CN107085392A - The sanding and polishing instrument and sanding and polishing control method of a kind of industrial robot - Google Patents
The sanding and polishing instrument and sanding and polishing control method of a kind of industrial robot Download PDFInfo
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- CN107085392A CN107085392A CN201710470767.4A CN201710470767A CN107085392A CN 107085392 A CN107085392 A CN 107085392A CN 201710470767 A CN201710470767 A CN 201710470767A CN 107085392 A CN107085392 A CN 107085392A
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- polishing
- servomotor
- sanding
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- flexible
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of sanding and polishing instrument of industrial robot, including casing and polishing pad, polishing servomotor and flexible servomotor are provided with casing；Servo of polishing electricity and polishing pad power connector；The axis of flexible servomotor is perpendicular to polishing servomotor；Flexible servomotor power connector has synchronous pulley；Axis direction of the direction of transfer of timing belt parallel to polishing servomotor；Belt clamping apparatus is connected with timing belt；Also include slidably connecting sliding block on guide rail, guide rail；Belt clamping apparatus and polishing servomotor are each attached on sliding block.Also disclose a kind of control method：Controller reads polishing inclination angle theta in real time, and weight component F is calculated according to θa, according to FaCalculate contractility Fs, flexible torque Tp, export Tp, and depressed position and stretching speed constraint are carried out, realize constant pressure control；Permanent moment of friction control is carried out simultaneously, and row constraint is entered to polishing rotating speed.The present invention realizes constant pressure and polished with permanent moment of friction, and polishing control accuracy is high, and polishing effect is good.
Description
Technical field
The present invention relates to Industrial Robot Technology field, more particularly to a kind of sanding and polishing work installed in robot end
Tool.The invention further relates to a kind of control method of sanding and polishing.
Background technology
When industrial robot carries out sanding and polishing operation, polishing pad, which needs to be brought into close contact with workpiece surface, could obtain ideal
Effect.Because some different in nature piece surfaces are uneven, when carrying out automatically grinding polishing by industrial robot, it is desirable to polish
Disk follows the height change of piece surface and real-time change；It is required that the rotating speed of polishing pad follows the change of frictional force and become in real time
Change.But, because industrial robot generally uses position control mode, do not possess power and feel perception, end only can be according to both
Determine program path motion, will be excessive due to pressure or frictional force when workpiece putting position changes, defective work piece, beat
Grinding and polishing optical tool even industrial machine human body.
In the prior art, industrial robot is in order to realize during power console keyboard grinding and polishing light, it is necessary to be passed using expensive accurate pressure
Sensor is measured to polishing pressure, and by position of the control system according to force feedback information control change industrial robot end
To ensure the constant of frictional force.The sanding and polishing control moment of friction that only detection is polished of the prior art, then pass through change end
The displacement at end realizes the control of frictional force, because the change of tip displacement amount can cause sanding and polishing instrumental purpose to workpiece
On pressure change, so simply the constant of frictional force is kept by regulating and controlling displacement, it is excessive to be easily caused pressure, makes
Workpiece is obtained by conquassation.In addition, in sanding and polishing, workpiece often horizontal positioned, the weight component of milling tools will be in polishing
Influence is produced on pressure direction, influence of the weight component to frictional force and Stress control is not accounted in the prior art, is made
Obtain control accuracy not high enough.Furthermore, the motor of the sanding and polishing instrument of prior art needs to use mechanical deceleration device to polishing
Disk exports power, increases the volume and weight of sanding and polishing instrument, and the frictional force pair that mechanical deceleration device motion is produced
Polishing moment of friction detection will also result in certain interference so that the control accuracy of frictional force declines.
Servomotor is high due to control accuracy, and high speed performance is good, the advantage that low speed operates steadily, in Industrial Robot Technology
In be widely used.The driver of servomotor typically has three close-loop control system, is electric current loop (moment of torsion successively from inside to outside
Ring), speed ring and position change, electric current loop is used for the output current for controlling servomotor, so as to control servo motor output shaft
Moment of torsion；Speed ring is used for the rotating speed for controlling servo motor output shaft；Position ring is used for the angular displacement for controlling servomotor.
The content of the invention
For above-mentioned the deficiencies in the prior art, the present invention provides a kind of sanding and polishing instrument of industrial robot, solves existing
There is the technical problem that the control accuracy of sanding and polishing instrument in technology is not high, volume size is larger, it is possible to increase industrial robot
Polishing control accuracy, be implemented for polishing moment of friction and polishing pressure constant control, simplify internal structure, contracting
The volume and weight of small milling tools, reduces cost.
In order to solve the above-mentioned technical problem, present invention employs following technical scheme：A kind of polishing of industrial robot
Provided with polishing servomotor and flexible servo in polishing tool, including casing and the polishing pad outside casing, the casing
Motor；The output shaft of the polishing servomotor passes through power connecting mechanism and the polishing pad power connector；Described stretch is watched
Take axis of the axis perpendicular to polishing servomotor of motor；The flexible servomotor power connector has synchronous pulley；It is described
Synchronous pulley includes driving wheel, driven pulley and timing belt, and the driving wheel is connected with the output shaft of flexible servomotor；It is described
Axis direction of the direction of transfer of timing belt parallel to polishing servomotor；It is connected with the timing belt as timing belt is moved
Belt clamping apparatus；Also include slidably connecting cunning on the guide rail set along polishing servomotor axis direction, the guide rail
Block；The belt clamping apparatus and polishing servomotor are fixedly connected with the sliding block.
It is preferred that, the organ telescopic for being used for accommodating power connecting mechanism is provided between the polishing pad and casing；It is described
Organ telescopic rear and front end is connected to front shoe, rear fixed plate；Organ telescopic rear end is fixed by rear fixed plate
Outside the enclosure surface, organ telescopic front end can stretch with the flexible of polishing pad；Provided with use in the organ telescopic
In the dynamic sealing assembly of sealed motive force bindiny mechanism.
It is preferred that, the power connecting mechanism includes overhanging the connecting shaft outside casing；The connecting shaft two ends are set respectively
There are polishing pad connecting hole, the polishing servomotor connecting hole along own axes direction；The polishing pad connecting hole is screwed hole, institute
Polishing pad is stated to be threadedly coupled with the polishing pad connecting hole of connecting shaft by polishing pad connecting pole；The polishing pad connecting hole and servo
Next door is provided between motor connection hole, next door is provided with screw connecting hole；The output shaft insertion polishing servo of polishing servomotor
In motor connection hole, and with its tight fit, then be fixed by screws on next door.
It is preferred that, the bottom surface and side of the casing are integrally formed to form casing main body, and casing body top face is connected with lid
Plate；The cover plate is sealed between cover plate and the casing main body by sealing ring by latch and casing main body grafting.
Compared with sanding and polishing instrument of the prior art, the invention has the advantages that：
1st, reducing gear is not set between polishing servomotor and polishing pad, by the way of motor direct-drive, can kept away
Exempt from frictional force caused by reducing gear running, this provides advantage to improve the control accuracy of polishing moment of friction.
2nd, the servomotor that stretches carries out power output by synchronous pulley, without gear mechanism, can so mitigate significantly
The size and weight of sanding and polishing instrument, and gearing friction power is almost nil, and this is carried to improve the control accuracy of polishing pressure
Advantage is supplied.
3rd, the moment of torsion that flexible servomotor is exported is converted into contractility by timing belt, and by telescoping mechanism (sliding-rail sliding machine
Structure) feedback force that is subject to is delivered on the motor shaft of flexible servomotor, the pressure sensing expensive without extra configuration again
Device, saves cost, simplifies structure.
4th, sealing property is improved using organ telescopic, dynamic sealing assembly, and casing main body is formed in one, casing master
Also sealed between body and cover plate, so as to substantially increase the overall sealing performance of sanding and polishing instrument, it is adaptable to water,
The adverse circumstances operation such as oil, dust.
5th, it is to be detachably threadedly coupled between polishing pad and power connecting mechanism, easy maintenance and replacement polishing pad.
The present invention also provides a kind of sanding and polishing controlling party of the sanding and polishing instrument for the industrial robot for controlling the present invention
Method, solves and causes workpiece by way of increasing polishing pressure simply in the prior art to meet larger polishing frictional force
The technical problem being subject to crushing, can be independently controlled to polishing moment of friction and polishing pressure, realize constant pressure and permanent simultaneously
Moment of friction is polished so that in the case where meeting larger polishing moment of friction, it is to avoid workpiece is because polishing pressure is excessive and damages.
Present invention employs following technical scheme, the sanding and polishing instrument of the industrial robot of the control present invention a kind of is beaten
Grinding and polishing light control method, the telescopic driver controller two-way communication link respectively with industrial robot for the servomotor that stretches；
Comprise the following steps：
Step 1：Following parameter is set：Polish pressure Fp, maximum depression depths, minimum depression depths, maximal dilation speed
Vp.maxAnd maximal dilation torque Tp.max, wherein, Fp＞ 0, Vp.max＞ 0, Tp.max＞ 0；
Step 2：The controller control sanding and polishing instrument of industrial robot moves to reach predetermined work position and adjusts work
Gesture；Controller reads polishing inclination angle theta from operating attitude data；
Step 3：Calculate weight component Fa：The oeverall quality for making sanding and polishing instrument is m, gravity suffered by sanding and polishing instrument
For Fg=mg, g are acceleration of gravity；Fa=Fgcosθ；
Step 4：Calculate the contractility F that flexible servomotor needs to provides：FS=Fp-Fa；
Step 5：Calculate the flexible torque T that flexible servomotor needs to exportp：Tp=FS× R, wherein R is in synchronous pulleys
Driving wheel radius；
Step 6：Judge TpWhether >=0 set up；Controller issues control instruction to telescopic driver, and stretch servomotor root
Polishing pad is controlled to apply polishing pressure to workpiece according to control instruction, polishing servomotor then to polishing pad output polishing rotating speed, is beaten
Mill performs sanding and polishing work；If Tp>=0, control instruction is as follows：
Position constraint is instructed：Position ring receiving position constraint instructions of telescopic driver and to synchronous pulley output angle position
Move so that what the synchronized belt wheel of angular displacement was changed into pushes displacement no more than maximum depression depths；
Constraint of velocity is instructed：The speed ring of telescopic driver receives constraint of velocity instruction and fast to synchronous pulley output angle
Degree so that the absolute value for the stretching speed that the synchronized belt wheel of angular speed is changed into is no more than maximal dilation speed Vp.max；
Flexible torque constraint instruction：The electric current loop of telescopic driver receives flexible torque command and exported in step 4 and calculates
The flexible torque T drawnp, work as Tp＞ Tp.maxWhen, then export Tp.max；
If Tp＜ 0, control instruction is as follows：
Position constraint is instructed：Position ring receiving position constraint instructions of telescopic driver and to synchronous pulley output angle position
Move so that what the synchronized belt wheel of angular displacement was changed into pushes displacement not less than minimum depression depths；
Constraint of velocity is instructed：The speed ring of telescopic driver receives constraint of velocity instruction and fast to synchronous pulley output angle
Degree so that the absolute value for the stretching speed that the synchronized belt wheel of angular speed is changed into is no more than maximal dilation speed Vp.max；
Flexible torque constraint instruction：The electric current loop of telescopic driver receives flexible torque command and exported in step 4 and calculates
The flexible torque T drawnp, when | Tp| ＞ Tp.maxWhen, then output-Tp.max；
Step 7：Return to step 2；Until sanding and polishing is completed.
It is preferred that, following parameter is additionally provided with step 1：Moment of friction of polishing Tq, highest polishing rotating speed Vq.maxAnd most
Big polishing torque T 'max；Wherein, Tq＜ T 'max；The electric current ring polishing servo of polishing driver during whole sanding and polishing
The constant polishing torque T of motor output shaft output ', T '=Tq；Meanwhile, during output polishing moment of torsion, driver of polishing
Speed ring control polishing rotating speed absolute value no more than highest polishing rotating speed Vq.max。
Compared with control method of the prior art, control method of the invention has the advantages that：
1st, risen and fallen with the height of workpiece surface, control the change of operating attitude, and detected in real time because of operating attitude change
The change at caused polishing inclination angle, according to the flexible moment of torsion of the change at polishing inclination angle adjustment in real time, it is achieved thereby that constant pressure is polished.
2nd, the influence in view of the sanding and polishing instrument gravity of itself to pressure of polishing, is calculated by the way of gravity compensation
Polishing pressure so that the contractility that flexible servomotor is provided is more accurate, meets the actual demand of sanding and polishing, improves polishing
Quality.
3rd, during the flexible torque output of control, row constraint is entered using speed and position, is prevented effectively from because flexible
Excessive velocities push displacement and exceed maximum depression depths and damage workpiece by pressure, moreover it is possible to avoid pushing displacement and pushed less than minimum
Depth, so as to ensure that polishing pad can effectively be contacted with workpiece surface, improves the reliability and peace of sanding and polishing process
Quan Xing, improves polishing quality.
4th, in whole bruting process, polishing servomotor exports constant polishing moment of torsion so that polishing pad keeps constant
Polishing moment of friction, it is achieved thereby that the polishing of permanent moment of friction.During output polishing moment of torsion, limitation polishing rotating speed,
The too high potential safety hazard caused of rotating speed can be avoided, particularly avoid polishing pad it is hanging when, due to the frictional resistance without workpiece, turn
The too high situation of speed.
Brief description of the drawings
Fig. 1 is the explosive view of sanding and polishing instrument in embodiment；
Fig. 2 is the installation diagram of sanding and polishing instrument in embodiment；
Fig. 3 is Fig. 2 k-k sectional views；
Fig. 4 is Fig. 2 M-M sectional views；
Fig. 5 is Fig. 2 partial enlarged drawing；
Fig. 6 is the stressing conditions schematic diagram of workpiece and sanding and polishing instrument.
Embodiment
The present invention is described in further detail with preferred embodiment below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figures 1 to 5, the sanding and polishing instrument of a kind of industrial robot, including casing and outside casing
Provided with polishing servomotor 2 and flexible servomotor 3 in polishing pad 1, the casing；The output shaft of the polishing servomotor 2
Pass through power connecting mechanism and the power connector of polishing pad 1；The axis of the flexible servomotor 3 is perpendicular to polishing servo electricity
The axis of machine 2；The power connector of flexible servomotor 3 has synchronous pulley 6；The synchronous pulley 6 includes driving wheel, driven pulley
And timing belt, the driving wheel is connected with the output shaft of flexible servomotor 3；The direction of transfer of the timing belt is parallel to beating
Grind the axis direction of servomotor 2；The belt clamping apparatus 7 moved with timing belt is connected with the timing belt；Also include
Sliding block 8 is slidably connected on the guide rail 9 set along polishing servomotor 2 axis direction, the guide rail 9；The belt clamps dress
Put 7 and polishing servomotor 2 be fixedly connected with the sliding block 8.
For the ease of installing and protecting polishing servomotor, mounting box 19 is added, polishing servomotor is fixed on installation
In box 19, the bottom of mounting box 19 is fixed with sliding block 8, and the front end of mounting box 19 overhangs casing, and polishing servo motor output shaft is overhanging
Go out the front end of mounting box 19.Several fixed plate pillars 18 along annular spread are additionally provided with the front end face of mounting box 19, annular is formed
Chamber.
The organ for being used for accommodating power connecting mechanism is provided with present embodiment, between the polishing pad 1 and casing
Telescopic 10；The rear and front end of organ telescopic 10 is connected to front shoe 11, rear fixed plate；After organ telescopic 10
End is fixed on box outer surface by rear fixed plate, and the front end of organ telescopic 10 can stretch with the flexible of polishing pad 1；Institute
State the dynamic sealing assembly being provided with organ telescopic 10 for sealed motive force bindiny mechanism.
In present embodiment, the power connecting mechanism includes overhanging in the connecting shaft 4 outside casing, connecting shaft 4
Provided with bearing, bearing and connecting shaft 4 are arranged in the annular chamber of the fixed formation of pillar 18, and annular chamber is carried out to bearing outer ring
Circumferential spacing, bearing outer ring front end face is spacing by the upper flange of connecting shaft 4, and end face is limited by the front end face of mounting box 19 thereafter
Position；The two ends of connecting shaft 4 are respectively equipped with polishing pad connecting hole, polishing servomotor connecting hole along own axes direction；Institute
Polishing pad connecting hole is stated for screwed hole, the polishing pad passes through polishing pad connecting pole 5 and the polishing pad connecting hole screw thread of connecting shaft 4
Connection；Next door is provided between the polishing pad connecting hole and servomotor connecting hole, next door is provided with screw connecting hole；Polishing is watched
Take in the output shaft insertion polishing servomotor connecting hole of motor 2, and with its tight fit, then be fixed by screws on next door.
In present embodiment, the polishing pad connecting pole 5 includes cylinder and is set on the nut of cylinder central part；
The cylinder is integrally formed with nut, and cylinder two ends are equipped with screw thread.Screwed hole is opened in polishing pad center, with polishing pad connecting pole 5
Polishing pad can be fixed by the nut on threaded connection, polishing pad connecting pole 5, and organ telescopic 10 can be limited again
Position, it is to avoid the front end of organ telescopic 10 is contacted with polishing pad, prevents polishing pad 1 rotates at a high speed from producing motion with organ telescopic 10
Interference.
In present embodiment, the dynamic sealing assembly includes dynamic sealing overcoat 12；Set in the dynamic sealing overcoat 12
There are dynamic sealing clamping sleeve 13 and dynamic seal 14；The dynamic sealing overcoat 12 is fixed on the front shoe 11 of organ telescopic 10
On；The dynamic sealing clamping sleeve 13 and dynamic seal 14 are set in connecting shaft 4, the side of the dynamic sealing clamping sleeve 13
It is pushed against on front shoe 11, dynamic seal 14 is pressed on the side wall of dynamic sealing overcoat 12 by its opposite side.
In present embodiment, the bottom surface and side of the casing are integrally formed to form casing main body 15, casing main body
15 top surfaces are connected with cover plate 17；The cover plate 17 is by latch and the grafting of casing main body 15, the cover plate 17 and casing main body 15
Between sealed by sealing ring 16.
The sanding and polishing control method of the sanding and polishing instrument of the industrial robot of present embodiment：Flexible servo electricity
The controller two-way communication link of the telescopic driver of machine 3 respectively with industrial robot, in order to reduce the volume and again of robot
Amount, it is to avoid shock resistance caused by electrical equipment declines, the controller of industrial robot is placed on outside robot；Including following
Step：
Step 1：Following parameter is set：Polish pressure Fp, maximum depression depths Pmax, minimum depression depths Pmin, maximum stretches
Contracting speed Vp.maxAnd maximal dilation torque Tp.max, wherein, Fp＞ 0, Vp.max＞ 0, Tp.max＞ 0；
Step 2：The controller control sanding and polishing instrument of industrial robot moves to reach predetermined work position and adjusts work
Gesture；Controller reads polishing inclination angle theta from operating attitude data；
Step 3：As shown in fig. 6, calculating weight component Fa：The oeverall quality for making sanding and polishing instrument is m, sanding and polishing work
The suffered gravity of tool is Fg=mg, g are acceleration of gravity；Fa=Fgcosθ；Step 4：Calculating flexible servomotor needs what is provided
Contractility Fs：Fs=Fp-Fa；
Step 5：Calculate the flexible torque T that flexible servomotor needs to exportp：Tp=Fs× R, wherein R is in synchronous pulleys
Driving wheel radius；
Step 6：Judge TpWhether >=0 set up；Controller issues control instruction to telescopic driver, and stretch servomotor root
Polishing pad is controlled to apply polishing pressure to workpiece according to control instruction, polishing servomotor then to polishing pad output polishing rotating speed, is beaten
Mill performs sanding and polishing work；
If Tp>=0, control instruction is as follows：
Position constraint is instructed：Position ring receiving position constraint instructions of telescopic driver and to synchronous pulley output angle position
Move so that what the synchronized belt wheel of angular displacement was changed into pushes displacement no more than maximum depression depths；
Constraint of velocity is instructed：The speed ring of telescopic driver receives constraint of velocity instruction and fast to synchronous pulley output angle
Degree so that the absolute value for the stretching speed that the synchronized belt wheel of angular speed is changed into is no more than maximal dilation speed Vp.max；
Flexible torque constraint instruction：The electric current loop of telescopic driver receives flexible torque command and exported in step 4 and calculates
The flexible torque T drawnp, work as Tp＞ Tp.maxWhen, then export Tp.max；
If Tp＜ 0, control instruction is as follows：
Position constraint is instructed：Position ring receiving position constraint instructions of telescopic driver and to synchronous pulley output angle position
Move so that what the synchronized belt wheel of angular displacement was changed into pushes displacement not less than minimum depression depths；
Constraint of velocity is instructed：The speed ring of telescopic driver receives constraint of velocity instruction and fast to synchronous pulley output angle
Degree so that the absolute value for the stretching speed that the synchronized belt wheel of angular speed is changed into is no more than maximal dilation speed Vp.max；
Flexible torque constraint instruction：The electric current loop of telescopic driver receives flexible torque command and exported in step 4 and calculates
The flexible torque T drawnp, when | Tp| ＞ Tp.maxWhen, then output-Tp.max；
Step 7：Return to step 2；Until sanding and polishing is completed.In present embodiment, above-mentioned steps 1 to 6 are realized
The constant pressure control of sanding and polishing process, it is also synchronous to carry out permanent moment of friction control while constant pressure is controlled：
Following parameter is additionally provided with step 1：Moment of friction of polishing Tq, highest polishing rotating speed Vq.maxAnd maximum polishing is turned round
Square T 'max；Wherein, Tq＜ T 'max；The electric current ring polishing servomotor output of polishing driver during whole sanding and polishing
The constant polishing torque T of axle output ', T '=Tq；Meanwhile, during output polishing moment of torsion, the speed ring for driver of polishing
The absolute value of control polishing rotating speed is no more than highest polishing rotating speed Vq.max。
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (8)
1. a kind of sanding and polishing instrument of industrial robot, including casing and the polishing pad outside casing, it is characterised in that：
Provided with polishing servomotor and flexible servomotor in the casing；The output shaft of the polishing servomotor passes through power connector
Mechanism and the polishing pad power connector；Axis of the axis of the flexible servomotor perpendicular to polishing servomotor；It is described
Flexible servomotor power connector has synchronous pulley；The synchronous pulley includes driving wheel, driven pulley and timing belt, the master
Driving wheel is connected with the output shaft of flexible servomotor；Axis side of the direction of transfer of the timing belt parallel to polishing servomotor
To；The belt clamping apparatus moved with timing belt is connected with the timing belt；Also include along polishing servomotor axis side
To the guide rail of setting, sliding block is slidably connected on the guide rail；The belt clamping apparatus and polishing servomotor are fixed
It is connected on the sliding block.
2. the sanding and polishing instrument of industrial robot according to claim 1, it is characterised in that：The polishing pad and casing
Between be provided with and be used to accommodate the organ telescopic of power connecting mechanism；The organ telescopic rear and front end is solid before being connected to
Fixed board, rear fixed plate；Organ telescopic rear end is fixed on box outer surface by rear fixed plate, and organ telescopic front end can be with
The flexible of polishing pad and stretch；The dynamic sealing assembly for sealed motive force bindiny mechanism is provided with the organ telescopic.
3. the sanding and polishing instrument of industrial robot according to claim 1, it is characterised in that：The power connecting mechanism
Including overhanging the connecting shaft outside casing；The connecting shaft two ends be respectively equipped with polishing pad connecting hole along own axes direction,
Polishing servomotor connecting hole；The polishing pad connecting hole is screwed hole, and the polishing pad is by polishing pad connecting pole with being connected
The polishing pad connecting hole threaded connection of axle；It is provided between the polishing pad connecting hole and servomotor connecting hole on next door, next door
Provided with screw connecting hole；Polish in the output shaft insertion polishing servomotor connecting hole of servomotor, and with its tight fit, then lead to
Screw is crossed to fix on next door.
4. the sanding and polishing instrument of industrial robot according to claim 3, it is characterised in that：The polishing pad connecting pole
Including cylinder and the nut for being set on cylinder central part；The cylinder is integrally formed with nut, and cylinder two ends are equipped with screw thread.
5. the sanding and polishing instrument of industrial robot according to claim 3, it is characterised in that：The dynamic sealing assembly bag
Include dynamic sealing overcoat；Dynamic sealing clamping sleeve and dynamic seal are provided with the dynamic sealing overcoat；The dynamic sealing overcoat is fixed
On the front shoe of organ telescopic；The dynamic sealing clamping sleeve and dynamic seal are set in connecting shaft, described dynamic
The side of sealing clamping sleeve is pushed against on front shoe, and dynamic seal is pressed on the side wall of dynamic sealing overcoat by its opposite side.
6. the sanding and polishing instrument of industrial robot according to claim 1, it is characterised in that：The bottom surface of the casing and
Side is integrally formed to form casing main body, and casing body top face is connected with cover plate；The cover plate is inserted by latch and casing main body
Connect, sealed between cover plate and the casing main body by sealing ring.
7. a kind of sanding and polishing control method of the sanding and polishing instrument of control industrial robot as claimed in claim 1, its
It is characterised by：The controller two-way communication link of the telescopic driver of flexible servomotor respectively with industrial robot；Including with
Lower step：
Step 1：Following parameter is set：Polish pressure Fp, maximum depression depths Pmax, minimum depression depths Pmin, maximal dilation speed
Vp.maxAnd maximal dilation torque Tp.max, wherein, Fp＞ 0, Vp.max＞ 0, Tp.max＞ 0；
Step 2：The controller control sanding and polishing instrument of industrial robot moves to reach predetermined work position and adjusts work appearance
State；Controller reads polishing inclination angle theta from operating attitude data；
Step 3：Calculate weight component Fa：The oeverall quality for making sanding and polishing instrument is m, and gravity suffered by sanding and polishing instrument is Fg
=mg, g are acceleration of gravity；Fa=Fgcosθ；
Step 4：Calculate the contractility F that flexible servomotor needs to provides：Fs=Fp-Fa；
Step 5：Calculate the flexible torque T that flexible servomotor needs to exportp：Tp=Fs× R, wherein R are the master in synchronous pulley
The radius of driving wheel；
Step 6：Judge TpWhether >=0 set up；Controller issues control instruction to telescopic driver, and the servomotor that stretches is according to control
System instruction control polishing pad applies polishing pressure to workpiece, and polishing servomotor is then to polishing pad output polishing rotating speed, polishing pad
Perform sanding and polishing work；If Tp>=0, control instruction is as follows：
Position constraint is instructed：Position ring receiving position constraint instructions of telescopic driver and to synchronous pulley angle displacement, make
The displacement that pushes that changes into of the synchronized belt wheel of angular displacement is no more than maximum depression depths Pmax；
Constraint of velocity is instructed：The speed ring of telescopic driver receives constraint of velocity instruction and to synchronous pulley Output speed, makes
The absolute value for obtaining the stretching speed that the synchronized belt wheel of angular speed is changed into is no more than maximal dilation speed Vp.max；
Flexible torque constraint instruction：The electric current loop of telescopic driver receives flexible torque command and exported in step 4 and calculates
Flexible torque Tp, work as Tp＞ Tp.maxWhen, then export Tp.max；
If Tp＜ 0, control instruction is as follows：
Position constraint is instructed：Position ring receiving position constraint instructions of telescopic driver and to synchronous pulley angle displacement, make
The displacement that pushes that changes into of the synchronized belt wheel of angular displacement is not less than minimum depression depths Pmin；
Constraint of velocity is instructed：The speed ring of telescopic driver receives constraint of velocity instruction and to synchronous pulley Output speed, makes
The absolute value for obtaining the stretching speed that the synchronized belt wheel of angular speed is changed into is no more than maximal dilation speed Vp.max；
Flexible torque constraint instruction：The electric current loop of telescopic driver receives flexible torque command and exported in step 4 and calculates
Flexible torque Tp, when | Tp| ＞ Tp.maxWhen, then output-Tp.max；
Step 7：Return to step 2；Until sanding and polishing is completed.
8. sanding and polishing control method according to claim 7, it is characterised in that：Following parameter is additionally provided with step 1：
Moment of friction of polishing Tq, highest polishing rotating speed Vq.maxAnd maximum polishing torque T 'max；Wherein, Tq＜ T 'max；Entirely polishing
Polished in polishing process driver electric current ring polishing servo motor output shaft export constant polishing torque T ', T '=Tq；
Meanwhile, during output polishing moment of torsion, the absolute value of the speed ring control polishing rotating speed of polishing driver is no more than highest
Polish rotating speed Vq.max。
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| CN111491759A (en) * | 2017-12-20 | 2020-08-04 | 菲比瑞卡马基纳莱有限公司 | Method and apparatus for abrasive element replacement in a machine for working surfaces |
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