A woodcarving adaptive control device and method based on force feedback
A technology of self-adaptive control and force feedback, applied in the fields of mechanical devices and automatic control methods, which can solve problems such as low degree of freedom
Inactive Publication Date: 2020-12-29
浙江大学软件学院(宁波)管理中心(宁波软件教育中心)
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- Application Information
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Problems solved by technology
[0003] The technical problem to be solved by the present invention is to provide an adaptive control device and method for wood material carving, using a five-axis machining center to solve the problem of low degree of freedom in current wood carving automation equipment, and using a closed-loop control method based on force feedback
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[0031] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The described embodiments are only some, not all, embodiments of the present invention. The following detailed description of the embodiments of the present invention provided in conjunction with the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts fall within the protection scope of the present invention.
[0032] like figure 1 As shown, a woodcarving adaptive control device based on force feedback includes a chassis 01 for placing an object A to be carved, a chassis fixing device 02, a carving tool, a high-speed motor for controlling the rotation of the carving tool, and a displacement shaft for displacing the...
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The invention discloses a force feedback-based wood carving self-adaptive control device and method. The device comprises a base plate for allowing a to-be-carved object to be placed, a base plate fixing device, carving tools, a high-speed motor for controlling the rotation of the carving tools, displacement shafts of the five carving tools and five servo motors for driving the displacement shafts, and an upper computer; each displacement shaft comprises an X-axis, a Y-axis, a Z-axis, a rotating B-axis, and a rotating C-axis; the five servo motors drive the five displacement shafts correspondingly, each servo motor is driven to operate through a servo driver, and the five servo motor drivers are controlled by a five-axis servo controller, so that the carving tools displace in five degreesof freedom; and the base plate is provided with a torque transducer and gravity sensors, and torque, moment and gravity are collected to adjust a tool path file in the upper computer, so that force feedback-based self-adaptive control in the carving process is realized.
Description
technical field [0001] The invention relates to the fields of automatic control methods and mechanical devices, in particular to a mechanical device and a control method for automatic control of wood material carving. Background technique [0002] In the field of industrial robots, with the integration of computer technology, sensor technology and mechanical technology, industrial robots have greatly expanded their application range. Robots used for carving wood materials have many advantages: significantly reducing labor intensity, improving the manufacturing efficiency of wood carving handicrafts, improving the consistency of wood carving handicrafts, and reducing waste of resources and energy. In particular, carving robots with remote control interfaces can achieve shared manufacturing. Realizing the separation of design and manufacture can greatly reduce the threshold for the manufacture of woodcarving handicrafts and at the same time greatly promote the development of w...
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IPC IPC(8): B44B1/00B44B1/02
CPCB44B1/006B44B1/02
Inventor 张启飞赵斌
Owner 浙江大学软件学院(宁波)管理中心(宁波软件教育中心)