Grinding and polishing disc grabbing servo control system

Abstract

The utility model discloses a grinding and polishing disc grabbing servo control system, which is used for solving the technical problem that the existing grinding and polishing disc grabbing system is an analog open-loop control system, cannot perform feedback and error correction of actual parameters and affects the grabbing precision of a grinding and polishing hand to a certain extent, and belongs to the technical field of servo control systems. The grinding and polishing device comprises a servo electric cylinder, a servo motor, a grinding and polishing hand and a grinding disc frame, a piston rod of the servo electric cylinder drives the grinding and polishing hand to linearly move up and down, the servo electric cylinder is fixed to a grinding and polishing machine frame, the servo motor drives the grinding and polishing hand to rotate in the horizontal direction, the grinding disc frame is installed on a third installation frame, and a displacement sensor and an angle sensor are arranged on the third installation frame. The displacement sensor is electrically connected with a first regulator, the first regulator is electrically connected with a first encoder, the first encoder is electrically connected with the control end of the servo electric cylinder, the angle sensor is electrically connected with a second regulator, the second regulator is electrically connected with a second encoder, and the second encoder is electrically connected with the control end of the servo motor.

Description

Technical Field

[0001] The utility model belongs to the technical field of servo control systems, in particular to a grinding and polishing disc grabbing servo control system. Background Art

[0002] With the rapid development of information technology in my country, hydraulic servo control systems are becoming increasingly popular among designers in automated production and inspection and testing technologies. As important equipment for material surface treatment and metallographic analysis, grinders and polishers are not only widely used in scientific research and teaching, but also play a vital role in industrial production. They can perform fine processing on materials, improve their appearance and performance, and enhance product quality and competitiveness. Among them, the gripping of the grinding and polishing disc is a crucial operating step in grinders and polishers, and is crucial to their efficiency and quality. Currently, most grinders and polishers use manual or open-loop control systems for the gripping of their grinding and polishing discs, resulting in low gripping efficiency and accuracy, which, to a certain extent, affects product production. Therefore, this design utilizes a grinding and polishing disc gripping servo control system that can effectively improve the gripping efficiency and quality of the grinding and polishing discs to meet the needs of the rapid development of automated control technology in industrial production in my country. Utility Model Content

[0003] The purpose of the utility model is to provide a grinding and polishing disc grabbing servo control system, which is used to solve the technical problem that the existing grinding and polishing disc grabbing system is an analog open-loop control system that cannot provide feedback and error correction of actual parameters, which affects the grabbing accuracy of the grinding and polishing hand to a certain extent.

[0004] The utility model is realized by adopting the following technical solutions:

[0005] A grinding and polishing disc grabbing servo control system includes a servo electric cylinder fixed to a grinding and polishing machine frame, a servo motor, a grinding and polishing hand, and a grinding disc frame mounted on a third mounting frame. The servo electric cylinder piston rod drives the grinding and polishing hand to move linearly up and down, and the servo motor drives the grinding and polishing hand to rotate horizontally. A displacement sensor and an angle sensor are provided on the third mounting frame. The displacement sensor is electrically connected to a regulator 1, which is electrically connected to an encoder 1, which is electrically connected to a control end of the servo electric cylinder. The angle sensor is electrically connected to a regulator 2, which is electrically connected to an encoder 2, which is electrically connected to a control end of the servo motor.

[0006] When used, the servo electric cylinder realizes the up and down movement of the grinding and polishing hand, and the servo motor realizes the rotation of the grinding and polishing hand. When the grinding and polishing hand is working, the initial signals are first set in regulator one and regulator two according to the process requirements, that is, the set displacement of the servo electric cylinder and the set angle of the servo motor.

[0007] Start the servo electric cylinder to drive the rotating grinding and polishing hand to the set displacement. After the actual displacement test value transmitted by the displacement sensor is compared with the regulator, the deviation value is given. This deviation value is then input into the encoder as the control quantity. The encoder controls the servo electric cylinder to correct the deviation and achieve accurate height positioning.

[0008] The servo motor is started to drive the rotating grinding and polishing hand to the set angle. After the actual angle test value transmitted by the angle sensor is compared with the regulator 2, the deviation value is given. This deviation value is then input into the encoder 2 as the control quantity. The encoder 2 controls the servo motor to correct the deviation and accurately achieve angle positioning; the grinding and polishing hand is driven to continue to move downward by the servo electric cylinder, and the grinding and polishing hand can perform the clamping action. The above movement process is repeated continuously to complete the precise clamping of grinding and polishing discs of different precisions.

[0009] Further preferably, the polishing arm includes a bidirectional cylinder and left and right clamping arms, and the bidirectional cylinder realizes the locking and loosening of the left and right clamping arms, and can stably control the left and right clamping arms.

[0010] Further preferably, force sensors are provided on the inner sides of the left and right clamping arms, each of which is electrically connected to a cylinder control valve. During operation, the bidirectional cylinder is activated, the left and right clamping arms open, clamping the polishing disc. After the force sensor readings are observed and confirmed to be clamped, the servo motor is activated to drive the polishing arm to rotate, placing the polishing disc on a designated workbench.

[0011] Further preferably, a return spring is provided on the inner side of the left and right clamping arms respectively, one end of the return spring is connected to the inner side of the left and right clamping arms, and the other end is connected to the two-way cylinder, which is beneficial for automatically restoring the original position through the return spring if the left and right clamping arms are stuck.

[0012] Further preferably, the grinding and polishing hand also includes a transverse guide groove, which is installed on the upper side of the bidirectional cylinder. Two transverse grooves are provided on the lower end surface of the transverse guide groove. The left and right clamping arms can reciprocate in the transverse groove of the transverse guide groove under the drive of the bidirectional cylinder, which is conducive to the stable transverse movement of the left and right clamping arms.

[0013] Further preferably, a mounting frame 1 is mounted on the grinding and polishing machine frame by bolts, and the servo electric cylinder is fixed to the mounting frame 1 by bolts.

[0014] Further preferably, it also includes a guide groove and a slider, the guide groove is fixed to the grinding and polishing machine frame by bolts and is located directly below the servo electric cylinder, the slider can slide up and down in the guide groove, and the grinding and polishing hand is connected to the lower side of the servo electric cylinder through the slider, which is conducive to the stable up and down movement of the grinding and polishing hand.

[0015] Further preferably, the grinding and polishing hand further includes a second mounting frame, and the grinding and polishing hand is connected to the slider via the second mounting frame.

[0016] Further preferably, the servo motor is mounted on the upper portion of the second mounting frame via a mounting block, and the mounting block is fixed to the second mounting frame via bolts.

[0017] Further preferably, the grinding and polishing hand also includes a rotating shaft, which is fixedly connected to the output shaft of the servo motor. The rotating shaft is fixed by two sets of upper and lower bearing assemblies and extends out of the lower part of the mounting frame.

[0018] Further preferably, the grinder and polisher also includes a cylinder rotating frame, one end of the cylinder rotating frame is mounted on the part of the mounting frame 2 extending from the lower part of the rotating shaft, and the shaft end is fixed with a fixing bolt to realize the synchronous rotation of the cylinder rotating frame and the rotating shaft, the other end of the cylinder rotating frame is fixedly connected to the bidirectional cylinder, and the left and right clamping arms are respectively fixed on the piston rods at both ends of the bidirectional cylinder.

[0019] Further preferably, the mounting frame three is equipped with nine grinding disc racks, which can hold grinding and polishing discs of nine kinds of precision. The nine kinds of grinding and polishing discs are placed on the grinding disc racks in sequence. The number of the displacement sensors is the same as the number of the grinding and polishing discs, which are respectively fixed on the mounting frame three on the upper side of each grinding disc rack.

[0020] Further preferably, the angle sensor is fixed to the upper end of the mounting frame three.

[0021] Further preferably, the regulator 1 amplifies the deviation value through a PID amplifier and inputs it into encoder 1 as a control quantity, and the regulator 2 amplifies the deviation value through a PID amplifier and inputs it into encoder 2 as a control quantity.

[0022] The utility model fixes the grinding and polishing hand on the piston rod of the servo electric cylinder, adopts the servo electric cylinder to drive the up and down movement of the grinding and polishing hand, the servo motor realizes the rotation of the grinding and polishing hand, and the bidirectional cylinder realizes the locking and loosening of the left and right clamping arms. At the same time, force sensors are added on the inner sides of the left and right clamping arms, and displacement sensors and angle sensors are added to the grinding disc rack. The actual detection signal is compared with the set value through the regulator, and after digital analysis and error correction, it is fed back to the encoders of the servo electric cylinder and the servo motor respectively. Then, the operation of the servo electric cylinder and the servo motor is controlled to change the height position and angular position of the grinding and polishing hand, thereby improving the position accuracy of the grinding and polishing hand movement and accurately grasping the grinding and polishing disc. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present invention, and together with the description, serve to explain the principles of the present invention.

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 Shows the overall schematic diagram of the utility model.

[0026] Figure 2 express Figure 1 Schematic diagram of direction A.

[0027] Figure 3 The diagram shows the working principle of the displacement sensor.

[0028] Figure 4 The diagram shows the working principle of the angle sensor.

[0029] In the figure: 1-servo electric cylinder, 11-mounting frame 1, 2-servo motor, 21-mounting block, 3-grinding and polishing hand, 31-bidirectional cylinder, 32-left and right clamping arms, 321-force sensor, 322-reset spring, 33-lateral guide groove, 34-mounting frame 2, 341-rotating axis, 35-cylinder rotating frame, 4-grinding disc frame, 41-mounting frame 3, 42-displacement sensor, 421-regulator 1, 422-encoder 1, 43-angle sensor, 431-regulator 2, 432-encoder 2, 5-guide groove, 6-slider, 7-grinding and polishing disc. DETAILED DESCRIPTION

[0030] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features therein can be combined with each other.

[0031] In the description, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance. It should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, removable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms based on specific circumstances.

[0032] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, rather than all of the embodiments.

[0033] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0034] A servo control system for grasping a grinding and polishing disc includes a servo electric cylinder 1 fixed on a grinding and polishing machine frame, a servo motor 2, a grinding and polishing hand 3, and a grinding disc frame 4 mounted on a third mounting frame 41. The piston rod of the servo electric cylinder 1 drives the grinding and polishing hand 3 to move linearly up and down, and the servo motor 2 drives the grinding and polishing hand 3 to rotate horizontally. A displacement sensor 42 and an angle sensor 43 are provided on the third mounting frame 41. The displacement sensor 42 is electrically connected to a regulator 421, which is electrically connected to an encoder 422. The encoder 422 is electrically connected to the control end of the servo electric cylinder 1. The angle sensor 43 is electrically connected to a regulator 431, which is electrically connected to an encoder 432. The encoder 432 is electrically connected to the control end of the servo motor 2.

[0035] The polishing arm 3 includes a bidirectional cylinder 31 and left and right clamping arms 32 . The bidirectional cylinder 31 can lock and release the left and right clamping arms 32 .

[0036] A force sensor 321 is provided on the inner side of the left and right clamping arms 32 , respectively. The force sensor 321 is electrically connected to a cylinder control valve.

[0037] A return spring 322 is provided on the inner side of the left and right clamping arms 32 , respectively. One end of the return spring 322 is connected to the inner side of the left and right clamping arms 32 , and the other end is connected to the bidirectional cylinder 31 .

[0038] The grinding and polishing hand 3 also includes a transverse guide groove 33, which is installed on the upper side of the bidirectional cylinder 31. Two transverse grooves are provided on the lower end surface of the transverse guide groove 33. The left and right clamping arms 32 can reciprocate in the transverse groove of the transverse guide groove 33 driven by the bidirectional cylinder 31.

[0039] The servo electric cylinder 1 is fixed to the mounting frame 11 by bolts, and the mounting frame 11 is fixed to the grinding and polishing machine frame by bolts.

[0040] It also includes a guide groove 5 and a slider 6. The guide groove 5 is fixed to the grinding and polishing machine frame by bolts and is located directly below the servo electric cylinder 1. The slider 6 can slide up and down in the guide groove 5. The grinding and polishing hand 3 is connected to the lower side of the servo electric cylinder 1 through the slider 6.

[0041] The grinding and polishing hand 3 further includes a second mounting frame 34 , and the grinding and polishing hand 3 is connected to the slider 6 via the second mounting frame 34 .

[0042] The servo motor 2 is mounted on the upper portion of the second mounting frame 34 via the mounting block 21 , and the mounting block 21 is fixed to the second mounting frame 34 via bolts.

[0043] The polishing arm 3 further includes a rotating shaft 341 , which is fixedly connected to the output shaft of the servo motor 2 . The rotating shaft 341 is fixed by two sets of upper and lower bearing assemblies and extends out of the lower part of the second mounting frame 34 .

[0044] The grinding and polishing hand 3 also includes a cylinder rotating frame 35, one end of the cylinder rotating frame 35 is mounted on the part of the lower part of the rotating shaft 341 that extends out of the mounting frame 2 34, and the shaft end is fixed with a fixing bolt to realize the synchronous rotation of the cylinder rotating frame 35 and the rotating shaft 341. The other end of the cylinder rotating frame 35 is fixedly connected to the bidirectional cylinder 31, and the left and right clamping arms 32 are respectively fixed on the piston rods at both ends of the bidirectional cylinder 31.

[0045] The mounting frame three 41 is installed with nine grinding disc racks 4, which can hold grinding and polishing discs 7 of nine different precisions. The nine grinding and polishing discs 7 of nine different precisions are placed on the grinding disc racks in sequence. The number of displacement sensors 42 is the same as the number of grinding and polishing discs 7, and they are respectively fixed on the mounting frame three 41 on the upper side of each grinding disc rack 4.

[0046] The angle sensor 43 is fixed to the upper end of the mounting bracket 3 41 .

[0047] The regulator 1 421 amplifies the deviation value through the PID amplifier and inputs it as the control quantity to the encoder 1 422 . The regulator 2 431 amplifies the deviation value through the PID amplifier and inputs it as the control quantity to the encoder 2 432 .

[0048] The working principle is as follows: Figure 1 and 2As shown, all components are mounted on the grinding and polishing machine frame. Mounting frame 11 is bolted to the grinding and polishing machine frame. The servo cylinder 1 is bolted to mounting frame 11. The guide slot 5 is bolted to the grinding and polishing machine frame. The slider 6 can slide within the guide slot 5. Mounting frame 24 is bolted to the slider 6. The mounting block 21 is bolted to mounting frame 24. The servo motor 2 is bolted to the mounting block 21. The rotating shaft 341 is connected to the output shaft of the servo motor 2. The rotating shaft 341 is fixed and extends outward via two sets of upper and lower bearing assemblies. The cylinder rotating frame 35 is mounted on the rotating shaft 341 and the shaft ends are fixed with shaft end fixing bolts. The bidirectional cylinder 31 is fixed to the cylinder rotating frame 35. The left and right clamping arms 32 are respectively fixed to the piston rods at each end of the bidirectional cylinder 31. The left and right clamping arms 32 move within their respective transverse slots. Each clamping arm 32 is equipped with a return spring 322 and a force sensor 321. The grinding wheel frame 4 is fixed on the grinding and polishing machine frame, and nine types of grinding and polishing wheels 7 with different precision are placed on the grinding wheel frame 4 in sequence. Nine displacement sensors 42 are fixed on the mounting frame 3 41 near the grinding wheel frame 4 corresponding to the nine types of grinding and polishing wheels 7 with different precision. At the same time, an angle sensor 43 is fixed on the upper end of the grinding wheel frame 4.

[0049] like Figure 3 and Figure 4 As shown, the electronic control system of the present invention primarily includes encoder 1 422 and encoder 2 432, regulator 1 421 and regulator 2 431, and other components. Regulators 1 421 and 2 compare set signals with the actual values ​​transmitted by displacement sensor 42 and angle sensor 43. In this embodiment, the set signals refer to the set displacement of servo cylinder 1 and the set angle of servo motor 2, while the actual values ​​refer to the displacement between grinding and polishing discs 7 of varying precision and the angle between the grinding disc holder 4 and the cylinder rotating frame 35. Regulators 1 421 and 2 431 compare the set signals with the actual values ​​to produce a deviation value. This deviation value is amplified by an amplifier equipped with a specific transfer characteristic (PID characteristic) and then input as a control variable into encoder 1 422 and encoder 2 432, respectively, to control the deviation correction operation of servo cylinder 1 or servo motor 2. This achieves closed-loop control of the gripping action of grinding and polishing disc 7, reducing gripping deviation and further improving gripping accuracy.

[0050] The advantages of this utility model are as follows:

[0051] (1) The servo electric cylinder 1 is used to replace the slide, which simplifies the structural integration and effectively eliminates assembly and motion errors, thereby improving the positioning accuracy of the upper and lower positions of the grinding and polishing hand 3.

[0052] (2) The servo closed-loop control system replaces the analog open-loop control system, and adds a displacement sensor 42 and an angle sensor 43, a regulator 1 421 and a regulator 2 431, which can provide displacement feedback and angle feedback of the grinding and polishing hand 3. The actual detection signal is compared with the set value through the regulator 1 421 and the regulator 2 431, and after digital analysis and error correction, it is fed back to the encoder 1 422 and the encoder 2 432 respectively, and then the error correction operation of the servo electric cylinder 1 and the servo motor 2 is controlled to change the height position and angle position of the grinding and polishing hand 3, and accurately grasp the grinding and polishing disc 7.

[0053] (3) The left and right clamping arms 32 on both sides of the bidirectional cylinder 31 are equipped with lateral guide grooves 33 to prevent lateral displacement errors of the grasped parts and improve positioning accuracy.

[0054] (4) A force sensor 321 and a return spring 322 are added to the left and right clamping arms 32 on both sides of the bidirectional cylinder 31. The force sensor 321 can feed back the clamping force to the cylinder control valve to form a closed-loop control, effectively preventing the polishing disc 7 from falling due to loosening during the grasping process.

[0055] The above description is only a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Although detailed descriptions have been made with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents; and such modifications or replacements do not deviate from the essence of the corresponding technical solutions within the scope of the technical solutions of the embodiments, and they should all be covered by the scope of protection of the claims.

Claims

1. A grinding and polishing disc grabbing servo control system, characterized by: The invention comprises a servo electric cylinder (1) fixed on a grinding and polishing machine frame, a servo motor (2), a grinding and polishing hand (3), and a grinding disc frame (4) mounted on a third mounting frame (41). The piston rod of the servo electric cylinder (1) drives the grinding and polishing hand (3) to move linearly up and down, and the servo motor (2) drives the grinding and polishing hand (3) to rotate horizontally. A displacement sensor (42) and an angle sensor (43) are provided on the third mounting frame (41). The displacement sensor (42) is electrically connected to a regulator (421), the regulator (421) is electrically connected to an encoder (422), and the encoder (422) is electrically connected to a control end of the servo electric cylinder (1). The angle sensor (43) is electrically connected to a regulator (431), the regulator (431) is electrically connected to an encoder (432), and the encoder (432) is electrically connected to a control end of the servo motor (2).

2. A grinding and polishing disc grabbing servo control system according to claim 1, characterized in that: The polishing arm (3) comprises a bidirectional cylinder (31) and left and right clamping arms (32), and the bidirectional cylinder (31) realizes the locking and loosening of the left and right clamping arms (32).

3. A grinding and polishing disc grabbing servo control system according to claim 2, characterized in that: Force sensors (321) are respectively provided on the inner sides of the left and right clamping arms (32), and the force sensors (321) are electrically connected to a cylinder control valve.

4. A grinding and polishing disc grabbing servo control system according to claim 2, characterized in that: A return spring (322) is provided on the inner side of the left and right clamping arms (32), respectively. One end of the return spring (322) is connected to the inner side of the left and right clamping arms (32), and the other end is connected to the bidirectional cylinder (31).

5. A grinding and polishing disc grabbing servo control system according to claim 2, characterized in that: The grinding and polishing hand (3) further comprises a transverse guide groove (33), the transverse guide groove (33) being mounted on the upper side of the bidirectional cylinder (31), and two transverse grooves being provided on the lower end surface of the transverse guide groove (33), and the left and right clamping arms (32) can reciprocate in the transverse grooves of the transverse guide groove (33) under the drive of the bidirectional cylinder (31).

6. A grinding and polishing disc grabbing servo control system according to claim 1, characterized in that: A mounting frame (11) is mounted on the grinding and polishing machine frame via bolts, and the servo electric cylinder (1) is fixed on the mounting frame (11) via bolts.

7. A grinding and polishing disc grabbing servo control system according to claim 2, characterized in that: It also includes a guide groove (5) and a slider (6), wherein the guide groove (5) is fixed to the grinding and polishing machine frame by bolts and is located directly below the servo electric cylinder (1), and the slider (6) can slide up and down in the guide groove (5), and the grinding and polishing hand (3) is connected to the lower side of the servo electric cylinder (1) through the slider (6).

8. A grinding and polishing disc grabbing servo control system according to claim 7, characterized in that: The grinding and polishing hand (3) further comprises a second mounting frame (34), and the grinding and polishing hand (3) is connected to the slider (6) via the second mounting frame (34).

9. A grinding and polishing disc grabbing servo control system according to claim 8, characterized in that: The servo motor (2) is mounted on the upper portion of the second mounting frame (34) via a mounting block (21), and the mounting block (21) is fixed to the second mounting frame (34) via bolts.

10. A grinding and polishing disc grabbing servo control system according to claim 9, characterized in that: The grinding and polishing hand (3) further comprises a rotating shaft (341), wherein the rotating shaft (341) is fixedly connected to the output shaft of the servo motor (2), and the rotating shaft (341) is fixed by two sets of upper and lower bearing assemblies and extends out of the lower part of the mounting frame (34). The grinding and polishing hand (3) further comprises a cylinder rotating frame (35), wherein one end of the cylinder rotating frame (35) is sleeved on the portion of the lower part of the rotating shaft (341) extending out of the mounting frame (34), and the shaft end is fixed with a fixing bolt to realize synchronous rotation of the cylinder rotating frame (35) and the rotating shaft (341), and the other end of the cylinder rotating frame (35) is fixedly connected to the bidirectional cylinder (31), and the left and right clamping arms (32) are respectively fixed on the piston rods at both ends of the bidirectional cylinder (31).

11. A grinding and polishing disc grabbing servo control system according to claim 1, characterized in that: The mounting frame three (41) is equipped with nine grinding disc racks (4) capable of placing grinding and polishing discs (7) of nine different precisions. The grinding and polishing discs (7) of nine different precisions are placed on the grinding disc racks (4) in sequence. The number of the displacement sensors (42) is the same as the number of the grinding and polishing discs (7), and they are respectively fixed on the mounting frame three (41) on the upper side of each grinding disc rack (4).

12. A grinding and polishing disc grabbing servo control system according to claim 1, characterized in that: The angle sensor (43) is fixed to the upper end of the mounting frame three (41).

13. A grinding and polishing disc grabbing servo control system according to claim 1, characterized in that: The regulator 1 (421) amplifies the deviation value through a PID amplifier and inputs it as a control quantity into the encoder 1 (422). The regulator 2 (431) amplifies the deviation value through a PID amplifier and inputs it as a control quantity into the encoder 2 (432).

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