A servo control system for an automatic polishing robot

Abstract

The present invention relates to a servo control system, and in particular to a servo control system of an automatic polishing robot, comprising a controller and a teach pendant for inputting threshold parameters and planning a polishing path for a standard sample. The controller establishes wireless communication with the teach pendant via a wireless communication module, and the teach pendant is connected to a servo motor for driving a joint axis of the robot to move along the polishing path for the standard sample. The technical solution provided by the present invention can effectively overcome the defect of the prior art that the polishing path cannot be compensated and corrected quickly and effectively.

Description

Technical Field

[0001] The invention relates to a servo control system, in particular to a servo control system of an automatic polishing robot. Background Art

[0002] At present, many castings on the market have small differences in shape and size from standard samples due to factors such as time, temperature, and processing technology. The existing automatic grinding robot system will identify the differences in the grinding castings through vision or sensors, so as to compensate and correct the grinding path of the burrs on the edges and corners of the entire workpiece. However, both visual and sensor detection require a certain amount of time, which has a certain impact on the efficiency of the entire grinding workpiece. In addition, detection and identification are easily affected by the environment, making it difficult to ensure grinding consistency.

[0003] For some more complex castings, the size changes of edges and corners are irregular, and it is difficult to compensate for the grinding path through detection. In addition, the more complex the workpiece, the more points, surfaces and comparison data need to be detected, and the lower the efficiency, which cannot reflect the advantage of the high efficiency of the automatic grinding robot. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides a servo control system for an automatic grinding robot, which can effectively overcome the defect of the prior art that the grinding path cannot be compensated and corrected quickly and effectively.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] A servo control system for an automatic polishing robot, comprising a controller and a teach pendant for inputting threshold parameters and planning a polishing path for a standard sample, wherein the controller establishes wireless communication with the teach pendant through a wireless communication module, and the teach pendant is connected to a servo motor for driving a joint axis of the robot to move along the polishing path for the standard sample;

[0009] The teaching pendant receives the operating parameters fed back by the servo motor, and sends the threshold parameters to the controller together. The controller compares the operating parameters and the threshold parameters, and sends a soft servo instruction to the teaching pendant according to the comparison result.

[0010] Preferably, the threshold parameters include maximum torque and maximum following position error.

[0011] Preferably, the servo motor is connected to a driver for detecting operating parameters of the servo motor and driving the servo motor.

[0012] Preferably, the operating parameter includes working torque.

[0013] Preferably, the robot joint axis is arranged at the joint of the robot arm, and a grinding tool is fixed to the end of the robot arm.

[0014] Preferably, the grinding tool comprises a tool or a cutter.

[0015] Preferably, the wireless communication module adopts a Zigbee module.

[0016] (III) Beneficial effects

[0017] Compared with the prior art, the servo control system of the automatic grinding robot provided by the present invention has a teaching pendant receiving the operating parameters fed back by the servo motor and sending the threshold parameters to the controller. The controller compares the operating parameters and the threshold parameters and starts the soft servo instructions of each robot joint axis according to the comparison result, thereby realizing the elastic function of the spatial motion trajectory of the grinding robot, and more conveniently compensating and correcting the actual edge and corner burr grinding path of castings with smaller differences, effectively ensuring the grinding effect;

[0018] In addition, the fully automatic robot can also achieve micro-self-adjustment of the grinding path to ensure the consistency of the grinding process; it can adapt to the grinding of different batches of workpieces, and conduct more targeted intelligent analysis and processing of factors affecting the workpiece size such as time, temperature, and processing technology; it is easy to adjust the threshold parameters for starting the soft servo on the teach pendant according to the grinding effect, making the control more convenient and effective. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a schematic diagram of the servo control system of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] A servo control system for an automatic polishing robot, such as Figure 1 As shown, it includes a controller and a teach pendant for inputting threshold parameters and planning a standard sample grinding path. The controller establishes wireless communication with the teach pendant through a wireless communication module. The teach pendant is connected to a servo motor for driving the robot joint axis to move along the standard sample grinding path.

[0023] The teach pendant receives the operating parameters fed back by the servo motor and sends the threshold parameters to the controller. The controller compares the operating parameters and the threshold parameters and sends a soft servo instruction to the teach pendant according to the comparison result.

[0024] The threshold parameters include maximum torque and maximum following position error.

[0025] The servo motor is connected to a driver for detecting operating parameters of the servo motor and driving the servo motor.

[0026] Operating parameters include operating torque.

[0027] The robot joint axis is arranged at the joint of the robot arm, and a grinding tool is fixed at the end of the robot arm.

[0028] Grinding tools include tools and knives.

[0029] The wireless communication module uses the Zigbee module.

[0030] The teach pendant receives the operating parameters fed back by the servo motor and sends the threshold parameters to the controller. The controller compares the operating parameters and the threshold parameters and sends a soft servo instruction to the teach pendant according to the comparison result.

[0031] The teach pendant receives the operating parameters fed back by the servo motor and sends the threshold parameters to the controller. The controller compares the operating parameters and threshold parameters and starts the soft servo instructions of each robot joint axis according to the comparison results, thereby realizing the elastic function of the grinding robot's spatial motion trajectory and more conveniently compensating and correcting the actual corner burr grinding path of castings with smaller differences.

[0032] The teach pendant plans the grinding path of the standard sample. When a path with casting size deviation appears, the controller will detect that the working torque of the servo motor is greater than the maximum torque. At this time, the controller sends the soft servo command to the teach pendant.

[0033] After the soft servo function is turned on, during the actual grinding process, the actual position of the robot arm changes relative to the TCP point in the teach pendant according to the force of the grinding tool and the rigidity of the soft servo axis, so as to achieve the actual grinding effect. After completing this adjustment path, the soft servo is immediately turned off and the next standard sample grinding path is continued. At this time, the robot arm will automatically return to the original teaching trajectory without affecting the subsequent grinding.

[0034] For example, when one side of a casting is 2mm larger than the standard sample, the soft servo is turned on to make the robot arm retreat 2mm in the opposite direction under the reaction force of the grinding tool and the casting. In this way, the actual grinding is also grinding burrs along the edge of the casting, and the grinding robot will not feed a large amount of material, resulting in the scrapping of the casting. After turning off the soft servo, when the next path is performed, the robot arm will automatically recover the 2mm retreat in the opposite direction.

[0035] In the technical solution of this application, the controller uses CP263 / A, and the teaching pendant uses KeTop T70. The servo motor uses 5FSRA55, and the wireless communication module uses the commonly used zigbee module. The internal structure and pin functions of the electrical components involved in the technical solution of this application can be viewed in the factory manual, and the circuit connection relationship of the electrical components involved in the technical solution of this application can be obtained according to the factory manual, which is common knowledge for those skilled in the art.

[0036] It is worth noting that the purpose of the technical solution of this application is only to provide a hardware configuration different from the prior art, so that technicians can achieve further development under such hardware configuration. As for the software program, it can be programmed by programmers in this field at a later stage according to actual effect requirements.

[0037] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A servo control system for an automatic polishing robot, comprising a controller, Features: It also includes a teaching pendant for inputting threshold parameters and planning a standard sample grinding path, the controller establishes wireless communication with the teaching pendant through a wireless communication module, and the teaching pendant is connected to a servo motor for driving the robot joint axis to move along the standard sample grinding path; The teaching pendant receives the operating parameters fed back by the servo motor, and sends the threshold parameters to the controller; the controller compares the operating parameters and the threshold parameters, and sends a soft servo instruction to the teaching pendant according to the comparison result; The threshold parameters include a maximum torque and a maximum following position error, and the operating parameters include a working torque.

2. The servo control system of the automatic polishing robot according to claim 1, Features: The servo motor is connected to a driver for detecting operating parameters of the servo motor and driving the servo motor.

3. The servo control system of the automatic polishing robot according to claim 1, Features: The robot joint axis is arranged at the joint of the robot arm, and a grinding tool is fixed at the end of the robot arm.

4. The servo control system of the automatic polishing robot according to claim 3, Features: The grinding tools include tools and cutters.

5. The servo control system of the automatic polishing robot according to claim 1, Features: The wireless communication module adopts a Zigbee module.

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