A multi-station precision control system with RTCP and force control compensation function and a control method thereof

Abstract

The present application relates to a kind of multi-station with RTCP and force control compensation function precision control system and its control method.The system includes execution path movement axis X, Y, Z, A and multiple independent workpiece rotation axis C, can realize multi-station synchronous operation and accurate compensation.Through setting compensation servo motor and multidimensional pressure sensor, system can real-time detection and adjust pressure value, realize closed loop force control compensation, ensure the mechanical stability and precision in processing process.Execution path movement axis A can be moved up and down along Z axis direction, and with execution path movement axis X parallel rotation, to adapt to different process requirements.System is enabled by RTCP function, planning interpolation path, executes force control compensation control etc., ensure that each station pressure value meets the set requirement, reach high-precision machining effect.The multi-station precision control system of the present application has significant advantages in improving machining precision, efficiency and automation level, and is widely used in precision machining field.

Description

Technical Field

[0001] This invention relates to a precision control system, and more particularly to a multi-station control system and control method with RTCP (rotary coordinate transformation) and force control compensation functions. It is widely used in the field of precision machining, especially in automated machining processes, and can realize multi-station synchronous operation and force control compensation. Background Technology

[0002] With the continuous development of modern manufacturing technology, the demand for precision machining equipment is increasing, especially in the fields of multi-station synchronous operation and force control compensation. While existing multi-station machining systems exist, most suffer from insufficient motion control precision, limited compensation capabilities, and an inability to effectively achieve multi-dimensional force control compensation, making it difficult to meet the high-precision production requirements. Therefore, a new system and method are urgently needed to solve these problems. Summary of the Invention

[0003] The purpose of this invention is to provide a precision control system and control method with RTCP and force control compensation functions for multi-station machining, which can achieve precise path control and force control compensation in multi-station machining, and significantly improve machining accuracy and efficiency.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] 1. A precision control system with multi-station RTCP and force control compensation functions, including execution path motion axes X, Y, Z, A and multiple independent multi-station workpiece rotation axes C. The motion axes and workpiece rotation axes together constitute the execution path motion mechanism, which can realize multi-station synchronous operation and precise compensation.

[0006] 2. Multiple independent workpiece rotation axes C are evenly arranged on the execution path motion axis X. The workpiece rotation axis C can rotate clockwise or counterclockwise and is composed of multiple independent modules. Each module is equipped with multiple compensating servo motors in multiple directions, which can process multiple workpieces at the same time.

[0007] 3. The execution path motion axis A is mounted on the execution path motion axis Z and has the function of moving up and down. The execution path motion axis A is a rotation axis, and the rotation axis is parallel to the execution path motion axis X, which can perform multi-dimensional precise control.

[0008] 4. The X, Y, and Z axes of the execution path are orthogonal to each other, enabling precise left-right, forward-backward, and up-down movements, respectively.

[0009] 5. Multiple compensating motion axes and multi-dimensional pressure sensors are set below the workpiece rotation axis C to form a complete closed-loop control system, which can realize precision machining with RTCP and force control compensation.

[0010] 6. Each workpiece rotation axis C includes X1 axis, Y1 axis and Z1 axis drive units, which can drive the workpiece rotation axis C to move in multiple directions to ensure the stability of the workpiece during processing.

[0011] 7. A workpiece clamping part is provided at the top of each workpiece rotation axis C. The clamping device moves in multiple dimensions together with the workpiece rotation axis C to ensure machining accuracy.

[0012] 8. The grinding tool is set on the Z-axis of the execution path. The grinding tool is adjusted with the up and down movement of the Z-axis to achieve precise grinding operations.

[0013] 9. The system operates through the following steps: starting the system, enabling the RTCP function, planning and executing the set interpolation path, enabling independent multi-dimensional force control compensation, real-time pressure detection by the force sensor, and adjusting system control based on feedback data.

[0014] The beneficial effects of this invention are as follows:

[0015] This invention, by introducing RTCP function and multi-dimensional force control compensation technology, can significantly improve the accuracy and efficiency of multi-station synchronous processing. Especially when processing workpieces with high precision requirements, it can effectively compensate for errors generated during processing, ensuring the stability and consistency of product quality. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the process structure of the present invention. Detailed Implementation

[0018] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] like Figure 1 As shown, the present invention includes execution path motion axes X, Y, Z, and A, and an independent multi-station workpiece rotation axis C. The motion axes and the workpiece rotation axis together constitute the execution path motion mechanism, which can realize multi-station synchronous operation and precise compensation.

[0020] Multiple independent workpiece rotation axes C are evenly arranged on the execution path motion axis X. The workpiece rotation axis C can rotate clockwise or counterclockwise on the execution path motion axis X. It is composed of multiple independent modules, each equipped with a multi-directional compensation servo motor, which can process multiple workpieces simultaneously.

[0021] The execution path motion axis A is mounted on the execution path motion axis Z and can move up and down along the Z-axis. The execution path motion axis A also has a rotation function, and its rotation axis is parallel to the execution path motion axis X.

[0022] The execution path motion axes X, Y and Z are orthogonal to each other and have the ability to move left and right, forward and backward and up and down respectively, which can achieve precise spatial positioning.

[0023] Multiple compensating motion axes and multi-dimensional pressure sensors are installed below the workpiece rotation axis C, forming a complete closed-loop control system that can achieve precision machining with RTCP and force control compensation.

[0024] Each workpiece rotation axis C includes X1 axis, Y1 axis, and Z1 axis drive units, which can drive the workpiece rotation axis C to move left and right, forward and backward, and up and down in various directions.

[0025] Each workpiece rotation axis C is equipped with a workpiece clamping device at its top. The clamping device moves in multiple dimensions along with the workpiece rotation axis C to ensure the stability of the workpiece during processing.

[0026] The grinding wheel is mounted on the Z-axis of the execution path. The grinding wheel is adjusted as the Z-axis moves up and down to achieve precise grinding operations.

[0027] The system operates through the following steps:

[0028] Step 1: Start the system;

[0029] Step 2: Enable RTCP functionality;

[0030] Step 3: The system plans and executes the set interpolation path;

[0031] Step 4: Enable independent multi-dimensional force control compensation;

[0032] Step 5: The force sensor detects and feeds back the pressure values ​​on the X, Y, and Z axes in real time;

[0033] Step 6: The force sensor feeds the data back to the control system via an amplifier;

[0034] Step 7: The system compares the feedback pressure value with the set value;

[0035] Step 8: The system continues to run and monitors the pressure values ​​of the X, Y, and Z axes in real time;

[0036] Step 9: End the program.

[0037] In step 7, when the system calculates that the actual pressure value is consistent with the set value, the system continues to step 8; if they are inconsistent, the system independently calculates the X, Y, and Z axis compensation for each station and sends the compensation command to the compensation motion mechanism of each station. The pressure is adjusted through the compensation motion axis to ensure precise force control at each station.

[0038] Example 1:

[0039] like Figure 1 As shown, the multi-station precision control system with RTCP and force control compensation functions includes execution path motion axes X, Y, Z, and A, and multiple independent workpiece rotation axes C. The multiple workpiece rotation axes C are evenly arranged on the execution path motion axes X, and each workpiece rotation axis C can perform multi-dimensional movements (left-right, forward-backward, and up-down) via a drive unit. The system is also equipped with a compensation servo motor, pressure sensors, etc., for real-time detection of pressure data during the processing and feedback adjustment through the control system.

[0040] Example 2:

[0041] like Figure 1 As shown, the execution path motion axis A is mounted on the execution path motion axis Z, and the rotation axis of the execution path motion axis A is parallel to the execution path motion axis X, enabling clockwise or counterclockwise rotation, thereby achieving precise path control and compensation.

[0042] Example 3:

[0043] like Figure 1 As shown, each workpiece rotation axis C consists of multiple drive units, including X1 axis, Y1 axis and Z1 axis drive units, which can drive the workpiece rotation axis C to perform multi-dimensional movements in various directions, ensuring the stability of the workpiece during the processing.

[0044] Operating instructions:

[0045] The control method of the present invention mainly includes the following steps:

[0046] 1. Start the system: The system initializes and performs a self-test.

[0047] 2. Enable RTCP function: Activate the disk coordinate transformation function.

[0048] 3. Plan and execute the set interpolation path: Plan the path according to the process requirements and start execution.

[0049] 4. Enable independent multi-dimensional force compensation control: Enable the multi-dimensional force compensation function to monitor pressure in real time through force sensors.

[0050] 5. Force sensor feedback pressure value: The pressure value is input to the control system through a feedback mechanism.

[0051] 6. System adjustment and continued processing: Adjust the compensation amount of each station according to the pressure value to ensure accuracy.

[0052] The precision control system and control method with multi-station RTCP and force control compensation functions provided by this invention can significantly improve machining accuracy and efficiency, and has high market application value. Through the detailed description of the above embodiments, those skilled in the art can understand and implement the technical solution of this invention, and its implementation does not need to deviate from the technical concept of this invention.

[0053] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A precision control system with multi-station RTCP and force control compensation functions, characterized in that: It includes the execution path motion axes X, Y, Z, and A, as well as the independent multi-station workpiece rotation axis C. The motion axes and the workpiece rotation axis together constitute the execution path motion mechanism, which can realize multi-station synchronous operation and precise compensation.

2. The system according to claim 1, characterized in that: Multiple independent workpiece rotation axes C are evenly arranged on the execution path motion axis X. The workpiece rotation axis C can rotate clockwise or counterclockwise on the execution path motion axis X. It is composed of multiple independent modules, each equipped with a multi-directional compensation servo motor, which can process multiple workpieces simultaneously.

3. The system according to claim 1, characterized in that: The execution path motion axis A is mounted on the execution path motion axis Z and can move up and down along the Z-axis. The execution path motion axis A has a rotation function, and its rotation axis is parallel to the execution path motion axis X.

4. The system according to claim 1, characterized in that: The execution path's motion axes X, Y, and Z are orthogonal to each other and have left-right, forward-backward, and up-down motion capabilities, enabling precise spatial positioning.

5. The system according to claim 1, characterized in that: Multiple compensating motion axes and multidimensional pressure sensors are installed below the workpiece rotation axis C, forming a complete closed-loop control system that can realize precision machining with RTCP and force control compensation.

6. The system according to claim 1, characterized in that: Each workpiece rotation axis C includes X1 axis, Y1 axis, and Z1 axis drive units, which can drive the workpiece rotation axis C to move left and right, forward and backward, and up and down in various directions.

7. The system according to claim 1, characterized in that: Each workpiece rotation axis C is equipped with a workpiece clamping device at its top. The clamping device moves in multiple dimensions along with the workpiece rotation axis C to ensure the stability of the workpiece during processing.

8. The system according to claim 1, characterized in that: The grinding wheel is mounted on the Z-axis of the execution path. The grinding wheel is adjusted as the Z-axis moves up and down to achieve precise grinding operations.

9. The system according to claim 1, characterized in that: The system operates through the following steps: Step 1: Start the system; Step 2: Enable RTCP functionality; Step 3: The system plans and executes the set interpolation path; Step 4: Enable independent multi-dimensional force control compensation; Step 5: The force sensor detects and feeds back the pressure values ​​on the X, Y, and Z axes in real time; Step 6: The force sensor feeds the data back to the control system via an amplifier; Step 7: The system compares the feedback pressure value with the set value; Step 8: The system continues to run and monitors the pressure values ​​of the X, Y, and Z axes in real time; Step 9: End the program.

10. The system according to claim 9, characterized in that: In step 7, when the system calculates that the actual pressure value is consistent with the set value, the system continues to step 8; if they are inconsistent, the system independently calculates the X, Y, and Z axis compensation for each station and sends the compensation command to the compensation motion mechanism of each station. The pressure is adjusted through the compensation motion axis to ensure precise force control at each station.

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