Constant force grinding control system and method

A control system and constant force technology, applied in general control systems, control/adjustment systems, mechanical pressure/force control, etc., can solve the problems of low efficiency and low surface quality of artificially ground products, and achieve accurate force measurement and low cost. Effect

Pending Publication Date: 2018-11-06
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

[0004] The purpose of the present invention is to solve the problems of low surface quality and low efficiency of manual grinding products, and provide a constant force grinding control system, which can be used for research on robot constant force grinding, including the de

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  • Constant force grinding control system and method
  • Constant force grinding control system and method

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Embodiment

[0055] Such as figure 1 As shown, a constant force grinding control system mainly includes: industrial robot UR5, robot control cabinet, workpiece, grinding disc, first AC servo motor, second AC servo motor, linear motion module, first AC servo driver, A second AC servo driver, an S-type pressure sensor, an analog input module, a digital input module, a digital output module, a coupler, and an industrial computer;

[0056] Working principle: The industrial robot UR5 moves according to the pre-programmed program, and drives the workpiece fixedly connected to the end effector to perform grinding and feeding motion. The main grinding motion is the constant-speed rotation motion of the grinding disc driven by the second AC servo motor. The position of the second AC servo motor and the grinding disc forms a grinding platform. The relative displacement between the grinding platform and the workpiece is determined by the linear motion module driven by the first AC servo motor. The ex...

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Abstract

The invention discloses a constant force grinding control system and method. The system mainly comprises a robot, a grinding machine, a precision linear motion module, an AC servo motor, a pressure sensor and an industrial computer; the AC servo motor and the precision linear motion module drive the grinding machine to perform floating displacement. A robot drives a workpiece to continuously perform grinding on the floating grinding machine according to a pre-programmed running procedure, so that the grinding force can be controlled in the vicinity of the desired grinding force, and an actualgrinding force signal is transmitted to the industrial computer through the pressure sensor. The industrial computer uses a Kalman filter to process noise and uses a fuzzy control algorithm to achieveconstant force grinding. The constant force grinding control system and method of the invention can obviously improve the grinding quality; the sensing system adopts an efficient real-time control system, which can realize real-time data acquisition of the grinding force signal in milliseconds, and controls the AC servo motor to drive a sand disc to do vertical displacement to achieve constant force grinding in real time.

Description

technical field [0001] The invention relates to the field of robot grinding and control engineering, in particular to a grinding control system and method in which the grinding force is stabilized near an expected value during the grinding process. Background technique [0002] In the traditional manufacturing industry, polishing and grinding is the most basic process, but its cost accounts for 30% of the total cost. Grinding and polishing parts not only have a wide variety but also most of them have complex appearances. Usually, industrial grinding and polishing operations are completed manually, which is labor-intensive, low-efficiency, and extremely poor working environment. The polishing and grinding machine developed for a small number of regular workpieces in the market can only complete a single process task, and basically cannot complete other tasks except the original process. The development process is cumbersome and the flexibility is poor, and the cost is expensi...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D15/01
CPCG05B13/042G05B13/048G05D15/01
Inventor 张铁蔡超邹焱飚
Owner SOUTH CHINA UNIV OF TECH
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