CN109202687A - Robot grinding system, grinding device and grinding control method - Google Patents
Robot grinding system, grinding device and grinding control method Download PDFInfo
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- CN109202687A CN109202687A CN201710534949.3A CN201710534949A CN109202687A CN 109202687 A CN109202687 A CN 109202687A CN 201710534949 A CN201710534949 A CN 201710534949A CN 109202687 A CN109202687 A CN 109202687A
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- grinding
- pressure
- driving part
- driving
- control method
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Classifications
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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
- B24B37/00—Lapping machines or devices; Accessories
- B24B37/005—Control means for lapping machines or devices
-
- 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
- B24B37/00—Lapping machines or devices; Accessories
- B24B37/34—Accessories
-
- 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
- B24B49/165—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load for grinding tyres
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a kind of robot grinding system, grinding device and grinding control methods；A kind of grinding control method, grinding device include power part and Pressure generator, and the power part is used to drive the grinding tool rotation for grinding the surface of work piece；The Pressure generator includes driving part, and the driving part is for driving the grinding tool and work piece one of them with respect to another one relative motion；The grinding control method specifically includes: according to the power part or the running parameter of the driving part, controlling the driving part movement；According to the load current of power part or the running parameter of driving part, controls driving part and move up and down, so that the pressure between grinding tool and work piece substantially maintains a certain range, the available higher lapped face of mass ratio.Especially predetermined current range, the available higher lapped face of mass ratio are in the load current parameter of attrition process time control brake force component.
Description
Technical field
The present invention relates to grinding technique field, in particular to a kind of robot grinding system, grinding device and grinding control
Method.
Background technique
Robot grinding system is a kind of mechanized production system that product grinding is realized using robot.The system can be with
The excess stock on part to be processed surface is quickly and efficiently removed, therefore robot grinding system has been widely used in each industry
Field.
The grinding quality on part to be processed surface is those skilled in that art's focus of attention always.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of grinding control method, grinding device include power part and
Pressure generator, the power part are used to drive the grinding tool rotation for grinding the surface of work piece；The pressure
Generation device includes driving part, and the driving part is for driving the grinding tool and work piece one of them with respect to another one
Relative motion；According to the power part or the running parameter of the driving part, the driving part movement.
According to the load current of power part or the running parameter of driving part, controls driving part and move up and down, with
The pressure between grinding tool and work piece is set substantially to maintain a certain range, the available higher lapped face of mass ratio.Especially
It is in predetermined current range in the load current parameter of attrition process time control brake force component, and available mass ratio is higher
Lapped face.
Optionally, the running parameter is the load current parameter of the power part, specific control method are as follows:
Obtain the load current parameter for driving the power part；
The driving part is controlled according to load current ginseng, so that the load current of the power part is in default
In current range.
Optionally, the pressure between the grinding tool and the work piece is adjusted according to the load current of current state
Power, so that load current is in the predetermined current range.
Optionally, when the load current is greater than the maximum value of the predetermined current range, reduction is applied to the mill
Pressure on tool, so that the load current is located at the predetermined current range；Or
When the load current is less than the minimum value of the predetermined current range, increase the pressure being applied on the grinding tool
Power, so that the load current is located at the predetermined current range.
Optionally, the specific control method of the pressure is adjusted are as follows: according to pressure described in the load current state modulator
Driving part movement is to drive the grinding tool close or far from the work piece in generation device, to adjust the grinding tool
With the pressure between the work piece.
Optionally, the specific control method of the pressure is adjusted are as follows: according to load current state modulator robot
Each section mechanical arm movement is to drive both the Pressure generator and the grinding tool whole close or be processed far from described
Part, to adjust the pressure between the grinding tool and the work piece between the two.
Optionally, while adjusting the pressure between the grinding tool and the work piece, also according to the load electricity
The transverse shifting speed that parameter reduces or improves mechanical arm is flowed, so that the load current is in the predetermined current range.
Optionally, the power part includes motor and motor driver, the pressure control of the Pressure generator
Device directly acquires the load current parameter from the motor driver.
Optionally, the power part has current detector, and the current detector is for obtaining the power part
Circuit in the load current parameter.
Optionally, the driving source of driving part is gas source or hydraulic power source, the work ginseng in the Pressure generator
Number is the driving pressure of the driving part, specific control method are as follows:
Obtain the driving pressure of driving part in Pressure generator；
It is in default working pressure range with the driving pressure as condition, controls the driving part movement.
Optionally, the running parameter is that the driving part is applied to the pressure on the grinding tool, specific control method
Are as follows:
Obtain the pressure that the driving part is applied on the grinding tool；
It is in pre-set pressure range with the pressure as condition, control grinding tool is within the scope of desired speed to processed
It is ground on the surface of part.
Optionally, it is additionally provided with pressure sensor between the driving part and the grinding tool, for detecting the driving
Component is applied to the pressure on the grinding tool.
Optionally, the driving part is servo motor and nut screw component or cylinder.
The present invention also provides a kind of grinding devices, including with lower component:
Power part, for driving grinding tool to rotate；
Pressure generator, including driving part, for driving the grinding tool close or far from work piece, to adjust
Save the pressure between the grinding tool and the work piece；
It is dynamic to control the driving part according to the power part or the running parameter of the driving part for controller
Make.
Optionally, the running parameter is the load current parameter of the power part；The power part includes motor
And motor driver, the Pressure generator include pressure controller, the pressure controller is from the motor driver
In directly acquire the load current parameter.
Optionally, the running parameter is the load current parameter of the power part；The grinding device further includes electricity
Current sensor, the current detector is for obtaining the load current parameter from the power part circuit.
Optionally, the driving source of the Pressure generator is gas source or hydraulic power source, and the running parameter is the pressure
The driving pressure of force generating apparatus, the Pressure generator further include flow control valve and pressure detecting part.
Optionally, pressure sensor is installed between the driving part of the Pressure generator and the grinding tool, it is described
Running parameter is pressure sensor pressure detected.
Optionally, the Pressure generator is cylinder or servo motor and nut screw component.
The present invention also provides a kind of robot grinding systems, including robot and grinding described in any of the above embodiments dress
It sets, the robot, there is sequentially connected multi-jointed mechanical arm；Driving part in the grinding device is connected to the most end
The free end of one section mechanical arm.
Above-mentioned grinding control method is implemented based on relying on robot grinding system and grinding device, therefore in the present invention
Robot grinding system and grinding device equally there is the beneficial effect of above-mentioned grinding control method.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot grinding system in a kind of specific embodiment of the present invention；
Fig. 2 is the structural schematic diagram of robot grinding system in second of specific embodiment of the invention；
Fig. 3 is the structural schematic diagram of robot grinding system in the third specific embodiment of the invention；
Fig. 4 is the flow diagram of grinding control method in a kind of specific embodiment of the present invention；
Fig. 5 is the flow diagram of grinding control method in second of specific embodiment of the invention；
Fig. 6 is the flow diagram of grinding control method in the third specific embodiment of the invention.
Wherein, Fig. 1 is into Fig. 3:
Motor driver 10, servo motor 11, lead screw 12, nut 13；
Motor driver 20, power part 21, grinding tool 22, transmission parts 23, mounting rack 24, current detector 25, power supply
26；
Air compressor machine 30, cylinder 31, angular transducer 32, pressure detecting part 33, flow control valve 34；
Mechanical arm 100, robot controller 110, pressure controller 120, workbench 200, is added free end 100a
Workpiece 300；
Operation interface 60.
Specific embodiment
Robot grinding system is added using the surface that the grinding tool for being installed on robot free end treats abrasive product
Work grinding.In product process of lapping, it is many to influence abrasive product molded surface product qualitative factor, such as grinding tool type, workpiece
One of an important factor for material, pressure etc., wherein pressure is influence final grinding molded surface quality.
Currently, pressure is mainly determined in the following manner: operator wants according to the grinding precision on surface to be ground
The suitable pressure value of selection is sought, binding operation experience adjusts grinding tool in the suitable distance position on surface to be ground, so that grinding tool
When grinding work, the pressure for being applied to surface to be ground substantially meets job requirement.
Although facts have proved that product surface grinding, grinding can be rapidly completed in robot grinding system in the prior art
Surface accuracy but disunity, there is that phase difference is larger, i.e. the precision on partial mill surface is met the requirements, the precision on partial mill surface
But it is unsatisfactory for requiring.Local grinding is carried out again sometimes for the surface after grinding, it is time-consuming.
On the basis of the studies above discovery, the present invention is further studied exploration, proposes in a kind of solution
State the biggish technical problem of lapped face precision difference.
In order to make those skilled in the art more fully understand technical solution of the present invention, below with reference to grinding device, grind
Mill control method, robot grinding system, the present invention is described in further detail for the drawings and specific embodiments.
Robot grinding system includes robot and grinding device, and robot has multi-jointed mechanical arm 100, respectively saves mechanical arm
100 are sequentially connected, and grinding device can be installed on the free end 100a of the last section mechanical arm 100, and work piece 300 passes through
Fixture is fixed on workbench 200, and the free end 100a of robot completes 300 table of work piece along projected route transverse shifting
The grinding in face.Certainly, the free end 100a in robot also can be set in work piece 300, and grinding device is fixed on work
Platform 200, robot drive work piece 300 to move along projected route, and then complete the grinding on 300 surface of work piece.
Grinding device generally includes the Pressure generator with driving part and grinding tool component.Grinding tool component includes power
Component 21, grinding tool 22, transmission parts 23 and mounting rack 24.22 main function of grinding tool is to connect with the surface to be polished of work piece 300
The polishing to its surface is touched and completed, suitable grinding tool 22 is chosen according to the difference of work piece 300, for the material of grinding tool 22
It is not detailed herein, can refer to the prior art.Power part 21 is mainly rotatory force, i.e. power part needed for grinding tool 22 provides grinding
Part 21 drives grinding tool 22 to rotate.Power part 21 can be servo motor, and certainly, those skilled in that art should understand that herein
The power part of middle grinding tool is not limited to servo motor, can also be the other components such as general motor, as long as being capable of providing grinding tool
Rotational power.
Generally, grinding tool 22, power part 21 and transmission parts are mounted on mounting rack 24, and wherein power part 21 is logical
Crossing transmission parts 23 drives grinding tool 22 to rotate, i.e., the power of power part 21 is transferred to grinding tool 22 through transmission parts 23.Driving section
Part 23 can be band-gear structure, or other forms, herein without limitation.Wherein, mounting rack 24 and transmission parts 23
For the inessential component for forming grinding tool component.
The main function of Pressure generator is that driving grinding tool 22 is opposite with respect to another one with 300 one of them of work piece
Movement, to adjust the distance between grinding tool 22 and work piece 300.That is, driving part 11 can drive grinding tool 22 to lean on
It is close perhaps far from work piece 300 can also drive work piece 300 close to or far from grinding tool 22, i.e., change grinding tool 22 with
Work piece 300 is ground the distance between surface, accordingly can change grinding tool 22 and the pressure being ground between surface.It is preferred that
Ground, Pressure generator drive grinding tool 22 with respect to 300 relative motion of work piece.
It should be noted that driving part can directly drive grinding tool 22 or work piece 300, mill can also be driven indirectly
Tool 22 or work piece 300, i.e. setting intermediate member, driving part drive intermediate member to realize to grinding tool 22 or be processed
The driving of part 300.Driving part can be extensible member, such as cylinder or hydraulic cylinder；Driving part can also be servo
Motor 11.
The present invention provides a kind of grinding control methods, specifically include: according to the work of power part 21 or driving part
Make parameter, control driving part movement grinds the surface of work piece so that grinding tool 22 is within the scope of desired speed
Or the pressure between grinding tool 22 and work piece 300 is in preset range.
According to the difference of running parameter type, following present several specific control methods.
Embodiment 1
In the first specific embodiment, referring to FIG. 4, running parameter can join for the load current of power part 21
Number, specific control method are as follows:
S11, the load current parameter for obtaining the power part 21 that driving grinding tool 22 rotates；
It should be noted that " load current parameter " refers to when grinding tool 22 carries out attrition process to work piece, power part
The current parameters of part 21.
Power part 21 as described above can be servo motor, and wherein the load current parameter of servo motor can pass through
Following two mode obtains:
First way: please referring to Fig. 1 and Fig. 2, and servo motor is commonly configured with encoder and motor driver 20, motor
Driver 20 records the running parameter for having servo motor, such as: the numerical value such as voltage, electric current, power.Grinding device also further wraps
Controller is included, controller can read the load current parameter of servo motor directly inside motor driver 20.It is not necessarily in this way
Increase other components on the basis of former grinding device, load current parameter can be obtained, is conducive to the knot for simplifying grinding device
Structure and improvement cost to existing equipment.
As shown in Fig. 2, power supply 26 can also further be arranged in grinding device, for powering to motor driver 20.
For the situation without motor driver or motor driver wiring inconvenience in former grinding device, it can adopt
Load current parameter is obtained with the second way.
The second way: referring to FIG. 3, before carrying out attrition process, also predetermined current detector 25 is in power part 21
Circuit in, current detector 25 is used to obtain the load current parameter in the circuit of power part 21.That is grinding device is into one
Step includes current detector 25, increases current detector 25 specially in this way in grinding device to realize in 21 circuit of power part
The detection of load current parameter, the current detector 25 and electronic components other in circuit are relatively independent, existing without changing
The wiring of electronic component in technology, avoids the normal work for influencing other electronic components.
There are many forms for the current detector 25 of prior art realization current detecting, for the specific knot of current detector 25
Without limitation, those skilled in that art can refer to the prior art to structure.
Wherein, Pressure generator usually has pressure controller 120, for controlling driving part and power part 21
Working condition.Therefore the controller with grinding control method of the present invention can be pressure controller 120, i.e. pressure controller 120
The load current parameter of motor can be directly obtained inside motor driver.
Similarly, current detector 25 can be connect with the pressure controller 120 in Pressure generator, current detector 25
The signal of detection is transferred directly to pressure controller 120.
Grinding control method is integrated in pressure controller 120, is conducive to the Integration Design of grinding device.
Certainly, grinding control method is not limited to be integrated in pressure controller 120, for robot grinding system
Speech, grinding control method can also be integrated in inside robot controller 110, i.e., execute this by robot controller 110 and grind
Grind control method.
Preferably the grinding control method is integrated in inside pressure controller 120 herein.
S12, according to load current state modulator driving part so that the load current of power part 21 is in predetermined current
In range.
Specifically, driving part can be controlled according to the load current of current state in step S12 to move up and down to adjust
Pressure between grinding tool 22 and work piece 300, so that load current is within the scope of predetermined current.
It is found herein in attrition process, the pressure between the load current of power part 21, grinding tool 22 and work piece
And between the revolving speed three of grinding tool 22 be it is interrelated, in the case that the output power of power part 21 is constant, grinding tool 22
Pressure between work piece 300 is bigger, and the load current of power part 21 can become larger, and the revolving speed of grinding tool 22 can reduce.
It is confirmed by a large number of experiments, when the load current of power part 21 is in predetermined current range, grinding tool 22 turns
Speed is substantially at desired speed range, and the pressure between grinding tool 22 and work piece substantially maintains a certain range.It is grinding
The load current parameter of mill processing time control brake force component 21 is in predetermined current range, the available higher grinding of mass ratio
Surface.
Predetermined current described herein may range from a specific value, but comprehensively consider the processing of work piece
Precision, processing efficiency and other factors, predetermined current may range from a certain numberical range.Predetermined current range can pass through tool
Depending on body processing conditions, such as suitably chosen according to the material, 22 material of grinding tool and grinding precision of work piece.Start in grinding
Before, it is stored in inside controller.It is succinct for description technique scheme, herein by predetermined current range is defined as: Imin~Imax。
IminAnd ImaxThe respectively minimum value and maximum value of predetermined current range.
Specifically, when load current is greater than ImaxWhen, reduce the pressure being applied on grinding tool 22, so that load current is located at
Predetermined current range.When load current is less than IminWhen, increase the pressure being applied on grinding tool 22, so that load current is located in advance
If current range.
In robot grinding system, the driving portion that stressed component is usually Pressure generator is applied to grinding tool 22
Part, driving part can drive grinding tool 22 close or far from work piece, to adjust between grinding tool 22 and work piece
Pressure.Therefore according to driving part movement in load current state modulator Pressure generator to drive grinding tool 22 close or separate
Work piece, to adjust the pressure between grinding tool 22 and work piece.
For controller to implement the grinding control method is pressure controller 120, when load current is greater than ImaxWhen,
Pressure controller 120 can control driving part and drive grinding tool 22 far from work piece, until load current is located at predetermined current
Range；When load current is less than IminWhen, pressure controller 120 can control driving part and drive grinding tool 22 close to work piece.
Driving part generally only realizes the fine tuning of distance between grinding tool 22 and work piece.If in attrition process, mill
When tool 22 encounters higher protrusion, the pressure between grinding tool 22 and work piece can increase severely, and only pass through control driving part at this time
The distance between grinding tool 22 and work piece can not be adjusted to suitable position.It also carries out herein control as follows.
In a specific embodiment, according to each section mechanical arm 100 of load current state modulator robot act with
Drive both Pressure generator and grinding tool component are whole close or far from work piece 300, to adjust therebetween
Pressure between grinding tool 22 and work piece 300.
That is, controller judges that even if driving part drives grinding tool 22 to move to limes superiors according to load current parameter
Position, the load current of power part 21 still can be greater than Imax, then controller directly controls mechanical arm movement, and band dynamic pressure produces
Both generating apparatus and grinding tool component integrally move upwards, far from work piece.
Similarly, even if when controller judges that driving part drives grinding tool 22 to move to limit inferior position according to load current parameter
It sets, the load current of power part 21 still can be less than Imin, then controller directly controls mechanical arm movement, and band dynamic pressure generates
Both device and grinding tool component integrally move downward, close to work piece.
It is of course also possible to only realize the tune of pressure between grinding tool 22 and work piece 300 by the movement of control mechanical arm
Section.
Embodiment 2
Referring to FIG. 5, in second of specific embodiment, in Pressure generator the driving source of driving part be gas source or
Person's hydraulic power source, running parameter are the driving pressure of driving part, specific control method are as follows:
S21, the driving pressure P for obtaining driving part in Pressure generator1；
As shown in figure 3, the driving part in the Pressure generator of grinding device can be cylinder 31 or hydraulic cylinder.Gas
The gas source of cylinder 31 can be air compressor machine 30, and the outlet of air compressor machine 30 is connected to by pressure duct with the air inlet of cylinder 31.It is hydraulic
The hydraulic power source of cylinder can be hydraulic pump, and the oil outlet of hydraulic pump is connected to by high-pressure oil passage with the actuator port of hydraulic cylinder.Driving
The driving pressure of component can be the pressure on pressure duct or high-pressure oil passage.
Wherein, driving pressure can be obtained by the pressure detecting part 33 being set on pressure duct or high-pressure oil passage.I.e.
Grinding device further comprises pressure detecting part 33, for detecting the driving pressure of driving part.The pressure of grinding device produces
Generating apparatus can further include angular transducer 32.
The specific embodiment that driving part is cylinder 31 is given in Fig. 3, air compressor machine 30, cylinder 31 are formed by work
Refer to the prior art in circuit, is not described in detail herein.
S22, with driving pressure P1It is condition, control driving part movement in default working pressure range.
It is simple for description technique scheme, default working pressure range is defined as P hereinminTo Pmax, specific to control
Are as follows: as driving pressure P1Greater than PmaxWhen, reduce the driving pressure of driving part；Work as P1Less than PminWhen, increase the drive of driving part
Dynamic pressure P1.Driving pressure reduces, then contact pressure reduces between grinding tool 22 and work piece；Driving pressure P1It increases, then grinding tool
Contact pressure increases between 22 and work piece.
Such as Fig. 3, when pressure controller 120 judges according to the signal detected of pressure detecting part 33 driving of driving part
Pressure P1Greater than PmaxWhen, the aperture that pressure controller 120 controls flow control valve 34 reduces, until driving pressure P1 is reduced to
Default working pressure range；When pressure controller 120 judges driving part according to the signal detected of pressure detecting part 33
Driving pressure P1Less than PminWhen, the aperture that pressure controller 120 controls flow control valve 34 increases, until driving pressure P1 drops
Down to default working pressure range.
Work piece is ground by state modulator grinding tool 22 of driving pressure, control method is fairly simple, control speed
Degree is than very fast.
Embodiment 3
Referring to FIG. 6, the running parameter is that driving part is applied on grinding tool 22 in the third specific embodiment
Pressure, specific control method are as follows:
S31, acquisition driving part are applied to the pressure P on grinding tool 222；
Referring again to Fig. 1, pressure sensor can be additionally provided between driving part and grinding tool 22, for detecting driving
Component is applied to the pressure P on grinding tool 222.The specific set-up mode and structure of pressure sensor are not detailed herein, this is not
Influence those skilled in that art's the understanding of the present invention and implementation.
Driving part is servo motor 11 and nut screw component or cylinder 31.Nut screw component includes 13 He of nut
Lead screw 12, servo motor 11 drives nut rotation, the upper and lower position of adjusting screw 12, and then realizes the adjusting of 22 position of grinding tool.
Certainly, the components such as the mounting rack of servo motor, nut screw component be can further include in Pressure generator.Servo horse
There can also be motor driver 10 up to 11.
S32, with pressure P2It is condition, control driving part movement in pre-set pressure range.
It is succinct for description technique scheme, pre-set pressure range is defined as P ' hereinminTo P 'max, specific to control are as follows:
As driving pressure P2Greater than P 'maxWhen, control driving part reduces the pressure being applied on work piece far from work piece；
Work as P1Less than PminWhen, control driving part control work piece 300 is to increase the pressure being applied on work piece 300.
It is directly controlled in the control method by the pressure being applied on work piece 300 for parameter, controls precision
It is relatively high.
It, can also be further according to load current parameter, driving part in the embodiment of above-mentioned each grinding control method
Driving pressure or driving part are applied to the running parameters such as the pressure on grinding tool 22 and carry out control as follows: being joined according to the work
Number reduces or improves the transverse shifting speed of mechanical arm, so that the load current is in predetermined current range.
By taking running parameter is load current parameters as an example, according to the transverse shifting speed of load current state modulator mechanical arm
Specific steps are as follows: when load current parameter is greater than ImaxWhen, reduce the transverse shifting speed of mechanical arm；Or/and work as load current
Parameter is less than IminWhen, improve the transverse shifting speed of mechanical arm.
Transverse direction described herein refers to mechanical arm along the direction that lapped face moves.
That is, can be moved by adjusting pressure and the lateral of mechanical arm between grinding tool 22 and work piece 300 simultaneously
Dynamic speed, making running parameter, (load current parameter, the driving pressure of driving part or driving part are applied on grinding tool 22
Pressure) in default running parameter range.
The various embodiments described above, grinding device can further include operation interface 60, and operator can be from operation interface
60 to pressure controller or robot controller input control parameter, such as the load current value range of power part etc..
Above-mentioned grinding control method is implemented based on relying on robot grinding system and grinding device, therefore in the present invention
Robot grinding system and grinding device equally there is the beneficial effect of above-mentioned grinding control method.
Arrow of the Fig. 1 into Fig. 3 indicates the direction of signal transmitting.
A kind of robot grinding system provided by the present invention, grinding device and grinding control method have been carried out in detail above
It is thin to introduce.Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention.It should be pointed out that for the ordinary skill of the art
, without departing from the principle of the present invention, can be with several improvements and modifications are made to the present invention for personnel, these improvement
It is also fallen within the protection scope of the claims of the present invention with modification.
Claims (20)
1. a kind of grinding control method, which is characterized in that grinding device includes power part and Pressure generator, the power
Component is used to drive the grinding tool rotation for grinding the surface of work piece；The Pressure generator includes driving part,
The driving part is for driving the grinding tool and work piece one of them with respect to another one relative motion；The grinding control side
Method specifically includes: according to the power part or the running parameter of the driving part, controlling the driving part movement.
2. grinding control method as described in claim 1, which is characterized in that the running parameter is the negative of the power part
Carry current parameters, specific control method are as follows:
Obtain the load current parameter of the power part；
According to driving part described in the load current state modulator, so that the load current of the power part is in default electricity
It flows in range.
3. grinding control method as claimed in claim 2, which is characterized in that adjusted according to the load current of current state
Pressure between the grinding tool and the work piece, so that load current is in the predetermined current range.
4. grinding control method as claimed in claim 3, which is characterized in that when the load current is greater than the predetermined current
When the maximum value of range, reduce the pressure being applied on the grinding tool, so that the load current is located at the predetermined current model
It encloses；Or
When the load current is less than the minimum value of the predetermined current range, increase the pressure being applied on the grinding tool,
So that the load current is located at the predetermined current range.
5. grinding control method as described in claim 3 or 4, which is characterized in that
Adjust the specific control method of the pressure are as follows:
According to driving part movement in Pressure generator described in the load current state modulator to drive the grinding tool close
Or far from the work piece, to adjust the pressure between the grinding tool and the work piece.
6. grinding control method as described in claim 3 or 4, which is characterized in that adjust the specific control method of the pressure
Are as follows: it is acted according to each section mechanical arm of load current state modulator robot to drive the Pressure generator and described
Both grinding tools are whole close or far from the work piece, to adjust the grinding tool and the work piece between the two
Between pressure.
7. such as the described in any item grinding control methods of claim 2 to 4, which is characterized in that adjust the grinding tool with it is described
While pressure between work piece, the transverse shifting speed of mechanical arm is reduced or improved also according to the load current parameter
Degree, so that the load current is in the predetermined current range.
8. grinding control method as claimed in claim 2, which is characterized in that the power part includes that motor and motor drive
Dynamic device, the pressure controller of the Pressure generator directly acquire the load current parameter from the motor driver.
9. grinding control method as claimed in claim 2, which is characterized in that the power part has current detector, institute
Current detector is stated for obtaining the load current parameter.
10. grinding control method as described in claim 1, which is characterized in that driving part in the Pressure generator
Driving source is gas source or hydraulic power source, and the running parameter is the driving pressure of the driving part, specific control method are as follows:
Obtain the driving pressure of driving part in Pressure generator；
It is in default working pressure range with the driving pressure as condition, controls the driving part movement.
11. grinding control method as described in claim 1, which is characterized in that the running parameter is that the driving part is applied
The pressure being added on the grinding tool, specific control method are as follows:
Obtain the pressure that the driving part is applied on the grinding tool；
It is in pre-set pressure range with the pressure as condition, controls the driving part movement.
12. grinding control method as claimed in claim 11, which is characterized in that between the driving part and the grinding tool also
It is provided with pressure sensor, the pressure being applied on the grinding tool for detecting the driving part.
13. grinding control method as claimed in claim 11, which is characterized in that the driving part is servo motor and nut
Lead screw assembly or cylinder.
14. a kind of grinding device, which is characterized in that including with lower component:
Power part, for driving grinding tool to rotate；
Pressure generator, including driving part, for driving the grinding tool close or far from work piece, to adjust institute
State the pressure between grinding tool and the work piece；
Controller controls the driving part movement according to the power part or the running parameter of the driving part.
15. grinding device as claimed in claim 14, which is characterized in that the running parameter is the load of the power part
Current parameters；The power part includes motor and motor driver, and the Pressure generator includes pressure controller, institute
It states pressure controller and directly acquires the load current parameter from the motor driver.
16. grinding device as claimed in claim 14, which is characterized in that the running parameter is the load of the power part
Current parameters；The grinding device further includes current detector, and the current detector is used for from the power part circuit
Obtain the load current parameter.
17. grinding device as claimed in claim 14, which is characterized in that the driving source of the Pressure generator be gas source or
Person's hydraulic power source, the running parameter are the driving pressure of the Pressure generator, and the Pressure generator further includes flow
Control valve and pressure detecting part.
18. grinding device as claimed in claim 14, which is characterized in that the driving part of the Pressure generator with it is described
Pressure sensor is installed, the running parameter is pressure sensor pressure detected between grinding tool.
19. the grinding device as described in claim 14,15,16 or 18, which is characterized in that the Pressure generator is gas
Cylinder or servo motor and nut screw component.
20. a kind of robot grinding system, which is characterized in that described in any item including robot and claim 14 to 19
Grinding device, the robot have sequentially connected multi-jointed mechanical arm；Driving part in the grinding device is connected to institute
State the free end of the last section mechanical arm.
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| CN201710534949.3A CN109202687A (en) | 2017-07-03 | 2017-07-03 | Robot grinding system, grinding device and grinding control method |
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| CN113500523A (en) * | 2021-07-23 | 2021-10-15 | 科达制造股份有限公司 | Intelligent grinding head lifting control system |
| CN115744311A (en) * | 2022-12-06 | 2023-03-07 | 包头市明芯科技有限公司 | Crushing and sucking machine, and negative-pressure crushing and sucking system and method for block materials |
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