Control system of large polishing machine

Abstract

The invention discloses a control system of a large polishing machine. The control system comprises a control circuit board, a touch screen, a first driver, a second driver, a first motor, a second motor, a first encoder, a second encoder, a first limit switch, a second limit switch, a weighing sensor, a signal amplifier, an abrasive spray gun and a robot. According to the control system of the large polishing machine, the synclastic differential speed of the two motors is controlled, so that the floating direction and the floating amount of a polishing wheel bracket can be adjusted in real time, the real-time adjustment of the contact force of a workpiece and a polishing wheel is satisfied, the constant force is guaranteed in a grinding and polishing process, and the automatic polishing application of the robot for polishing a metal surface with high requirements is satisfied.

Description

technical field [0001] The invention relates to a control system of a large polishing machine. Background technique [0002] At present, there are very few applications of domestic robot integration in the field of metal polishing. In addition to the high technical requirements and high technical barriers for metal surface polishing, the main reason is that no domestic company has yet developed a robotic system. The response speed in the integration field meets the requirements of the "active constant force polishing machine". Most of the large polishing machines (with a consumable diameter of 1 meter) on the domestic market are "non-floating" or "passive floating" polishing machines, whether it is " Non-floating" or "passive floating" large polishing machine, its application scenario is that the robot clamps the workpiece to the large polishing machine station for polishing. The trajectory programming of the robot for each workpiece is fixed. When the workpiece is in contac...

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Problems solved by technology

[0002] At present, there are very few applications of domestic robot integration in the field of metal polishing. In addition to the high technical requirements and high technical barriers for metal surface polishing, the main reason is that no domestic company has yet developed a robotic system. The response speed in the integration field meets the requirements of the "active constant force polishing machine". Most of the large polishing machines (with a consumable diameter of 1 meter) on the domestic market are "non-floating" or "passive floating" polishing machines, whether it is " Non-floating" or "passive floating" large polishing machine, its application scenario is that the robot clamps the workpiece to the large polishing machine station for polishing. The trajectory programming of the robot for each workpiece is fixed. When the workpiece is in contact with the consumable polishing When the contact force between the two will change with the size deviation of the workpiece or the wear of the polishing wheel, it will cause the workpiece to be unable to ensure a constant contact force with the consumable during the polishing process, and the polishing consistency and surface roughness of the workpiece cannot be guaranteed. High-precision requirements, especially for workpieces that need to achieve mirror polishing effects, such as high-end plumbing components with complex curved surfaces, blades in the aviation field, bumpers in the automotive field and other workpieces cannot meet the requirements. Therefore, the polishing of domestic high-end industries is basically In fact, it is still done by manual polishing, and manual polishing, due to the individual differences of polishers, and even the same worker cannot guarantee the consistency of the polishing track, so the consistency and accuracy of manual polishing and the polishing effect are difficult. To meet the requirements of high-end products, it takes a lot of manpower to repair, which is time-consuming and labor-intensive

[0003] There are also occasional companies in China with the signboard of "active constant force polishing machine". The specific implementation forms are summarized into three methods. ① Calculate the polishing contact force through the current value fed back by each axis of the robot arm during the polishing process, so that Adjust the trajectory of the robot. This method can theoretically perform coarse adjustment during the polishing process. However, due to the high efficiency requirements in the robot polishing process, this method cannot meet the real-time requirements for polishing constant force adjustment; ② and The first method is the same, it also detects the value of the current, but the detected data comes from the polishing machine instead of the robot. By detecting the current value of the main shaft that drives the cloth wheel of the polishing machine to find out the corresponding proportional relationship, and thus indirectly measure the The diameter of the cloth wheel and the polishing contact force of the cloth wheel are used to adjust the trajectory of the robot. Compared with the first method, the real-time performance of this method is worse, because the final execution force adjustment mechanism is a robot, a large polishing machine The feedback value of the robot is sent to the robot, and the robot adjusts its own trajectory, the control lag is serious, and it cannot meet the constant force requirement of real-time adjustment; ③The active polishing machine designed by using the linear servo cylinder and the force sensor, although it is also a closed-loop feedback structure , but due to the limited operation speed of PLC, like the other two methods, it cannot meet the real-time requirements of polishing constant force adjustment

[0004] In China, no matter the "non-floating" or "passive floating" or "active floating" polishing machine can not meet the high requirements of the metal surface polishing robot automatic polishing application, because the consumables and the workpiece are in contact with the polishing process. , the consistency of the polishing contact force caused by the deformation of the workpiece or the dimensional deviation of the workpiece itself cannot be guaranteed, so the consistency and smoothness of the polishing effect cannot be satisfied

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