PCD tool machining control system and control method thereof

Abstract

The invention discloses a PCD tool machining control system and a PCD tool machining control method, and relates to the technical field of tool production. A power unit comprises a plurality of sections of mechanical arms and a connecting part; the connecting parts are provided with servo motors and speed reducers; the control unit is an X86 universal platform and is used for issuing an operation instruction to the power unit to complete path tracking and positioning of the mechanical arm; the multi-sensor unit comprises a laser radar and an ultrasonic probe and is used for detecting and constructing the motion environment of the mechanical arm and detecting the rotating position and speed of the mechanical arm. The man-machine interaction unit comprises a mouse and a keyboard which are used as input platforms and used for inputting interaction information and controlling the mechanical arm to move. Machining parameters of the PCD tool are set through the man-machine interaction unit, the control unit positions the mechanical arm on the basis of a neural network, the grinding wheel on the mechanical arm is positioned, the advancing route of the grinding wheel in the welding process is tracked and known in real time, and the machining efficiency and precision of the PCD tool are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of tool production, and in particular relates to a processing control system and a control method of a PCD tool. Background Art

[0002] With the continuous improvement of power electronics technology, high-frequency induction welding machines have also been continuously developed, their functions are changing with each passing day, and their application fields are constantly expanding. The professional requirements of high-frequency induction welding machines are also getting higher and higher, and different special models have appeared for different application fields.

[0003] PCD blade welding is one of the key technologies in the PCD tool manufacturing process. The welding quality is directly related to the service life of the PCD tool and the processing accuracy of the PCD tool being processed. On the one hand, the carbide substrate of the PCD blade has poor wettability, and its thermal expansion coefficient is greatly different from that of the tool bar, which is easy to generate welding stress and cause cold welding. On the other hand, most welding is still done manually, which is inefficient and prone to defective products, affecting the stability of production quality. Summary of the invention

[0004] The purpose of the present invention is to provide a processing control system and a control method for PCD tools, which independently controls the robot arm of the grinder through a human-machine interaction unit and uses a multi-sensor unit to achieve precise positioning of the robot arm, thereby solving the problems of low efficiency and easy occurrence of defective products in existing manual operations.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The present invention is a PCD tool processing control system, comprising a power unit, a control unit, a multi-sensor unit, a human-machine interaction unit, a power management system and a detection system;

[0007] The power unit includes a plurality of mechanical arms and connecting parts between each mechanical arm; the connecting parts are all equipped with a servo motor and a reducer; the servo motor is electrically connected to a servo driver and a control unit in turn; the control unit controls the servo driver through a CAN and RS485 interface; the servo driver controls the servo motor;

[0008] The control unit is an X86 general platform; the control unit communicates with the driver through the CAN bus to send operation instructions to the power unit to complete the path tracking and positioning of the robot arm;

[0009] The multi-sensor unit includes a laser radar and an ultrasonic probe, which are used to detect the motion environment of the robot arm and the rotation position and speed of the robot arm;

[0010] The human-computer interaction unit includes a mouse and a keyboard as input platforms for inputting interaction information and controlling the movement of the robotic arm.

[0011] As a preferred technical solution, an electric rotary tool holder is provided at the end of the robot arm; the electric rotary tool holder is used to install a grinding wheel when performing PCD tool processing.

[0012] As a preferred technical solution, the robotic arm includes a first section, a second section and a third section; the first section is operated in a joint plane, and the operating plane of the robotic arm is made perpendicular to the PCD tool by rotation; the second section is operated in a joint space, and the spatial position and pitch parameters of the robotic arm are adjusted by rotation; the third section is operated in a joint plane, and the roll parameter angle is adjusted by rotating the robotic arm to achieve predetermined operations on the PCD tool.

[0013] As a preferred technical solution, the first section of the robotic arm rotates so that the operating plane of the second section of the robotic arm is perpendicular to the PCD tool; the second section of the robotic arm rotates so that the second robotic arm is close to and facing the PCD tool; the third section of the robotic arm rotates to adjust a predetermined rolling parameter angle to achieve position operation in three-dimensional space.

[0014] The present invention is a PCD tool processing control method, comprising the following steps:

[0015] Step S1: performing pretreatment operation on the PCD tool to be processed;

[0016] Step S2: fix the processed PCD tool directly under the robot arm, and install a grinding wheel on the robot arm;

[0017] Step S3: The user sets the processing parameters of the PCD tool through the human-computer interaction unit;

[0018] Step S4: The control unit positions the robotic arm based on the neural network;

[0019] Step S5: The CNC grinder controls the robot arm to perform a predetermined operation on the PCD tool.

[0020] As a preferred technical solution, in step S1, the pretreatment operation of the PCD tool includes:

[0021] Step S11, degreasing and cleaning: cleaning the PCD tool to remove oil stains, and drying the cleaned PCD tool with nitrogen;

[0022] Step S12, rough machining: quenching the PCD tool; during the heat treatment process, not only should the processed PCD tool have an appropriate hardness, but also the internal stress should be well controlled;

[0023] Step S13, grinding: performing constant temperature grinding on the PCD tool by a grinding wheel;

[0024] There are generally three types of grinding machines for grinding: surface grinders, internal and external cylindrical grinders, and tool grinders. Be extremely careful during the grinding process to avoid deformation of the PCD tool during the grinding process. In order to avoid deformation, a smaller fine grinding feed must be ensured, and the coolant must meet the needs. Parts with dimensional tolerances within 0.01mm should be ground at a constant temperature as much as possible. At the same time, pay attention to whether the grinding wheel has been passivated, and maintain the grinding wheel regularly, because a passivated grinding wheel will leave wear marks on the surface of the PCD tool during grinding, thereby damaging the PCD tool. When performing fine grinding, choose the appropriate grinding wheel according to the specific conditions of different molds;

[0025] Step S14, electrical machining: clamp the PCD tool on the electrode for electrical discharge machining; the electrical machining process is generally divided into two types: wire cutting and electrical discharge machining. It can process PCD tools of various shapes or materials with higher hardness. Before wire cutting machining, a series of inspections must be carried out, such as the use of the grinder, whether the purity of the special emulsion meets the standard, whether the water temperature meets the machining requirements, etc., in order to ensure high-precision cutting;

[0026] Step S15, surface treatment: inspect the surface of the PCD tool, and check it after processing. Pay attention to whether there are cracks or wear marks on the surface of the PCD tool. These are all manifestations of stress concentration, which are the root causes of cracks in the future. Therefore, cracks must be avoided after the processing is completed, and the surface of the PCD tool must be polished and strengthened by benchwork.

[0027] As a preferred technical solution, in step S3, the processing parameters of the PCD tool need to be calibrated; during calibration, each model of PCD tool is tested multiple times on each model of CNC grinder, and the size accuracy level, shape accuracy level and position accuracy level of the PCD tool are measured each time, and the average accuracy level is calculated; the calibration is repeated until the PCD tool reaches the preset accuracy level.

[0028] As a preferred technical solution, in step S4, the neural network is a three-layer network structure of an input layer, a hidden layer and an output layer; the neural network is composed of input nodes to form an input layer; the input layer directly connects the network with the external environment and transmits the input signal x to the hidden layer; the hidden layer is used to transmit the input layer signal to the hidden node radial basis function in the hidden layer for nonlinear transformation, and the transformation here needs to be transformed by the radial basis function in the hidden node in the hidden layer, and the radial basis function is used to generate a local response to the input signal x.

[0029] As a preferred technical solution, in step S4, when positioning the robot arm, the rectangular coordinates of the end of the first robot arm are set to (x 1 ,x 2 ), the angular position of the joint point is (q 1 ,q 2 ), the rectangular coordinates of the robot arm are expressed as:

[0030]

[0031] In the formula, q 1 represents the angle between the second robot arm and the x-axis, q 2 represents the angle between the first and second robotic arms, l 1 Indicates the length of the second robotic arm, l 2 Indicates the length of the first section of the robotic arm;

[0032] The dynamic characteristic expression of the second section of the robot arm is:

[0033]

[0034] In the formula, q represents the vector of the robot arm joint angle, τ represents the torque vector given to the robot arm, and D(q) represents its inertia matrix. is represented as the damping vector and G(q) is represented as the gravity vector.

[0035] The present invention has the following beneficial effects:

[0036] The present invention sets the processing parameters of the PCD tool through a human-computer interaction unit. The control unit positions the robotic arm and the grinding wheel on the robotic arm based on a neural network, and tracks and understands the travel route of the grinding wheel during the welding process in real time, thereby improving the processing efficiency and accuracy of the PCD tool.

[0037] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0039] Figure 1 A flow chart of a processing control method for a PCD tool of the present invention;

[0040] Figure 2It is a schematic diagram of the structure of a processing control system for a PCD tool of the present invention. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0042] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0043] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-2 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] Embodiment 1

[0045] According to the application of ordinary CNC grinders at home and abroad, ordinary CNC grinders are mainly used in mechanical CNC turning processing. When processing CNC turned parts, workers randomly install the required grinding wheels on the electric rotary tool holder of the CNC grinder, and the installed tools do not have a definite processing coordinate position relative to the processed parts. Before the part processing begins, the required tools (Note: each tool required for the processed part) must be aligned to determine the coordinate position of each turning tool in the processing coordinate system. Therefore, the efficiency is low, the accuracy is poor, and the quality is unstable.

[0046] See also Figure 1 As shown, the present invention is a PCD tool processing control system method, comprising the following steps:

[0047] Step S1: performing pretreatment operation on the PCD tool to be processed;

[0048] Step S2: fix the processed PCD tool directly under the robot arm, and install a grinding wheel on the robot arm;

[0049] Step S3: The user sets the processing parameters of the PCD tool through the human-computer interaction unit;

[0050] Step S4: The control unit positions the robotic arm based on the neural network;

[0051] Step S5: The CNC grinder controls the robot arm to perform a predetermined operation on the PCD tool.

[0052] In step S1, the pretreatment operation of the PCD tool includes:

[0053] Step S11, degreasing and cleaning: cleaning the PCD tool to remove oil stains, and drying the cleaned PCD tool with nitrogen;

[0054] Step S12, rough machining: quenching the PCD tool; during the heat treatment process, not only should the processed PCD tool have an appropriate hardness, but also the internal stress should be well controlled;

[0055] Step S13, grinding: performing constant temperature grinding on the PCD tool by a grinding wheel;

[0056] There are generally three types of grinding machines for grinding: surface grinders, internal and external cylindrical grinders, and tool grinders. Be extremely careful during the grinding process to avoid deformation of the PCD tool during the grinding process. In order to avoid deformation, a smaller fine grinding feed must be ensured, and the coolant must meet the needs. Parts with dimensional tolerances within 0.01mm should be ground at a constant temperature as much as possible. At the same time, pay attention to whether the grinding wheel has been passivated, and maintain the grinding wheel regularly, because a passivated grinding wheel will leave wear marks on the surface of the PCD tool during grinding, thereby damaging the PCD tool. When performing fine grinding, choose the appropriate grinding wheel according to the specific conditions of different molds;

[0057] Step S14, electrical machining: clamp the PCD tool on the electrode for electrical discharge machining; the electrical machining process is generally divided into two types: wire cutting and electrical discharge machining. It can process PCD tools of various shapes or materials with higher hardness. Before wire cutting machining, a series of inspections must be carried out, such as the use of the grinder, whether the purity of the special emulsion meets the standard, whether the water temperature meets the machining requirements, etc., in order to ensure high-precision cutting;

[0058] Step S15, surface treatment: inspect the surface of the PCD tool, and check it after processing. Pay attention to whether there are cracks or wear marks on the surface of the PCD tool. These are all manifestations of stress concentration, which are the root causes of cracks in the future. Therefore, cracks must be avoided after the processing is completed, and the surface of the PCD tool must be polished and strengthened by benchwork.

[0059] In step S3, the processing parameters of the PCD tool need to be calibrated; during calibration, each model of PCD tool is tested multiple times on each model of CNC grinder, and the size accuracy level, shape accuracy level and position accuracy level of the PCD tool are measured each time, and the average accuracy level is calculated; the calibration is repeated until the PCD tool reaches the preset accuracy level.

[0060] In step S4, the neural network is a three-layer network structure of an input layer, a hidden layer and an output layer; the neural network is composed of input nodes to form an input layer; the input layer directly connects the network to the external environment and transmits the input signal x to the hidden layer; the hidden layer is used to transmit the input layer signal to the hidden node radial basis function in the hidden layer for nonlinear transformation, and the transformation here needs to be transformed by the radial basis function in the hidden node in the hidden layer, and the radial basis function is used to generate a local response to the input signal x.

[0061] In step S4, when positioning the robot arm, the rectangular coordinates of the end of the first robot arm are set to (x 1 ,x 2 ), the angular position of the joint point is (q 1 ,q 2 ), the rectangular coordinates of the robot arm are expressed as:

[0062]

[0063] In the formula, q 1 represents the angle between the second robot arm and the x-axis, q 2 represents the angle between the first and second robotic arms, l 1 Indicates the length of the second robotic arm, l 2 Indicates the length of the first section of the robotic arm;

[0064] The second section of the dynamic characteristics of the robot arm is expressed as:

[0065]

[0066] In the formula, q represents the vector of the robot arm joint angle, τ represents the torque vector given to the robot arm, and D(q) represents its inertia matrix. is represented as the damping vector and G(q) is represented as the gravity vector.

[0067] Embodiment 2

[0068] See also Figure 2 As shown, the present invention is a PCD tool processing control system, which can be used to execute the method content of Example 1 of the present invention, including: a power unit, a control unit, a multi-sensor unit, a human-computer interaction unit, a power management system and a detection system;

[0069] The power unit includes a plurality of mechanical arms and connecting parts between each mechanical arm; the connecting parts are all equipped with a servo motor and a reducer; the servo motor is electrically connected to the servo driver and the control unit in turn; the control unit controls the servo driver through the CAN and RS485 interfaces; the servo driver controls the servo motor;

[0070] The control unit is an X86 general platform; the control unit communicates with the driver through the CAN bus to send operation instructions to the power unit to complete the path tracking and positioning of the robot arm;

[0071] The multi-sensor unit includes a laser radar and an ultrasonic probe, which are used to detect the motion environment of the building robot arm and detect the rotation position and speed of the robot arm;

[0072] The human-computer interaction unit includes a mouse and a keyboard as input platforms for inputting interaction information and controlling the movement of the robotic arm.

[0073] An electric rotary tool holder is provided at the end of the robot arm; the electric rotary tool holder is used to install a grinding wheel when performing PCD tool processing.

[0074] The robotic arm includes a first section, a second section and a third section; the first section is a joint plane operation, and the operation plane of the robotic arm is made perpendicular to the PCD tool by rotation; the second section is a joint space operation, and the spatial position and pitch parameters of the robotic arm are adjusted by rotation; the third section is a joint plane operation, and the roll parameter angle is adjusted by rotating the robotic arm to achieve the predetermined operation of the PCD tool.

[0075] The first section of the robot arm rotates to make the operating plane of the second section of the robot arm perpendicular to the PCD tool; the second section of the robot arm rotates to make the second robot arm close to and face the PCD tool; the third section of the robot arm rotates to adjust the predetermined rolling parameter angle to realize position operation in three-dimensional space.

[0076] It is worth noting that in the above system embodiment, the various units included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0077] In addition, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiments can be completed by instructing related hardware through a program, and the corresponding program can be stored in a computer-readable storage medium.

[0078] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A PCD tool processing control system, comprising a power unit, a control unit, a multi-sensor unit, a human-machine interaction unit, a power management system and a detection system, characterized in that: The power unit includes a plurality of mechanical arms and connecting parts between each mechanical arm; the connecting parts are all equipped with a servo motor and a reducer; the servo motor is electrically connected to a servo driver and a control unit in turn; the control unit controls the servo driver through a CAN and RS485 interface; the servo driver controls the servo motor; The control unit is an X86 general platform; the control unit communicates with the driver through the CAN bus to send operation instructions to the power unit to complete the path tracking and positioning of the robot arm; The multi-sensor unit includes a laser radar and an ultrasonic probe, which are used to detect the motion environment of the robot arm and the rotation position and speed of the robot arm; The human-computer interaction unit includes a mouse and a keyboard as input platforms for inputting interaction information and controlling the movement of the robotic arm.

2. A PCD tool processing control system according to claim 1, characterized in that: An electric rotary tool holder is provided at the end of the mechanical arm; the electric rotary tool holder is used to install a grinding wheel when performing PCD tool processing.

3. A PCD tool processing control system according to claim 1, characterized in that: The robotic arm includes a first section, a second section and a third section; the first section is operated in a joint plane, and the operating plane of the robotic arm is made perpendicular to the PCD tool by rotation; the second section is operated in a joint space, and the spatial position and pitch parameters of the robotic arm are adjusted by rotation; the third section is operated in a joint plane, and the roll parameter angle is adjusted by rotating the robotic arm to achieve predetermined operations on the PCD tool.

4. A PCD tool processing control system according to claim 3, characterized in that: The first section of the robot arm rotates so that the operating plane of the second section of the robot arm is perpendicular to the PCD tool; the second section of the robot arm rotates so that the second robot arm is close to and faces the PCD tool; the third section of the robot arm rotates to adjust a predetermined rolling parameter angle to achieve position operation in three-dimensional space.

5. A PCD tool processing control method, characterized in that: The steps include: Step S1: performing pretreatment operation on the PCD tool to be processed; Step S2: fix the processed PCD tool directly under the robot arm, and install a grinding wheel on the robot arm; Step S3: The user sets the processing parameters of the PCD tool through the human-computer interaction unit; Step S4: The control unit positions the robotic arm based on the neural network; Step S5: The CNC grinder controls the robot arm to perform a predetermined operation on the PCD tool.

6. A PCD tool processing control method according to claim 5, characterized in that: In step S1, the pretreatment operation of the PCD tool includes: Step S11, degreasing and cleaning: cleaning the PCD tool to remove oil stains; Step S12, rough machining: quenching the PCD tool; Step S13, grinding: performing constant temperature grinding on the PCD tool by a grinding wheel; Step S14, electrical machining: clamping the PCD tool on the electrode to perform electrical discharge machining; Step S15, surface treatment: inspecting the surface of the PCD tool.

7. A PCD tool processing control method according to claim 5, characterized in that: In step S3, the processing parameters of the PCD tool need to be calibrated; during calibration, each model of PCD tool is tested multiple times on each model of CNC grinder, and the size accuracy level, shape accuracy level and position accuracy level of the PCD tool are measured each time, and the average accuracy level is calculated; the calibration is repeated until the PCD tool reaches the preset accuracy level.

8. A PCD tool processing control method according to claim 5, characterized in that: In step S4, the neural network is a three-layer network structure of an input layer, a hidden layer and an output layer; the neural network is composed of input nodes to form an input layer; the input layer directly connects the network with the external environment and transmits the input signal x to the hidden layer; the hidden layer is used to transmit the input layer signal to the hidden node radial basis function in the hidden layer for nonlinear transformation, and the transformation here needs to be transformed by the radial basis function in the hidden node in the hidden layer, and the radial basis function is used to generate a local response to the input signal x.

9. A PCD tool processing control method according to claim 5, characterized in that: In step S4, when positioning the robot arm, assuming that the rectangular coordinates of the end of the first section of the robot arm are (x1, x2), and the angular position of the joint point is (q1, q2), the rectangular coordinates of the robot arm are expressed as: Where q1 represents the angle between the second robotic arm and the x-axis, q2 represents the angle between the first robotic arm and the second robotic arm, l1 represents the length of the second robotic arm, and l2 represents the length of the first robotic arm; The dynamic characteristic expression of the second section of the robot arm is: In the formula, q represents the vector of the robot arm joint angle, τ represents the torque vector given to the robot arm, and D(q) represents its inertia matrix. is represented as the damping vector and G(q) is represented as the gravity vector.

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