

31: Air pressure source

32: Pressure regulating valve

40: terminal device

41: Database

42: Processing module

43: detection module

F: Strength

C1 actuation point

C2: Actuation point

L: distance

Figure 1 is a schematic diagram of the system architecture of the present invention.

Figure 2 is a schematic diagram of the block connection of the system of the present invention.

FIG. 3 is a schematic diagram of an embodiment of the appearance structure of the present invention.

Fig. 4 is a partial enlarged schematic diagram of Fig. 3.

Fig. 5 is a schematic diagram of the operation of the multi-axis actuating device of the present invention.

In order to facilitate the description of the central idea of the present invention expressed in the column of the above-mentioned summary of the invention, specific embodiments are used to express it. The various objects in the embodiment are drawn according to the proportion, size, deformation or displacement suitable for illustration, rather than drawn according to the proportion of the actual element, which will be described first.

1 to 5, the present invention provides an active constant force sensing control system 100, which includes: a controller 10 installed on a processing carrier 11, the controller 10 has receiving and transmission And the function of processing information. Among them, the processing carrier 11 can be a robotic arm or a machine; the processing carrier 11 robot arm shown in Figs. 3 and 4 of the present invention does not limit the brand and type of the processing carrier 11 It means that the present invention can be applied to various types of processing carriers 11.

A multi-axis actuating device 20 is connected to one end of the processing carrier 11. The multi-axis actuating device 20 has a plurality of pneumatic drives 21, a plurality of universal rotary joints 22, a first flange 23, and a second flange Disc 24, an adapter interface 25, a plurality of air pressure detectors 26 and a plurality of position detectors 27, each air pressure driving member 21 is erected on each universal rotary joint 22, the first flange 23 is connected to the processing carrier 11 One The second flange 24 is connected between the universal rotary joint 22 and the adapter interface 25. In the embodiment of the present invention, the adapter interface 25 is a clamping jaw.

Each pneumatic driving member 21 is connected to a pneumatic group 30 and connected to an adapter interface 25. The adapter interface 25 provides for clamping the processed object 1. Each pneumatic detector 26 and each position detector 27 are provided on each pneumatic driving member 21. The pneumatic group 30 has a pneumatic source 31 and a plurality of pressure regulating valves 32, and each pressure regulating valve 32 is in communication with the pneumatic source 31 and the pneumatic driving member 21.

In the embodiment of the present invention, the pneumatic driving member 21 is a pneumatic cylinder, the number of pneumatic driving members 21 is 3, and the number of pneumatic detectors 26 is 4, of which three pneumatic detectors 26 are provided in the three pressure regulating valves. Between 32 and the three-air pressure driving part 21, another air pressure detector 26 is connected to the three-air pressure driving part 21; the number of position detectors 27 is 3, and each air pressure detector 26 and each position detector 27 are set in The outer periphery of each pneumatic driving member 21, wherein the pneumatic detector 26 and the position detector 27 are arranged on one side of the air inlet and outlet of the pneumatic driving member 21. The number of universal rotary joints 22 is 3, and each universal rotary joint 22 has a universal joint and a rotary joint. The rotary joint is connected between the first flange 23 and the pneumatic drive member 21, and the universal joint is connected to Between the pneumatic drive 21 and the second flange 24, the universal rotary joint 22 has 3 degrees of freedom in rotation, and the rotary joint has 1 degree of freedom in rotation; the first flange 23 and the second flange 24 are discs Three universal rotary joints 22 are connected between the first flange 23 and the second flange 24 at equal angular intervals.

When the air pressure group 30 provides air pressure to the air pressure driving parts 21 through the pressure regulating valves 32 to drive the air pressure driving parts 21 to drive the switching interface 25 to operate, the air pressure detectors 26 can sense the supply pressure of the air pressure driving parts 21 , To generate an air pressure signal, each air pressure detector 26 can transmit the generated air pressure signal outward; and each position detector 27 senses the actuation position of each air pressure driving member 21 to generate a position signal, and each position is detected The device 27 can transmit the position signal generated by each to the outside.

A terminal device 40 whose signals are connected to the controller 10, the multi-axis actuator 20 and the air pressure group 30. The terminal device 40 can be a computer or a server set up in the cloud; in the embodiment of the present invention, the terminal device 40 is A server set up in the cloud; the terminal device 40 is connected to the controller 10, the air pressure detectors 26 of the multi-axis actuator 20, the position detectors 27, and the pressure regulating valves 32 of the air pressure group 30 through wireless transmission.

The terminal device 40 has a database 41 and a processing module 42. The database 41 stores plural motion path data and plural processing parameters corresponding to different processing object 1 types. The processing module 42 reads according to the type of processing object 1. Take one of the operating path data and send it to the controller 10, and read one of the processing parameters and send it to each pressure regulating valve 32 of the air pressure group 30, wherein the processing module 42 can provide the type of the processing object 1 or Automatically determine the type of the processing object 1; the processing parameters are the air pressure control value of the pressure supplied by the air pressure group 30 and the reference position of each air pressure driving member 21, wherein the air pressure control value can be set by the user corresponding to different processing conditions.

The terminal device 40 provides analysis of the shape of the processed object 1 to be completed, and cooperates with the processing flow to generate the actuation path data. The terminal device 40 can first perform the completion of each curved surface of the processed object 1 according to the completed type of the processed object 1. The surface is divided to form a geometrically discontinuous curved surface path, and then multiple processing paths are analyzed by the used processing machine 2 and processing flow, and the processing paths are connected in series to generate a unique type of each processing object 1 Actuating path data.

Furthermore, the processing carrier 11 drives the multi-axis actuator 20 to move according to the actuation path data, and the pressure regulating valves 32 of the air pressure group 30 output corresponding air pressures to the air pressure driving parts 21 according to the processing parameters, so as to be driven by the air pressures. The part 21 is linked to the transfer interface 25 to drive the processed object 1 to be processed by the processing machine 2. During the operation of the multi-axis actuator 20, the processing module 42 of the terminal device 40 receives the air pressure signals generated by the air pressure detectors 26 Processing module with position signal generated by each position detector 27 42 will calculate and process the air pressure signal and position signal and processing parameters to generate a diagnostic information. The terminal device 40 determines whether to adjust the supply pressure of the air pressure group 30 to each air pressure drive member 21 and adjusts the pressure of each air pressure drive member 21 according to the diagnosis information. The actuation position, where the diagnostic information is the force F and torque that the adapter interface 25 of the current multi-axis actuation device 20 bears; the processing module 42 can calculate the actuation position and angle of each pneumatic drive member 21 according to the position signal calculation.

For example: if the diagnosis information determines that the current movement of the air pressure driving member 21 is insufficient, the processing module 42 will send an adjustment signal to the pressure regulating valve 32, and the pressure regulating valve 32 controls the air pressure group 30 to increase the output to the pressure driving member 21 The supply pressure makes the movement of the pneumatic driving member 21 meet the processing parameters; if the diagnosis information determines that the current movement of the pneumatic driving member 21 exceeds the processing parameters, the processing module 42 will send an adjustment signal to the pressure regulating valve 32. The pressure valve 32 controls the air pressure group 30 to reduce the supply pressure output to the air pressure driving member 21, so that the movement amount of the air pressure driving member 21 meets the processing parameters; if the diagnosis information determines that the current movement amount of the air pressure driving member 21 meets the processing parameters, the processing mode The group 42 will not send an adjustment signal to the pressure regulating valve 32 to maintain the current movement amount of the pneumatic driving member 21.

Please refer to Figures 3 and 5, in the embodiment of the present invention, during the processing of the processed object 1 through the processing machine 2, the multi-axis actuator 20 can be divided into an initial state, a ready-to-process state, and a Z-axis direction processing state. , X, Y axis processing status and processing end status. Among them, the X, Y and Z axes are shown in the direction of Figure 5, which is not a limitation of the operating direction of the present invention. The Z axis is parallel to the force F of the processing direction, X, Y The axis is perpendicular to the force F in the machining direction; the aforementioned states are explained as follows: in the initial state, position correction will be carried out, and each position detector 27 and each air pressure detector 26 will transmit the current position and angle of each air pressure drive 21 And the supply pressure (which can be regarded as the current Z-axis force of the pneumatic drive member 21) to ensure that each pneumatic drive member 21 maintains its posture (ie geodetic coordinates) at any position and direction in space (0,0,0). If it is 0, the resultant torque is 0.

In the state of preparing for processing, weight calibration will be carried out. Each position detector 27 and each air pressure detector 26 will transmit the current position, angle and supply pressure of each pneumatic drive 21 (which can be regarded as the current Z-axis force of the pneumatic drive 21). ) To ensure that the holding posture of each pneumatic driving member 21 in any position and direction in space is (0,0,0), the Z-axis resultant force is 0, and the resultant moment is 0.

In the state of machining in the Z-axis direction, the relative positions of the actuation point C1 and actuation point C2 as shown in Figure 5 will be automatically adjusted to ensure that the holding posture of each pneumatic drive 21 is (0,0,0), and the machining direction The force F is controlled by the vector force of each pneumatic driving member 21.

In the X and Y axis processing state, ensure that the holding attitude of each pneumatic drive 21 is (0,0,0), and the force F in the processing direction is controlled by each pneumatic drive 21 to generate a total torque on the actuating point C2, and the torque As the distance L between one end of the processing object 1 and each pneumatic driving member 21 changes, the force F in the processing direction is made to be a certain value.

In the processing end state, when the processed object 1 passes through the aforementioned state process, it means that the processing is completed, and the multi-axis actuator 20 returns to the initial state and waits for the next processing.

Furthermore, the terminal device 40 has a detection module 43, which transmits the actuation path data corresponding to the type of processing object 1 to the controller 10 of the processing carrier 11, and transmits the processing parameters to the multi-axis actuation device 20, To make the processing carrier 11 and the multi-axis actuation device 20 drive the processing object 1 to be processed through the processing machine 2 according to the actuation path data and processing parameters; during the processing of the processing object 1 through the processing machine 2, the detection module 43 will collect the air pressure The signal and position signal are processed as processing parameters, and the inspection and analysis are performed to confirm whether they meet the set processing parameters. When the set processing parameters are met, the inspection module 43 can store the collected air pressure signal and position signal processing in the database 41 ; When the set processing parameters are not met, the processing parameters are adjusted and stored in the database 41.

In summary, the present invention can achieve the following effects:

1. The terminal device 40 of the present invention controls the processing carrier 11 to drive the multi-axis actuation device 20 to move the processed object 1 according to the actuation path data, and controls the air pressure group 30 to output the corresponding supply pressure according to the processing parameters, so that the multi-axis actuation device 20 drives The processing object 1 is processed by the processing machine 2. During the operation of the multi-axis actuator 20, the terminal device 40 will continue to receive the air pressure signal and perform calculation processing with the data in the database 41 to generate diagnostic information; and make judgments based on the diagnostic information Whether to adjust the supply pressure of the air pressure group 30 to perform data calculation and judgment through active force perception, and then achieve the effect of feedback control.

2. The present invention uses active position sensing. During the operation of the multi-axis actuator 20, the processing module 42 of the terminal device 40 judges the load status of the multi-axis actuator 20 according to the received air pressure signal and position signal. The real-time diagnosis information obtained through calculations can adjust the actuation position, force and torque of the multi-axis actuation device 20 to avoid the lack of precision of the processed object 1 due to inaccurate positions and angles.

3. The present invention generates accurate motion path data by pre-simulating the surface shape of the processed object 1 after the processing is completed, so as to make the motion process of the multi-axis actuator 20 more accurate to achieve the effect of precision processing.

Fourth, the present invention verifies the relationship between the processing parameters and quality in the database 41 by collecting and analyzing the data during the operation of the multi-axis actuator 20, so as to achieve the effect of precision processing.

The above-mentioned embodiments are only used to illustrate the present invention, and are not used to limit the scope of the present invention. All modifications or changes made without violating the spirit of the present invention fall within the scope of the present invention's intended protection.

1: Processing object

2: Processing machine

100: Active constant force sensing control system

10: Controller

11: Processing vehicle

20: Multi-axis actuator

30: Air pressure group

31: Air pressure source

32: Pressure regulating valve

40: terminal device

Claims (10)

An active constant force sensing and control system, which includes: A controller, which is installed on a processing vehicle; A multi-axis actuating device is connected to one end of the processing carrier. The multi-axis actuating device has a plurality of air pressure driving parts, a plurality of air pressure detectors and an adapter interface. Each air pressure driving part is connected with an air pressure group. The pneumatic driver is connected to the adapter interface, the adapter interface provides a clamping processing object, each of the pneumatic detectors is arranged on each of the pneumatic drivers; the pneumatic group is provided with pressure to drive each of the pneumatic drivers to drive the adapter When the interface is operating, each of the air pressure detectors senses the supply pressure of each air pressure group to generate an air pressure signal; and A terminal device whose signal is connected to the controller, the multi-axis actuation device and the air pressure group. The terminal device has a database and a processing module. The database has multiple actuation path data corresponding to different processing object types and A plurality of processing parameters. The processing module reads one of the motion path data and sends it to the controller according to the type of the processed object, and reads one of the processing parameters and sends it to the air pressure group, where the processing vehicle will The multi-axis actuating device is driven to move according to the actuating path data, and the air pressure group outputs the corresponding air pressure to each of the air pressure driving parts according to the processing parameters, so that the transfer interface drives the processed object to be processed. During the operation of the actuating device, the processing module receives the air pressure signal, calculates the air pressure signal and the processing parameter, and generates a diagnostic information. The processing module determines whether to adjust the air pressure group to The supply pressure of each pressure group. The active constant force sensing and control system according to claim 1, wherein the air pressure group has an air pressure source and a pressure regulating valve, and the pressure regulating valve communicates between the air pressure driving member and the air pressure source, each The pressure regulating valve is coupled to the terminal device and receives the processing parameters. The active constant force sensing and control system according to claim 1, wherein the multi-axis actuating device has a plurality of position detectors, and each of the position detectors can provide sensing the actuating position of each pneumatic driving member to A position signal is generated, and each position detector transmits the position signal to the terminal device. The processing module calculates the actuating position and angle of each pneumatic drive member according to the position signal, and the processing module calculates the position and angle of each pneumatic drive. The position signal and the processing parameter are calculated and processed to generate the diagnostic information, and the processing module determines whether to adjust the actuating position of each pneumatic drive member according to the diagnostic information. The active constant force sensing control system according to claim 1, wherein the multi-axis actuation device has a plurality of universal rotary joints, a first flange and a second flange, each of which is driven by air pressure The parts are erected on each of the universal rotary joints, the first flange is connected between one end of the processing carrier and each of the universal rotary joints, and the second flange is connected to each of the universal rotary joints and the rotary joints. Connect the interface. The active constant force sensing control system according to claim 1, wherein each of the air pressure detectors is arranged on the outer periphery of each of the air pressure driving parts; each of the processing parameters in the data bank can correspond to different processing The situation is the air pressure control value set by the user. The active constant force sensing and control system according to claim 1 or 3, wherein the diagnostic information is the force and torque that the adapter interface bears during the processing of the workpiece driven by the multi-axis actuator. The active constant force sensing and control system according to claim 1, wherein the terminal device provides analysis of the type of processing object to be completed, and generates the operating path data in cooperation with the processing flow. The active constant force sensing control system according to claim 3, wherein the terminal device has a detection module that transmits the actuation path data and the processing parameters to the processing vehicle and The multi-axis actuating device enables the processed object to be processed in accordance with the processing path and the processing parameters. During the actuation of the multi-axis actuating device, the detection module detects the collected air pressure signal and the position signal To confirm whether it meets the set processing parameters. The active constant force sensing control system according to claim 8, wherein the detection module can process the collected air pressure signal and the position signal into the processing parameters, and store them in the database The corresponding processing parameters are compared and analyzed, and then the processing parameters are adjusted and stored in the database. The active constant force sensing control system according to claim 9, wherein the processing parameters are the supply pressure and the reference position of each pneumatic driving member.

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