CN110667289A - Wood carving self-adaptive control device and method based on force feedback - Google Patents
Wood carving self-adaptive control device and method based on force feedback Download PDFInfo
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- CN110667289A CN110667289A CN201910982636.3A CN201910982636A CN110667289A CN 110667289 A CN110667289 A CN 110667289A CN 201910982636 A CN201910982636 A CN 201910982636A CN 110667289 A CN110667289 A CN 110667289A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B1/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled three-dimensionally for making single sculptures or models
- B44B1/006—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled three-dimensionally for making single sculptures or models using computer control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
- B44B1/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled three-dimensionally for making single sculptures or models
- B44B1/02—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled three-dimensionally for making single sculptures or models wherein three-dimensional copies are made
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Abstract
The invention discloses a wood carving self-adaptive control device and method based on force feedback, wherein the device comprises a chassis for placing an object to be carved, a chassis fixing device, carving tools, a high-speed motor for controlling the rotation of the carving tools, five servo motors for driving displacement shafts and displacement shafts of the five carving tools, and an upper computer; the displacement axis comprises an X axis, a Y axis, a Z axis, a rotating B axis and a rotating C axis; five servo motors respectively drive five displacement shafts; each servo motor is driven to operate through one servo driver, and the five servo motor drivers are controlled through a five-axis servo controller, so that the carving tool can move in five degrees of freedom; the chassis is provided with a torque sensor and a gravity sensor; and the torque, the moment and the gravity are collected to adjust a cutter path file in an upper computer, so that the self-adaptive control based on force feedback in the carving process is realized.
Description
Technical Field
The invention relates to the field of automatic control methods and mechanical devices, in particular to a mechanical device for automatic control of wood material carving and a control method.
Background
In the field of industrial robots, along with the fusion of technologies such as computer technology, sensor technology and the like and mechanical technology, the application range of the industrial robot is greatly expanded. The robot for engraving wooden materials has many advantages: the wood carving machine has the advantages that labor intensity is remarkably reduced, manufacturing efficiency of wood carving artware is improved, consistency of the wood carving artware is improved, resource and energy waste is reduced, particularly, a carving robot with a remote control interface can share and manufacture, separation of design and manufacture is realized, a manufacturing threshold of the wood carving artware can be greatly reduced, and meanwhile development of wood carving products can be greatly promoted. However, the current widely used wood carving robot is generally 3-axis, and only simple and simple three-dimensional handicraft carving can be carried out; meanwhile, the existing carving robot only has simple tool path control and is output in a one-way control mode, a closed loop is not formed, so that the quality of a carved finished product is poor, the carving surface has high rigidity for materials with inconsistent texture, and abnormal conditions such as fracture cannot be treated.
Disclosure of Invention
The invention aims to provide a self-adaptive control device and a self-adaptive control method for wood material carving, which solve the problem of low degree of freedom of the current automatic wood carving equipment by using a five-axis machining center and simultaneously use a closed-loop control method based on force feedback.
The technical scheme adopted by the invention for solving the technical problems is as follows: a wood carving self-adaptive control device based on force feedback comprises a chassis for placing an object to be carved, a chassis fixing device, a carving tool, a high-speed motor for controlling the rotation of the carving tool, five displacement shafts of the carving tool, 5 servo motors for driving the displacement shafts, and an upper computer;
the chassis is provided with a torque sensor and a gravity sensor;
the displacement shaft displaces the engraving cutter and comprises an X axis, a Y axis, a Z axis, a rotating B axis and a rotating C axis; five servo motors respectively drive the carving tool to move on an X axis, a Y axis, a Z axis, a rotating B axis and a rotating C axis; each servo motor is driven to operate through one servo driver, and the five servo motor drivers are all controlled through a five-axis servo controller.
The further optimization scheme of the invention is as follows: the X axis, the Y axis and the Z axis are positioned on a three-axis bracket.
The further optimization scheme of the invention is as follows: the five-axis servo controller is also connected with an external manual controller, and the external manual controller can manually control the five-axis servo controller.
The further optimization scheme of the invention is as follows: the chassis comprises a torque sensor, and the torque sensor can sense the torque in the direction of the rotating C axis.
The further optimization scheme of the invention is as follows: the torque sensor can sense the torque in the direction of the rotating C axis, and the sensor uses a force-electricity sensor and has the characteristic of infinite precision.
The further optimization scheme of the invention is as follows: the chassis comprises a gravity sensor, and the gravity sensor can sense the gravity in the Z-axis direction.
The further optimization scheme of the invention is as follows: the gravity sensor uses a force-electricity sensor and has the characteristic of infinite precision.
Another subject of the invention is: the wood carving self-adaptive control method of the wood carving self-adaptive control device based on force feedback comprises the following specific steps of:
step (1): calibrating the origin of coordinates through an upper computer, and entering a carving state;
step (2): an external manual controller is manually used for driving a five-axis servo controller to debug and control a tool path file for the operation of the carving tool in a single step, so that the position of the tool path file is in a working state, and a blind area and collision are avoided;
and (3): setting a control period, and collecting data on a torque sensor and a gravity sensor in each control period, wherein the specific substeps are as follows:
(3.1) collecting rotation torque data in the torque sensor;
(3.2) collecting gravity data of the gravity sensor;
(3.3) calculating a twiddle factor in the control period;
(3.4) calculating the current rotation times by using the rotation factor and the material coefficient;
and (4): setting a time sequence, correspondingly controlling the rotation times sequence, and finally converging the rotation times sequence to the default rotation times;
and (5): the upper computer adjusts the rotation times of the current tool path file according to the collected control rotation times sequence and sends the rotation times to the five-axis servo controller;
and (6): the five-axis servo controller controls five servo motor drivers which respectively drive five servo motors so as to drive the displacement of the carving tool;
and (7): the high-speed motor drives the carving tool to rotate to carve the object to be carved.
The further optimization scheme of the invention is as follows: calculating the current rotation times by the rotation factor and the material coefficient, wherein the specific method is to increase the current stepping amount when the product of the rotation factor and the material coefficient is greater than the current rotation times; when the product of the twiddle factor and the material coefficient is smaller than the current rotation number, the current stepping amount is smaller.
The further optimization scheme of the invention is as follows: the material coefficient is related to a specific carving material, the larger the hardness coefficient of the carving material is, the larger the material coefficient is, and therefore a vector of the material coefficient is mapped according to the hardness coefficient of the material.
Compared with the prior art, the wood carving self-adaptive control device based on force feedback has the advantages that the wood carving self-adaptive control device has five displacement axes of an X axis, a Y axis, a Z axis, a rotary B axis and a rotary C axis, so that a carving tool can be displaced in five degrees of freedom, and meanwhile, the chassis is provided with the torque sensor and the gravity sensor, so that the torque and the torque in the direction of rotating the C axis and the gravity in the direction of the Z axis can be collected in real time; the tool path file in the upper computer is adjusted through the collected torque and gravity data, so that self-adaptive control based on force feedback in the engraving process is realized, and the problems of too strong engraving rigidity, uneven surface and even cracks caused by the change of wood hardness in the engraving process are solved.
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The present invention will be described in further detail below with reference to the drawings and preferred embodiments, but those skilled in the art will appreciate that the drawings are only drawn for the purpose of illustrating the preferred embodiments and therefore should not be taken as limiting the scope of the invention. Furthermore, unless specifically stated otherwise, the drawings are merely schematic representations based on conceptual representations of elements or structures depicted and may contain exaggerated displays and are not necessarily drawn to scale.
FIG. 1 is a block diagram of an apparatus according to a preferred embodiment of the invention;
fig. 2 is a flow chart of the operation of a preferred embodiment of the invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples. The described embodiments are only some embodiments of the invention, not all embodiments. The detailed description of the embodiments of the present invention provided below in connection with the appended drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, those skilled in the art can obtain other embodiments without creative efforts, which belong to the protection scope of the present invention.
As shown in fig. 1, a force feedback-based wood carving adaptive control device includes a base plate 01 for placing an object a to be carved, a base plate fixture 02, a carving tool, a high-speed motor for controlling the rotation of the carving tool, a displacement axis for displacing the carving tool and five servo motors for controlling the displacement axis, and an upper computer 03 with NCStudio motion control software.
Specifically, the displacement axes include an X-axis 1, a Y-axis 2, a Z-axis 3, a rotation B-axis 4, and a rotation C-axis 5; five servo motors respectively drive the carving tool to move on an X axis 1, a Y axis 2, a Z axis 3, a rotating B axis 4 and a rotating C axis 5; the Y axis 2 is a dead axis and is driven by a first servo motor; the X axis 1 and the Z axis 3 are moving axes and are respectively driven by a second servo motor and a third servo motor; the rotating B shaft 4 and the rotating C shaft 5 are respectively driven by a fourth servo motor and a fifth servo motor.
The X-axis 1, the Y-axis 2, and the Z-axis 3 are located on one three-axis carriage 04, and the X-axis 1, the Y-axis 2, and the Z-axis 3 move on the three-axis carriage 04. Each servo motor is driven to operate through one servo driver, the five servo motor drivers are controlled through a five-axis servo controller, the five-axis servo controller is connected with a computer upper computer and controlled by NCStudio motion control software in an upper computer 03, the five-axis servo controller is further connected with an external manual controller, and the external manual controller can manually control the five-axis servo controller.
The NCStudio motion control software in the upper computer 03 inputs the edited tool path file to the five-axis servo controller, so that the five-axis servo controller operates to control the five servo motors, and the engraving tool is displaced in five degrees of freedom.
The external manual controller sends pulse electric waves to the five-axis servo controller to control the operation of the five-axis servo controller, and simultaneously adjusts the operation speed of the motor through the swinging speed of a hand wheel arranged on the external manual controller.
Furthermore, the carving tool is also connected with a high-speed motor, so that the carving tool rotates at a high speed to carve the object to be carved. Note that the material to be engraved in this embodiment is a wooden material.
Preferably, as shown in fig. 1, the chassis 01 is a circular component made of stainless steel, the torque sensor 001 is installed below the center of the chassis 01 and inserted into the two-tooth gear of the chassis 01, wherein the torque sensor 001 is electrically connected with the upper computer 03, and the signal is connected to the RS485 interface of the upper computer 03 through the first signal interface, so as to realize data transmission with the upper computer 03. The torque sensor 001 uses a force-electricity sensor, has the characteristic of infinite accuracy, and can sense the torque and the moment in the direction of the rotating C-axis 5.
In addition, four gravity sensors 002 are uniformly distributed below the supporting feet of the chassis 01, and the gravity sensors 002 use force-electricity sensors and have the characteristic of infinite precision. Which can sense the magnitude of gravity in the Z-axis 3 direction of the chassis 01. The gravity sensor 002 is also communicated with the upper computer 03 and is connected to the RS485 interface of the upper computer 03 through a second signal interface.
As shown in fig. 2, in the actual use process, the operator controls the engraving tool by operating the external manual controller and the NCStudio motion control software in the computer, and collects data through the torque sensor 001 and the gravity sensor 002 on the chassis 01 to adjust the tool path file of the NCStudio motion control software.
The specific operation method comprises the following steps:
step (1): calibrating the origin of coordinates by NCStudio motion control software in the upper computer 03, and entering a carving state;
step (2): an external manual controller is manually used for driving a five-axis servo controller to debug and control a tool path file for the operation of the carving tool in a single step, so that the position of the tool path file is in a working state, and a blind area and collision are avoided; obtaining a side triangularization network by using a contour ring detection method;
and (3): setting a control period Tci, and collecting data on the torque sensor 001 and the gravity sensor 002 in each control period, wherein the specific sub-steps are as follows:
(3.1) collecting rotational torque data FM _ T in Torque sensor 001ci；
(3.2) collecting gravity data G +/-T of gravity sensorci；
(3.3) calculating the twiddle factor F in the control periodci；
(3.4) use of the twiddle factor FciCalculating the current rotation frequency CB according to the material coefficient MaRi；
According to a rotation factor FciCalculating the current CB according to the material coefficient MaRiThe specific calculation formula is as follows:
wherein Fci*Ma>CBRiIncreasing the current step amount sigma; if F is presentci*Ma<CBRiThe current step amount σ is decreased, and 1/3 in which the step amount is a base is generally set. Table i below represents TciPeriod ith period, twiddle factor FciThe force feedback is used for obtaining a specific value, and the specific calculation formula is as follows:
Fci＝|FMi|·|G⊥i|·cosθ
for calculating the vector sum of two forces, where Table i below represents TciCycle ith cycle, where cos θ is the cosine of the vector angle, which is 90.
The material coefficient Ma is related to a specific carving material, the larger the hardness coefficient of the carving material is, the larger the material coefficient is, and therefore a material coefficient Ma vector is mapped according to the hardness coefficient of the material.
And (4): setting time series T ═ Tc1，Tc2，Tc3，Tc4，Tc5，...TcnIs correspondingly controlled to rotate the time sequence CR＝{CR1，CR2，CR3，CR4，CR5，...CRnAnd the sequence of the final rotation times converges to the default rotation times CR(ii) a Repeating the above cycle;
and (5): the NCstudio motion control software adjusts the rotation times of the current tool path file according to the collected control rotation time sequence and sends the rotation times to the five-axis servo controller until the NCstudio tool path file is input;
and (6): the five-axis servo controller controls five servo motor drivers which respectively drive five servo motors so as to drive the displacement of the carving tool;
and (7): the high-speed motor drives the carving tool to rotate to carve the object to be carved.
The wood carving self-adaptive control device based on force feedback provided by the invention is provided with five displacement shafts, namely an X shaft 1, a Y shaft 2, a Z shaft 3, a rotary B shaft 4 and a rotary C shaft 5, so that a carving tool can displace in five degrees of freedom, and meanwhile, a chassis 01 is provided with a torque sensor 001 and a gravity sensor 002, so that the torque and the torque in the direction of rotating the C shaft 5 and the gravity in the direction of the Z shaft 3 can be collected in real time; the tool path file of NCstudio motion control software in the upper computer 03 is adjusted through the collected torque and gravity data, so that self-adaptive control based on force feedback in the engraving process is realized, and the problems of too strong engraving rigidity, uneven surface and even cracks caused by the change of wood hardness in the engraving process are solved.
The present invention provides a force feedback-based woodcarving adaptive control device and method, and a specific example is applied in the description to explain the principle and the implementation of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A wood carving self-adaptive control device based on force feedback is characterized by comprising a chassis for placing an object to be carved, a chassis fixing device, a carving tool, a high-speed motor for controlling the rotation of the carving tool, five displacement shafts of the carving tool, five servo motors for driving the displacement shafts and an upper computer;
the chassis is provided with a torque sensor and a gravity sensor;
the displacement shaft displaces the engraving cutter and comprises an X axis, a Y axis, a Z axis, a rotating B axis and a rotating C axis; five servo motors respectively drive the carving tool to move on an X axis, a Y axis, a Z axis, a rotating B axis and a rotating C axis; each servo motor is driven to operate through one servo driver, and the five servo motor drivers are all controlled through a five-axis servo controller.
2. The adaptive wood carving control device based on force feedback of claim 1 wherein the X-axis, the Y-axis and the Z-axis are located on a three-axis support.
3. The adaptive wood carving control device based on force feedback as claimed in claim 1, characterized in that an external manual controller is further connected to the five-axis servo controller, and the external manual controller can manually control the five-axis servo controller.
4. The adaptive wood carving control device based on force feedback as claimed in claim 1, characterized in that the chassis includes a torque sensor, and the torque sensor can sense the torque in the direction of the C-axis of rotation.
5. The adaptive wood carving control device based on force feedback as claimed in claim 4, characterized in that the torque sensor can sense the torque in the direction of the C axis of rotation, and the sensor uses a force electric sensor and has the characteristic of infinite accuracy.
6. The adaptive wood carving control device based on force feedback as claimed in claim 1, characterized in that the chassis includes a gravity sensor, and the gravity sensor can sense the gravity in the Z-axis direction.
7. The adaptive wood carving control device based on force feedback as claimed in claim 1, characterized in that the gravity sensor uses a force electric sensor and has infinite accuracy.
8. The wood carving adaptive control method of the wood carving adaptive control device based on force feedback according to claim 1-7, characterized by comprising the following concrete steps:
step (1): calibrating the origin of coordinates through an upper computer, and entering a carving state;
step (2): an external manual controller is manually used for driving a five-axis servo controller to debug and control a tool path file for the operation of the carving tool in a single step, so that the position of the tool path file is in a working state, and a blind area and collision are avoided;
and (3): setting a control period, and collecting data on a torque sensor and a gravity sensor in each control period, wherein the specific substeps are as follows:
(3.1) collecting rotation torque data in the torque sensor;
(3.2) collecting gravity data of the gravity sensor;
(3.3) calculating a twiddle factor in the control period;
(3.4) calculating the current rotation times by using the rotation factor and the material coefficient;
and (4): setting a time sequence, correspondingly controlling the rotation times sequence, and finally converging the rotation times sequence to the default rotation times;
and (5): the upper computer adjusts the rotation times of the current tool path file according to the collected control rotation times sequence and sends the rotation times to the five-axis servo controller;
and (6): the five-axis servo controller controls five servo motor drivers which respectively drive five servo motors so as to drive the displacement of the carving tool;
and (7): the high-speed motor drives the carving tool to rotate to carve the object to be carved.
9. The adaptive control method for woodcarving based on force feedback as claimed in claim 8, characterized in that the twiddle factor and the material coefficient calculate the current twiddle times, by increasing the current step amount when the product of the twiddle factor and the material coefficient is larger than the current twiddle times; when the product of the twiddle factor and the material coefficient is smaller than the current rotation number, the current stepping amount is smaller.
10. The adaptive wood carving control method based on force feedback as claimed in claim 8, wherein the material coefficients are associated with specific carving materials, the greater the hardness coefficient of the carving material, the greater the material coefficient, so that a vector of the material coefficients is mapped according to the hardness coefficient of the material.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112157769A (en) * | 2020-10-14 | 2021-01-01 | 唐江林 | Dyeing machine capable of changing rotating speed based on self weight of wood |
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