Multi-sensor fusion automatic control system for automatic grinding equipment

Abstract

The invention relates to a multi-sensor fusion automatic control system for automatic grinding equipment. The multi-sensor fusion automatic control system is characterized in that a power supply module supplies power to a servo motor, a human-computer interaction interface, a control module and related electromagnetic valves and sensors; the driving module is composed of a servo motor, a motor driver and a push-pull type electromagnet. The human-computer interaction interface is used for displaying the current state and operation data information of the control system to a user and allowing the user to send an instruction to the control system through the interface; meanwhile, state information, alarm information and an operation process in the operation process of the grinding system are recorded; the liquid level control module is composed of a liquid level sensor, a flow sensor and the like. The control module comprises a programmable controller and a motion controller, the programmable controller is a master control module, and the motion controller is a servo motor control module; the grinding process monitoring module is used for achieving temperature monitoring, pressure detection monitoring and motor output torque monitoring. Intelligentization of the grinding process is achieved, and the grinding quality and the grinding efficiency of the whole grinding process are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field related to automated processing of grinding equipment, and in particular relates to an automated control system using multi-sensor fusion suitable for automatic grinding equipment. Background Art

[0002] As the demand for inertial navigation equipment increases year by year in my country's equipment development, the demand for various types of buffer bases also increases. The problems existing in the manual assembly and grinding process of ball hinges are becoming increasingly prominent, and have become a bottleneck process restricting the production progress of buffer bases. At the same time, with the development of industrial technology, the demand for precision mechanical parts is increasing. As a key transmission component, ball hinges are also used in various precision mechanical systems. Therefore, higher requirements are placed on processing accuracy and surface quality, which further promotes the research and development and application of ball hinge grinding equipment.

[0003] In order to meet the processing needs of precision ball hinges, it is necessary to develop automated ball hinge grinding equipment that can realize automated grinding of the ball hinge base, improve product sealing efficiency and product consistency; can correct the geometric shape of the ball hinge, ensure the matching accuracy of the spherical head and the inner cavity of the ball hinge, and improve the overall assembly quality; can realize fine machining of the ball hinge surface, remove tiny defects and roughness, and improve surface quality and accuracy; the ball hinge surface is smoother after grinding, which helps reduce wear and friction and increase service life.

[0004] The automatic ball hinge grinding equipment should include the part for fixing the workpiece, the grinding processing part, the grinding liquid supply part and the control system, among which the part for fixing the workpiece includes the ball seat clamping and fixing mechanism and the ball cover floating clamping mechanism. Among them, the control system is used to realize the work of other parts and plays a very key role in realizing automatic grinding. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention proposes an automatic control system for multi-sensor fusion used in automatic grinding equipment.

[0006] The above-mentioned object of the present invention is achieved by the following technical solutions:

[0007] An automatic control system for multi-sensor fusion of automatic grinding equipment, the automatic grinding equipment includes a ball seat clamping and fixing mechanism, a ball pressure cover floating clamping mechanism, a grinding processing part and a grinding liquid supply part; the ball seat clamping and fixing mechanism adopts a single-side wedge-shaped clamping mechanism, and the clamping control is realized by a thrust electromagnet arranged on the upper part, and the other side adopts an elastic top pressure structure matched with the side wedge-shaped clamping mechanism to realize the fixing of the ball seat on the bottom of the base; the ball pressure cover floating clamping mechanism adopts a downward pressure bracket structure to clamp the ball pressure cover; the grinding processing part is composed of a servo motor drive, an intermediate transmission mechanism and a spherical grinding tool, which is used to realize the self-rotation and rotation of the spherical grinding tool; the grinding liquid supply part is used to realize the provision of sufficient grinding liquid during the grinding process, and mainly includes a grinding liquid collection box, a grinding liquid circulation pump and a grinding liquid output pipeline;

[0008] The automatic control system includes a power module, a drive module, a human-computer interaction interface, a liquid level control module, a control module, and a grinding process monitoring module;

[0009] The power module is used to supply power to the servo motor, the human-machine interface, the control module, and the related solenoid valves and sensors;

[0010] The driving module is composed of a servo motor, a motor driver and a push-pull electromagnet; the servo driver is used to receive the position speed signal output by the control module, and drives the spherical grinding tool to rotate by controlling the rotation of the servo motor, and the push-pull electromagnet is opened and closed by a relay;

[0011] The human-computer interaction interface is used to display the current status and operation data information of the control system to the user, and allows the user to send instructions to the control system through the interface; at the same time, the status information, alarm information and operation process of the grinding system during operation are recorded;

[0012] The liquid level control module is composed of a liquid level sensor and a flow sensor, etc. The liquid level sensor is installed in the grinding liquid collection box, and the hydraulic pressure sensor is installed on the grinding liquid output pipeline and located behind the grinding liquid circulation pump, respectively realizing the liquid level control and flow control of the grinding liquid;

[0013] The control module includes a programmable controller and a motion controller, the programmable controller is the overall control module, and the motion controller is the servo motor control module; the control module is used to realize signal acquisition and processing of each sensor, and according to the acquired signals, through preset program instructions, accurately control the key parameters of the grinder such as start, stop, speed adjustment, and grinding time;

[0014] The grinding process monitoring module is used to realize temperature monitoring, pressure detection monitoring and motor output torque monitoring; it includes a temperature sensor and a pressure sensor; the temperature sensor is installed at the bottom of the base, and is used to detect in real time the heat generated and transmitted to the bottom of the base during the grinding process; the pressure sensor is installed between the ball pressure cover and the downward pressure bracket, and is used to monitor the extrusion force generated on the installation of the downward pressure bracket, and the grinding effect is monitored by monitoring the pressure value.

[0015] Moreover, the power supply module is composed of a 220V power supply, a 24V power supply and a 12V power supply.

[0016] The advantages and positive effects of the present invention are:

[0017] 1. This multi-sensor fusion automation control system realizes the fully automatic processing of ball hinge grinding. At the same time, in order to optimize the grinding process and improve the grinding quality, multiple sensors are added to monitor the grinding process in real time, timely optimize the non-conforming parameters in the grinding process, improve the intelligent control of the grinding process, and ensure the reliability of the grinding process.

[0018] 2. This grinding control system jointly determines the grinding effect through the monitoring of multiple sensors. Only when the control system determines that these values ​​meet the standards can it determine that the grinding effect meets the standards and output the grinding end signal. The grinding effect is judged by the fusion of multiple sensors to avoid the problem of inaccurate single judgment value. At the same time, adding multiple sensor monitoring realizes the intelligentization of the grinding process and improves the grinding quality and efficiency of the overall grinding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the mechanical structure of the main body of the automatic grinding equipment applicable to the present invention.

[0020] Figure 2 It is a structural schematic diagram of a workpiece fixing portion in a mechanical structure body portion of an automatic grinding device to which the present invention is applicable;

[0021] Figure 3 It is a composition diagram of the automatic grinding machine control system of the present invention;

[0022] Figure 4 It is a control principle diagram of the automatic grinding machine control system of the present invention. DETAILED DESCRIPTION

[0023] The structure of the present invention is further described below with reference to the accompanying drawings and by way of examples. It should be noted that the present examples are descriptive rather than restrictive.

[0024] The automated grinding equipment is mainly composed of a mechanical body and a control system. The mechanical body part includes a ball seat clamping and fixing mechanism 3, a ball pressure cover floating clamping mechanism 4, a grinding processing part 2 and a grinding liquid supply part 1. The ball seat clamping and fixing mechanism adopts a single-sided wedge-shaped clamping mechanism, and the clamping control is realized by a thrust electromagnet 3.1 arranged on the upper part. The other side adopts an elastic top pressure structure that cooperates with the side wedge-shaped clamping mechanism to fix the ball seat 5 on the bottom of the base. The ball pressure cover floating clamping mechanism adopts a downward pressure bracket structure to clamp the ball pressure cover 6. The grinding processing part is driven by a servo motor, an intermediate transmission mechanism and a spherical grinding tool 7 (equivalent to the ball journal of the ball hinge), which is used to realize the self-rotation and rotation of the spherical grinding tool. The grinding liquid supply part realizes the provision of sufficient grinding liquid during the grinding process, and mainly includes a grinding liquid collection box, a grinding liquid circulation pump and a grinding liquid output pipeline. The grinding liquid circulation pump adopts an electric diaphragm pump.

[0025] The control system includes a control cabinet, which mainly includes a power module, a control module, a drive module, a human-machine interaction module, a liquid level control module, a control module and a grinding process monitoring module. The control system is mainly responsible for completing the automatic control and process monitoring of the mechanical body. The grinding mechanism is driven and the process is monitored through the servo motor, the grinding liquid control loop and the fusion control of multiple sensors to realize the automatic and intelligent grinding of the ball hinge.

[0026] Power module:

[0027] The power module is mainly composed of 220V power supply, 24V power supply and 12V power supply, which respectively power the servo motor, human-machine interface, control module and related solenoid valves and sensors.

[0028] Driver module:

[0029] The drive module is mainly composed of a servo motor, a motor driver and a push-pull electromagnet. The servo motor is connected to the rod of the spherical grinding tool through a planetary gear reduction device and a coupling. The servo driver receives the position speed signal output by the control module, controls the rotation of the servo motor and drives the spherical grinding tool to rotate, and finally realizes the grinding of the ball hinge;

[0030] The control module logic output controls the opening and closing of the push-pull electromagnet by controlling the relay to realize the extension and retraction of the push-pull electromagnet. During the grinding process, it mainly realizes the automatic compression of the ball seat, providing guarantee for the realization of the automatic grinding process. Human-computer interaction module:

[0031] The human-machine interaction interface can show the user the current status of the control system, operating data and other information, helping the user to understand the system status in real time; allowing the user to send instructions to the control system through the interface, such as setting parameters, starting and stopping operations, etc.; at the same time, the status information, alarm information and operation process of the grinding system during operation can be recorded. The human-machine interaction interface can realize the rapid and intuitive transmission of status information, providing a good communication bridge between the user and the grinding control system.

[0032] Liquid level control module

[0033] The liquid level control module is mainly composed of a liquid level sensor and a flow sensor. The liquid level sensor is installed in the grinding liquid collection box, and the hydraulic pressure sensor is installed on the grinding liquid output pipeline behind the grinding liquid circulation pump to respectively realize the liquid level control and flow control of the grinding liquid. The liquid level sensor mainly monitors the change of the liquid level in real time, and reminds the user to add grinding liquid according to the preset threshold value to maintain the reasonable range of the liquid level.

[0034] At the same time, in order to prevent the grinding fluid from being blocked by impurities, sediments, etc. during the grinding process, on the one hand, a filter is added above the grinding fluid collection box during the recovery process of the grinding fluid to filter out larger impurities. At the same time, a liquid flow sensor is installed on the grinding fluid output pipeline. Once the flow detection is abnormal, an alarm signal is immediately issued through the human-machine interface to remind the operator to deal with it in time.

[0035] Control Module:

[0036] As the core command unit of the entire grinding process, the control module mainly includes a programmable controller and a motion controller. The programmable controller is the general control module, and the motion controller is the servo motor control module. The control module adopts advanced programmable control technology. The control module not only integrates high-precision sensor signal acquisition and processing functions, but also has powerful logic control, servo control and data processing capabilities. Through preset program instructions, the key parameters of the grinder such as start, stop, speed adjustment, grinding time, etc. can be accurately controlled to ensure the efficiency and stability of the grinding process. At the same time, various types of information transmitted back by multiple sensors are processed one by one. On the one hand, unexpected situations received by the sensors during the grinding process are handled in a timely manner. At the same time, the grinding process is monitored in real time through sensors to ensure that the grinding effect of the ball hinge is optimal, and the grinding is automatically stopped, the grinding results are reported, and data is recorded and other related operations are performed.

[0037] In addition, the control module also includes an AD conversion module, which can convert the received sensor information, such as temperature, pressure and other analog information, into digital signals and transmit them to the programmable controller main control module to determine the working conditions of the equipment during operation and make timely adjustments.

[0038] Grinding process monitoring module:

[0039] The grinding process monitoring module is a vital part of the grinding system. It is mainly responsible for real-time monitoring of key parameters in the grinding process to ensure grinding quality and efficiency. This mainly includes temperature monitoring, pressure detection and motor output torque.

[0040] Temperature monitoring mainly uses a temperature sensor 9 installed at the bottom of the base, which can detect in real time the heat generated and transferred to the bottom of the base during the grinding process. During the grinding process, a large amount of heat will be generated due to the friction between the ball of the ball hinge (the ball head part of the spherical grinding tool) and the base. If this heat is not effectively controlled and monitored, it may cause thermal deformation of the workpiece and cause quality problems. At the same time, heat monitoring can be used as one of the judgment indicators of the grinding effect.

[0041] Pressure monitoring is achieved by installing a pressure sensor 8 on the back of the ball hinge. The sensor is installed between the ball pressure cover and the downward pressure bracket. By monitoring the pressure value of the pressure sensor, the extrusion force generated on the downward pressure bracket during the grinding process of the ball and the ball pressure rod can be judged. The grinding effect can be monitored by monitoring the pressure value, and it can also be used as one of the judgment indicators of the grinding effect.

[0042] The motor output torque is one of the important indicators to measure the performance of the servo motor, and it is also of great significance to the grinding process. During the grinding process, the motor output torque is collected and monitored in real time, and converted into electrical signals for processing. This data can be used to monitor the grinding abnormalities during the grinding process, and can also be used to measure the resistance of the ball hinge during the grinding process, and can also be used as one of the indicators to judge the grinding effect.

[0043] In summary, the grinding process monitoring module realizes comprehensive monitoring and real-time adjustment of the grinding process through temperature monitoring, pressure monitoring and motor output monitoring, which plays an important role in improving the grinding quality.

[0044] The process of automatic grinding of ball hinges using the automatic control system of multi-sensor fusion is as follows:

[0045] 1. Manually install and place the ball hinge at the position to be ground;

[0046] 2. Turn on the power switch, wait for the human-machine interface to display normally, click the automatic clamping button, the push-pull electromagnet is energized, the ball hinge is automatically clamped through the unilateral wedge-shaped clamping mechanism, and the ball cover is pressed down by the bracket and pressure sensor;

[0047] 3. Observe the human-machine interface to check whether the grinding liquid level and other sensor status displays are normal;

[0048] 4. After checking that everything is normal, click the start grinding button and the equipment will start automatically grinding the ball hinge;

[0049] 5. If an alarm occurs during the grinding process, the operator should handle it in time;

[0050] 6. After grinding for a while, when the human-machine interface prompts the operator that the grinding is completed, the system automatically stops and sends a signal that the grinding is completed;

[0051] 7. The operator clicks the button to remove the ball hinge, opens the automatic clamping tooling, and removes the ground ball hinge;

[0052] 8. Load the next batch of ball hinges to be ground or turn off the power to complete a grinding cycle.

[0053] Multi-sensor fusion grinding control process:

[0054] The ball hinge grinding process is mainly controlled by the temperature sensor, pressure sensor and motor output torque detection. Only when the detection values ​​of the three meet the standard values ​​can it be determined that the grinding quality meets the standard and the grinding process is completed.

[0055] Temperature monitoring: Temperature monitoring is the real-time detection of the heat generated during the grinding process of the ball hinge. It has two main functions. On the one hand, if a sharp increase in temperature is detected, it proves that there is a problem with the input of the grinding fluid, and it is necessary to detect whether the grinding fluid is unobstructed. The grinding fluid has the function of improving the grinding effect and reducing the grinding temperature; on the other hand, it can be judged by observing the temperature curve whether the grinding effect is up to standard. At the beginning of normal grinding, since the surface of the ball is relatively rough and the temperature generated is relatively high, the temperature is relatively high at the beginning and has a certain volatility. In the later stage of grinding, when the surface of the grinding ball is relatively smooth, less heat is generated, and the temperature will decrease and remain stable, which proves that the grinding quality has reached the standard. From the perspective of temperature monitoring, the grinding can be ended.

[0056] Pressure monitoring: The pressure sensor is installed between the ball pressure cover and the lower pressure bracket, and mainly detects the squeezing force of the inner ball on the upper cover of the ball hinge. At the beginning of grinding, due to the irregular surface of the inner ball, the upper cover will be squeezed during the grinding rotation, and the detected pressure value will fluctuate and the pressure value will be large. When the grinding reaches the later stage and the grinding effect meets the standard, the pressure value should be stable and the pressure value will be small. At the same time, the roundness of the inner ball can be detected by the pressure value. If the roundness of the inner ball is not standard, the pressure value will be displayed as a curve. When it meets the standard, the pressure value should be a low-pressure stable straight line.

[0057] Motor output torque monitoring: During the rotation of the motor, the output torque of the motor can be collected in real time. It mainly detects the friction between the inner ball and the base and ball cover of the ball hinge. The motor output torque is proportional to the friction. The greater the friction, the greater the torque. Therefore, with the grinding process, the torque should gradually decrease and stabilize. When the pressure value stabilizes at a certain value and maintains for a period of time, it proves that the grinding effect meets the standard. At the same time, the motor output torque can determine whether the ball hinge can be ground normally at the beginning. If the initial torque value is too large and exceeds the set standard value, there may be a large size deviation inside the ball hinge. The deviation part needs to be processed before grinding, otherwise it will cause scratches on the inside of the ball hinge, causing quality problems.

[0058] In summary, the grinding control system jointly determines the grinding effect through the monitoring of multiple sensors. Only when the control system determines that these values ​​meet the standards can it determine that the grinding effect meets the standards and output the grinding end signal. The grinding effect judgment method based on multiple sensor fusion avoids the problem of inaccurate single judgment value. At the same time, adding multiple sensor monitoring realizes the intelligentization of the grinding process and improves the grinding quality and efficiency of the overall grinding process.

[0059] Although the embodiments and drawings of the present invention are disclosed for illustrative purposes, those skilled in the art will appreciate that various substitutions, changes and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. An automatic control system for multi-sensor fusion of automatic grinding equipment, the automatic grinding equipment includes a ball seat clamping and fixing mechanism, a ball pressure cover floating clamping mechanism, a grinding processing part and a grinding liquid supply part; the ball seat clamping and fixing mechanism adopts a single-side wedge clamping mechanism, and the clamping control is realized by a thrust electromagnet arranged on the upper part, and the other side adopts an elastic top pressure structure that cooperates with the side wedge clamping mechanism to realize the fixing of the ball seat on the bottom of the base; the ball pressure cover floating clamping mechanism adopts a downward pressure bracket structure to clamp the ball pressure cover; the grinding processing part is driven by a servo motor, an intermediate transmission mechanism and a spherical grinding tool, which is used to realize the self-rotation and rotation of the spherical grinding tool; the grinding liquid supply part is used to provide enough grinding liquid during the grinding process, and mainly includes a grinding liquid collection box, a grinding liquid circulation pump and a grinding liquid output pipeline; it is characterized in that: The automatic control system includes a power module, a drive module, a human-computer interaction interface, a liquid level control module, a control module, and a grinding process monitoring module; The power module is used to supply power to the servo motor, the human-machine interface, the control module, and the related solenoid valves and sensors; The driving module is composed of a servo motor, a motor driver and a push-pull electromagnet; the servo driver is used to receive the position speed signal output by the control module, and drives the spherical grinding tool to rotate by controlling the rotation of the servo motor, and the push-pull electromagnet is opened and closed by a relay; The human-computer interaction interface is used to display the current status and operation data information of the control system to the user, and allows the user to send instructions to the control system through the interface; at the same time, the status information, alarm information and operation process of the grinding system during operation are recorded; The liquid level control module is composed of a liquid level sensor and a flow sensor, etc. The liquid level sensor is installed in the grinding liquid collection box, and the hydraulic pressure sensor is installed on the grinding liquid output pipeline and located behind the grinding liquid circulation pump, respectively realizing the liquid level control and flow control of the grinding liquid; The control module includes a programmable controller and a motion controller, the programmable controller is the overall control module, and the motion controller is the servo motor control module; the control module is used to realize signal acquisition and processing of each sensor, and according to the acquired signals, through preset program instructions, accurately control the key parameters of the grinder such as start, stop, speed adjustment, and grinding time; The grinding process monitoring module is used to realize temperature monitoring, pressure detection monitoring and motor output torque monitoring; It includes a temperature sensor and a pressure sensor; the temperature sensor is installed at the bottom of the base to detect in real time the heat generated and transferred to the bottom of the base during the grinding process; the pressure sensor is installed between the ball pressure cover and the downward pressure bracket to monitor the extrusion force generated on the installation of the downward pressure bracket, and the grinding effect is monitored by monitoring the pressure value.

2. The multi-sensor fusion automation control system for automatic grinding equipment according to claim 1 is characterized in that: The power supply module is composed of a 220V power supply, a 24V power supply and a 12V power supply.

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