CN207290112U - Robot grinding system, robot system, lapping device, Acetabula device, driving part and Pressure generator - Google Patents
Robot grinding system, robot system, lapping device, Acetabula device, driving part and Pressure generator Download PDFInfo
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- CN207290112U CN207290112U CN201720797880.9U CN201720797880U CN207290112U CN 207290112 U CN207290112 U CN 207290112U CN 201720797880 U CN201720797880 U CN 201720797880U CN 207290112 U CN207290112 U CN 207290112U
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Abstract
The utility model discloses a kind of robot grinding system, robot system, lapping device, Acetabula device, driving part and Pressure generator.The Pressure generator includes driving part and pressure controller：Compared with each execution unit in robot grinding system in the prior art is controlled by robot controller, in Pressure generator provided by the utility model, pressure controller and robot controller are shared, thus, such as grinding dedicated pressure controller and general robot controller etc. can be combined, this considerably increases the control flexibility of robot grinding system when in use.
Description
Technical field
Grinding technique field is the utility model is related to, more particularly to a kind of robot grinding system, robot system, grinding
Device, Acetabula device, driving part and Pressure generator.
Background technology
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.
On the premise of grinding function is realized, the structure of robot grinding system is that those skilled in that art pay close attention to always
Focus.
Utility model content
The utility model provides a kind of Pressure generator, including with lower component：
Driving part, for driving the instrument being mounted thereon opposite by contact reciprocating action；
Pressure controller, including pressure control module and instruction sending module；
The pressure control module, for controlling the driving part to act according to the goal pressure of setting；
Described instruction sending module, for distribution of machine people's operation instruction in robot controller.
Compared with each execution unit in robot grinding system in the prior art is controlled by robot controller, this practicality
In new provided Pressure generator, pressure controller and robot controller are shared, and thus, such as can be combined
Dedicated pressure controller and general robot controller etc. are ground, this considerably increases robot grinding system when in use
Control flexibility.
Optionally, the pressure controller further includes signal receiving module, the signal receiving module and the robot
The signal output port connection of controller, to directly acquire the robot running parameter from the robot controller；
Described instruction sending module, based on described in the robot operating parameter control acquired by the robot running parameter
Driving part acts.
The signal receiving module is connected with the signal output port of the robot controller, so as to from the robot
Controller directly acquires the robot running parameter, so that the robot controller monitors the work ginseng of the driving part
Number.
Optionally, the pressure controller further includes signal transmitting module；
The signal transmitting module, for sending the running parameter of the driving part in the robot controller.
Optionally, the pressure control module further considers drive division described in the robot operating parameter control
Part acts.
Optionally, the driving part includes the first motor, leading screw and the nut being engaged on the leading screw, and described
Leading screw described in the output axis connection of one motor, the instrument are fixedly connected with the nut, and first motor passes through the spiral shell
Female and described leading screw drives the instrument.
Optionally, the driving part further includes：
Encoder, for obtaining the rotational parameters of first motor；
Driver, storage inside have the operating mode of at least one first motor, and control at first motor
Work in relevant work pattern；
The signal input port of the pressure controller connects the signal output port of the encoder, so as to directly from institute
The rotational parameters that encoder obtains first motor are stated, and the signal output port of the pressure controller connects the drive
The signal input port of dynamic device, answering control instruction with the output phase, the driver is according to the control instruction in the driver
First motor is controlled to be in corresponding operating mode；Alternatively,
The signal input port of the pressure controller connects the signal output part of the encoder by the driver
Mouthful, with the rotational parameters of the first motor described in indirect gain, and described in the signal output port connection of the pressure controller
The signal input port of driver, answers control instruction to be referred in the driver, the driver according to the control with the output phase
Order controls first motor to be in corresponding operating mode.
Optionally, the driver is integrated in inside the pressure controller；Or the driver is integrated in described
The inside of one motor.
Optionally, further include：
Pressure sensor, for detecting the instrument and by the pressure signal between contact；
The pressure controller controls the driving part to act always according to the pressure signal, so that the instrument and institute
State becomes the goal pressure by the actual pressure between contact.
Optionally, the pressure sensor is arranged between the nut and the instrument.
Optionally, the driving part includes air compressor machine, flow control valve and cylinder, and the flow control valve is arranged on described
Connecting pipeline between the working hole of the gas outlet of air compressor machine and the cylinder, the instrument are arranged on the movable end of the cylinder.
Optionally, further include：
Angular transducer, for detecting the attitude angle of the cylinder；
The pressure controller judges that the instrument self gravitation puts on described contacted according to the attitude angle of detection
Power on part, and then calculate the cylinder reality output power.
Optionally, the pressure controller and the robot controller are integrated.
In addition, the utility model additionally provides a kind of lapping device, including the Pressure generator described in any of the above-described,
The instrument is grinding tool component, and the grinding tool component includes at least grinding tool and drives the power part of the grinding tool rotation；
The pressure controller is additionally operable to receive the running parameter of power part and controls the rotation speed of the power part
Degree.
Optionally, the power part is to utilize gas either liquid or the second motor of driven by power.
Optionally, the power part further includes：
Encoder, for obtaining the rotational parameters of second motor；
Speed drive, for adjusting the rotating speed of second motor；
The signal input port of the pressure controller connects the signal output port of the encoder of second motor, with
Just the rotational parameters of second motor, and the letter of the pressure controller directly are obtained from the encoder of second motor
Number output port connects the signal input port of the speed drive, answers control instruction to be driven in the speed with the output phase
Device, the speed drive control the rotating speed of second motor according to the control instruction；Alternatively,
The signal input port of the pressure controller connects the coding of second motor by the speed drive
The signal output port of device, with the rotational parameters of the second motor described in indirect gain, and the signal of the pressure controller is defeated
Exit port connects the signal input port of the speed drive, and control instruction is answered in the speed drive, institute with the output phase
State the rotating speed that speed drive controls second motor according to the control instruction.
Optionally, the speed drive is integrated in inside the pressure controller；Alternatively, the speed drive integrates
In the inside of second motor.
Optionally, second motor is servo motor.
In addition, the utility model additionally provides a kind of robot grinding system, including：
Robot, has at least one section mechanical arm；
Robot controller, for controlling the robot motion；It is characterized in that,
The Pressure generator described in any of the above-described or/and the lapping device described in any of the above-described are further included, it is described
Lapping device is installed on the end of the last section mechanical arm of the robot.
In addition, the utility model additionally provides a kind of robot system, including：Driving part, it is installed on for driving
On instrument it is opposite by contact reciprocating action；
The robot set for the driving part；
Robot controller, including robot module and modular pressure, the robot module are used to control the machine
Human action, the modular pressure are used to send driving operation instruction according to the goal pressure of setting；And
Pressure controller, has and controls the drive according to the driving operation instruction sent from the robot controller
The pressure control module of dynamic component action.
Optionally, the robot controller further comprises signal transmitting module；The signal transmitting module, for inciting somebody to action
Robot running parameter is sent to the pressure controller, so as to robot running parameter described in the pressure controller monitors.
More than in addition to several persons, the utility model additionally provides a kind of Acetabula device, including the pressure described in any of the above-described
Generation device, the instrument are sucker, and the Acetabula device further includes source of the gas and switch valve, and the switch valve is connected to the gas
Between source and the sucker.
In addition, a kind of driving part,
The driving part has instrument, and is installed in robot,
The driving part is controlled by pressure controller, thus come drive the instrument relative to by contact toward double action
Make.
Optionally, the pressure controller controls the driving part to act according to the goal pressure of setting, and described
Pressure controller also distribution of machine people operation instruction is in the robot controller for controlling the robot.
Optionally, the pressure controller obtains robot running parameter from the robot controller, and is based on being taken
The robot running parameter obtained sends the robot operation instruction.
Optionally, control the robot controller of the robot to send driving operating according to the goal pressure of setting to refer to
Order,
The pressure controller controls the drive according to the driving operation instruction sent from the robot controller
Dynamic component acts.
Finally, present invention also offers a kind of Pressure generator, possess：
Driving part, for driving the instrument being mounted thereon relative to by contact reciprocating action；
Pressure controller, receives the driving operation instruction sent according to the goal pressure of setting from robot controller, and
The driving part action is controlled according to the driving operation instruction.
Brief description of the drawings
Fig. 1 is the structure diagram of robot grinding system in a kind of specific embodiment of the utility model；
Fig. 2 is the structure diagram of robot grinding system in second of specific embodiment of the utility model；
Fig. 3 is the structure diagram of robot grinding system in the utility model the third specific embodiment；
Control block diagrams of the Fig. 4 for Pressure generator in a kind of specific embodiment of the utility model to power part；
Fig. 5 is the structure diagram of Acetabula device in a kind of specific embodiment of the utility model；
Fig. 6 is the control block diagram of robot control system in a kind of specific embodiment of the utility model；
Fig. 7 is used as the control principle drawing of master controller using pressure controller for the present invention；
Fig. 8 is that the control principle drawing of master controller is used as using robot controller in the present invention.
Wherein, Fig. 1 is into Fig. 5：
Driver 10, motor 11, leading screw 12, nut 13；
Speed drive 20, power part 21, grinding tool 22, transmission parts 23, mounting bracket 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, free end 100a, robot controller 110, pressure controller 120, workbench 200, added
Workpiece 300；
Sucker 50, source of the gas 51, switch valve 52, workpiece 400；
Operation interface 60.
Embodiment
Robot grinding system mainly includes three parts：Robot, Pressure generator and grinding tool component.Because of machine
People, Pressure generator and grinding tool component are belonging respectively to different technologies field, respectively by the skill of grasp relevant art domain knowledge
Art personnel are designed, and can individually be sold.Driving part in Pressure generator is similarly by grasping corresponding skill
The technical staff of art domain knowledge is designed, and can individually be sold.
User buys robot, Pressure generator and the grinding tool component of corresponding function model according to the demand of oneself, existing
Field is assembled.Especially robot and Pressure generator need to be adapted to again after assembling, both could work normally.And
And be in the prior art that the execution unit in Pressure generator and grinding tool component is controlled by the controller of robot,
Limitation is bigger during control layout, and flexibility is poor during use.
Bigger, flexibility during use for limitation when layout is controlled existing for robot grinding system in the prior art
Poor technical problem, has made intensive studies herein, and proposes a kind of technical solution for solving above-mentioned technical problem.
The utility model provides a kind of Pressure generator, and Pressure generator includes driving part and pressure controller
120；Driving part is controlled by pressure controller 120, for driving the instrument that is mounted thereon opposite by contact toward double action
Make.As shown in fig. 6, pressure controller 120 includes pressure control module, signal receiving module and instruction sending module.Pressure
Control module is used to control driving part to act；Signal receiving module, for receiving the robot of the transmission of robot controller 110
Running parameter；Instruction sending module, for according to robot running parameter distribution of machine people's operation instruction in robot controller
110, so that robot controller 110 is according to the associated components action of operation instruction control robot of robot.Alternatively, robot control
Device 110 processed sends driving operation instruction in pressure controller 120 according to the goal pressure of setting, and pressure controller 120 is according to drive
Dynamic operation instruction control driving part action.
The concrete structure of pressure control module, signal receiving module and instruction sending module does not limit herein, as long as
It can realize above-mentioned function.
Herein mainly technical solution is introduced so that Pressure generator is applied to robot grinding system and Acetabula device as an example
And technique effect.
First, by taking Pressure generator is applied to robot grinding system as an example, instrument is grinding tool, is to be added by contact
Workpiece.Robot grinding system herein includes robot, Pressure generator and grinding tool component as described above.
Robot has multi-jointed mechanical arm 100, and each mechanical arm 100 that saves is sequentially connected, the driving part of Pressure generator
The free end 100a of the last section mechanical arm 100 is together installed on grinding tool component, work piece 300 is fixed on by fixture
On workbench 200, the free end 100a of robot completes the grinding on 300 surface of work piece along projected route transverse shifting.
Certainly, work piece 300 can also be arranged at the free end 100a of robot, and lapping device is fixed on workbench 200, machine
People drives work piece 300 to be moved along projected route, and then completes the grinding on 300 surface of work piece.
Driving part is installed on the free end 100a of mechanical arm, and driving part main function is driving grinding tool 22 and is added
300 one of which of workpiece is with respect to another one relative motion, to adjust the distance between grinding tool 22 and work piece 300.Drive division
Part 11 can drive grinding tool 22 that work piece 300 can also be driven close or away from mill close to either remote work piece 300
Tool 22, that is, change grinding tool 22 and be ground the distance between surface with work piece 300, can accordingly change grinding tool 22 with being ground
Pressure between surface.Preferably, driving part driving grinding tool 22 is 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, can also drive indirectly
Grinding tool 22 or work piece 300, that is, set intermediate member, and driving part driving intermediate member is realized to grinding tool 22 or added
The driving of workpiece 300.Driving part can be extensible member, such as cylinder or hydraulic cylinder；Driving part can also be to watch
Take motor 11.
Grinding tool component includes power part 21, grinding tool 22, transmission parts 23 and mounting bracket 24.22 main function of grinding tool be with
300 surface to be polished of work piece contacts and completes the polishing to its surface, and different according to work piece 300 are chosen suitably
Grinding tool 22, is not detailed, refers to the prior art herein for the material of grinding tool 22.Power part 21 is mainly that grinding tool 22 provides
Rotatory force needed for grinding, i.e. power part 21 driving grinding tool 22 rotate.Power part 21 can be servo motor, certainly, ability
Technical staff should be understood that the power part of grinding tool herein is not limited to servo motor in domain, can also be general motor etc. its
His component, as long as being capable of providing the rotational power of grinding tool.
Usually, grinding tool 22, power part 21 and transmission parts are mounted on mounting bracket 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, do not limit herein.Wherein, mounting bracket 24 and transmission parts 23
To form the inessential component of grinding tool component.
Please comprehensive reference Fig. 7, Fig. 7 is used as the control principle drawing of master controller using pressure controller for the present invention.
Pressure controller 120 in Pressure generator provided by the utility model includes pressure control module, signal
Receiving module and instruction sending module.Specifically, pressure control module can receive running parameter from driving part and
The running parameter of power part 21, and driven according to the goal pressure of setting and the operating parameter control driving part of driving part
Dynamic grinding tool 22 moves up and down, to adjust the contact between grinding tool 22 and work piece 300.Goal pressure can be arranged at pressure
The inside of force controller 120, naturally it is also possible to be set in the inside of robot controller 110.Robot controller 110 is according to setting
Fixed goal pressure sends driving operation instruction, and pressure controller 120 is operated according to the driving sent from robot controller 110
Instruction control driving part action.
Pressure controller 120 can also be acted according to the operating parameter control power part of power part to adjust grinding tool
Velocity of rotation.
In short, the driving part in the utility model has instrument, and robot is installed in, driving part is by pressure
Controller controls, and thus carrys out driving instrument and is moved back and forth relatively by contact.
The behaviour to communicate with pressure controller 120 and robot controller 110 can be set in usual lapping device
Make interface 60, after operating personnel select pressure controller 120 as the master controller of machining control, the machined parameters such as goal pressure
It can be set by operating personnel in operation interface 60.
Pressure controller 120 in the present invention still further comprises signal receiving module and instruction sending module.Signal connects
Receive module and manually make parameter for receiving machine；Instruction sending module is used to be operated according to robot running parameter distribution of machine people
Instruct in robot controller 110.
Wherein, robot controller 110 can receive machine and manually make parameter.It should be noted that robot work ginseng
Number refers mainly to：The running parameter and attitude parameter of each parts of robot are formed, such as the attitude parameter of each mechanical arm and is held
The running parameter of row component, execution unit include telescoping cylinder of driving mechanical arm action etc..
The signal receiving module of pressure controller 120 can be connected with the signal output port of robot controller, so
Signal receiving module directly acquires robot running parameter from robot controller 110, i.e. robot controller 110 will receive
Robot running parameter be transferred to pressure controller 120, the instruction sending module of pressure controller 120 works according to robot
Parameter distribution of machine people operation instruction is in robot controller 110, and then robot controller 110 is according to robot operation instruction
The related execution unit action of control.
That is, pressure controller 120 makes grinding tool be moved about 22 according to robot operating parameter control driving part
Make.In addition, pressure controller 120 can also be configured to according to robot operating parameter control power part action so as to adjust mill
The rotating speed of tool.For example, it is configured to：Represent to be processed and grinding tool 22 is close by robot motion in robot running parameter
During part 300, pressure controller 120 controls driving part and moves up and down grinding tool 22, then starts the rotation of grinding tool 22.
Herein, as robot running parameter, such as the running parameter and posture for forming each parts of robot are referred to
Parameter, such as running parameter of the attitude parameter of each mechanical arm and execution unit etc..Execution unit includes driving mechanical arm action
Telescoping cylinder etc..
Certainly, the detection part that the signal receiving module of pressure controller 120 can also directly with robot each parts
Connection, to obtain robot running parameter.
Compared with each execution unit in robot grinding system in the prior art is controlled by robot controller, in this hair
In bright provided Pressure generator, pressure controller 120 and robot controller 110 are shared, thus, such as can
Combination grinding dedicated pressure controller and general robot controller etc., this considerably increases robot grinding system to make
The control flexibility of used time.
Certainly, the Pressure generator in the present invention can also work by prior art manner, i.e. pressure controller
120 receive the running parameter of execution unit (driving part is one of which execution unit) in Pressure generators, and by the work
Sent as parameter to robot controller 110, robot controller 110 is produced according to the goal pressure of setting and the pressure received
The running parameter of generating apparatus sends driving operation instruction, and pressure controller 120 receives the driving operation instruction, and according to the driving
Operation instruction control corresponding component is acted.For example, control instruction of the pressure controller 120 according to robot controller 110
Control the rotating speed of driving part action or power part.
In this way, user can be flexibly selected pressure controller 120 and robot controller according to the demand of actual use
110 wherein any one as master controller.
Further, pressure controller 120 can be in communication with each other with robot controller 110.Such as with pressure controller
During 120 conduct master controller, there is signal transmitting module in pressure controller 120, which further sends drive
The running parameter of dynamic component is in robot controller, so that robot controller 110 monitors the running parameter of driving part.So
The reliability of system work can be increased.
In the various embodiments described above, pressure controller 120 can also further consider robot operating parameter control and drive
Dynamic component acts, that is to say, that pressure controller 120 considers at the same time when each component is controlled in pressure generating unit
The working status of robot.Such as：In the grinding incipient stage, mechanical arm 100 clamps lapping device to work piece 300 close to mistake
Cheng Zhong, when pressure controller 120 according to robot running parameter judge mechanical arm 100 reach precalculated position, then stop mechanical arm
Grinding instruction control driving part is simultaneously opened in 100 movements at the same time, power part starts to act.
The concrete structure of the modules such as pressure control module, signal transmitting module and instruction sending module does not limit herein,
As long as it can realize above-mentioned function.
Driving part in above-described embodiment can include motor 11 (the first motor), leading screw 12 and be engaged in leading screw 12
On nut 13, encoder PG1 and driver 10.The output shaft connection leading screw 12 of motor 11, grinding tool component are fixed with nut 13
Connection, motor 11 drive grinding tool component by nut 13 and leading screw 12.
Encoder PG1 is used for the rotational parameters for obtaining motor 11 (the first motor).10 storage inside of driver has at least one
The operating mode of kind motor 11, and control motor 11 to be in the work of relevant work pattern.
The signal output port of the signal input port connection encoder PG1 of pressure controller 120, so as to directly from coding
Device PG1 obtains the rotational parameters of motor 11, and the signal of the signal output port connection driver 10 of pressure controller 120 is defeated
Inbound port, answers control instruction to control motor 11 to be in corresponding according to control instruction in driver 10, driver 10 with the output phase
Operating mode.
Pressure controller 120 directly obtains the rotational parameters of motor 11 from encoder PG1, and signal transmission is than very fast, control
Efficiency is higher.
Certainly, the signal input port of pressure controller 120 can also connect the signal of encoder PG1 by driver 10
Output port, with the rotational parameters of indirect gain motor 11, and the signal output port of pressure controller 120 connects driver
10 signal input port, answers control instruction to control motor 11 according to control instruction in driver 10, driver 10 with the output phase
In corresponding operating mode.
Driver 10 can be integrated in inside pressure controller 120, can also be integrated in inside motor 11.
Pressure generator can further include pressure sensor 14, for detecting grinding tool 22 and work piece 300
Between pressure signal.Pressure controller 120 judges the pressure between grinding tool 22 and work piece 300 always according to pressure signal.
For the concrete structure that driving part is motor 11, leading screw 12 and nut 13, pressure sensor 14 can be installed on nut 13
Between grinding tool component, specifically, between the mounting bracket 24 of nut 13 and grinding tool component.
Installation pressure sensor 14 is conducive to precision between grinding tool 22 and work piece 300 and obtains grinding tool 22 and driving
Contact between component.
Driving part can also include air compressor machine 30, flow control valve 34 and cylinder 31, and flow control valve is arranged on air compressor machine
Connecting pipeline between 30 gas outlet and the working hole of cylinder 31, grinding tool 22 (instrument) are arranged on the movable end of cylinder 31.Certainly,
Pressure sensor 14 can also be set between cylinder 31 and grinding tool 22, for detecting connecing between grinding tool 22 and work piece 300
Touch pressure.
Certainly, connecting pipeline can also set pressure detecting portion between the working hole of the gas outlet of air compressor machine 30 and cylinder 31
Part 33, the driving pressure on signal piping.
Pressure generator can also include angular transducer 32, and angular transducer 32 is used for the attitude angle for detecting cylinder 31
Degree.Angular transducer 32 can be two dimension sensors, or a multidimensional sensor, as long as 31 appearance of cylinder can be realized
The detection of state angle.The posture of grinding tool component is judged by the posture of cylinder 31, and then accurately judges grinding tool 22 with being added
Contact between workpiece 300.
Pressure controller according to the attitude angle that angular transducer 32 is detected judge instrument (grinding tool component) put on by
Power on workpiece, and then calculate 31 reality output power of cylinder.That is, the embodiment takes into full account instrument self gravitation
Influence to putting on pressure on work piece 300, thus according to the default pressure between instrument (grinding tool) and work piece 300
Power, the accurate cylinder 31 that calculates are actually needed the pressure exported, are conducive to improve the grinding precision on 300 surface of work piece.
Pressure controller 120 and robot controller 110 in the various embodiments described above integrated can design.So have
Beneficial to the Integration Design of machinery.
On the basis of above-mentioned Pressure generator, the utility model additionally provides a kind of lapping device, the lapping device
In addition to including the Pressure generator described in any of the above-described, further include grinding tool component and drive the power part of grinding tool rotation
Part.Pressure controller is additionally operable to receive the running parameter of power part and controls the velocity of rotation of power part.
That is, Pressure generator can form a set of lapping device with grinding tool component, independent design, increase are carried out
The flexibility of user's selection.
Power part can be to utilize gas either liquid or the motor of driven by power (the second motor).Motor is servo
Motor.
Lapping device can further include encoder PG2 and speed drive 20.Encoder PG2 is used to obtain motor
Rotational parameters.Speed drive 20 is used for the rotating speed for adjusting motor.
The signal output port of the encoder PG2 of the signal input port connection motor of pressure controller 120, so as to direct
The rotational parameters of motor are obtained from the encoder PG2 of motor, and the signal output port connection speed of pressure controller 120 is driven
The signal input port of dynamic device 20, answers control instruction to be referred in speed drive 20, speed drive 20 according to control with the output phase
The rotating speed of order control motor.
Certainly, the signal input port of pressure controller 120 can connect the encoder of motor by speed drive 20
The signal output port of PG2, with the rotational parameters of indirect gain motor, and the signal output port of pressure controller 120 connects
The signal input port of speed drive 20 is connect, control instruction is answered in speed drive 20, speed drive 20 with the output phase
According to the rotating speed of control instruction control motor.
Certainly, current detector 25 and power supply 26 are can further include in lapping device, current detector 25 is used for
The load current parameter of motor is detected, the velocity of rotation of grinding tool 22 can be further controlled with load current parameter.Power supply 26 is used
In to the offer electric energy of speed drive 20.
Speed drive 20 can be integrated in inside pressure controller；Alternatively, speed drive 20 can be integrated in motor
Inside.
Fig. 8 is refer to, Fig. 8 is that the control principle drawing of master controller is used as using robot controller in the present invention.
In addition to above robot grinding system and lapping device, the utility model additionally provides a kind of robot system, bag
Include driving part, robot, pressure controller and robot controller, robot controller 110 include robot module and
Modular pressure.
Robot module, for controlling robot motion；Modular pressure, for sending driving according to the goal pressure of setting
Operation instruction is in pressure controller 120.Pressure controller 120 has the driving operation instruction control sent according to robot controller
The pressure control module of driving part action processed.
Similarly, the setting of goal pressure may refer to be described above.
That is, the pressure controller 120 of Pressure generator is received according to the goal pressure of setting from robot control
The driving operation instruction that device 110 processed is sent, and driving part action is controlled according to the driving operation instruction.
When using robot controller 110 as master controller, robot controller 110 can also be further by robot
Running parameter is sent to pressure controller 120, so as to 120 supervisory-controlled robot running parameter of pressure controller.
Fig. 5 is refer to, Fig. 5 is the structure diagram of Acetabula device in a kind of specific embodiment of the utility model.
Secondly, the utility model additionally provides a kind of Acetabula device with above-mentioned Pressure generator, is mainly used for heap
Folded workpiece.Above-mentioned instrument is sucker 50, and Acetabula device further includes source of the gas 51 and switch valve 52, and switch valve 52 is connected to 51 He of source of the gas
Between sucker 50.Sucker 50 is installed on the bottom of driving part, and driving part can drive sucker 50 to move up and down.
In Acetabula device, the effect of pressure sensor 14 is：The pressure between sucker and its workpiece adsorbed is detected,
Pressure controller judges whether that reliably adsorbing workpiece 400 and 400 safety of control absorption workpiece places according to pressure, with control machine
Tool arm, driving part and switch valve 52 carry out corresponding actions.That is, when adsorbing workpiece, according to the detection of pressure sensor 14
Signal may determine that the adsorption capacity size between sucker 50 and workpiece, if can reliably adsorb workpiece；When putting down workpiece, root
Sucker 50 is may determine that according to the detection signal of pressure sensor 14 and stacks the pressure between area's workpiece, in order to avoid the excessive damage of pressure
Workpiece 400.
The various embodiments described above, operator can also input from operation interface 60 to pressure controller or robot controller
Other control parameters, such as load current value scope of power part etc..
The other structures of Acetabula device refer to the prior art, not repeat herein.
Because robot grinding system, robot system, lapping device and Acetabula device are respectively provided with above-mentioned Pressure generator,
Therefore three also has the above-mentioned technique effect of Pressure generator.
A kind of robot grinding system provided by the utility model, robot system, lapping device, sucker are filled above
Put, driving part and Pressure generator are described in detail.Original of the specific case to the utility model used herein
Reason and embodiment are set forth, and the explanation of above example is only intended to the method and its core that help understands the utility model
Thought is thought.It should be pointed out that for those skilled in the art, the premise of the utility model principle is not being departed from
Under, some improvement and modification can also be carried out to the utility model, these are improved and modification also falls into the utility model right and wants
In the protection domain asked.
Claims (24)
1. a kind of Pressure generator, it is characterised in that including with lower component：
Driving part, for driving the instrument being mounted thereon opposite by contact reciprocating action；
Pressure controller, including pressure control module and instruction sending module；
The pressure control module, for controlling the driving part to act according to the goal pressure of setting；
Described instruction sending module, for distribution of machine people's operation instruction in robot controller.
2. Pressure generator as claimed in claim 1, it is characterised in that the pressure controller further includes signal and receives mould
Block, the signal receiving module are connected with the signal output port of the robot controller, to be controlled from the robot
Device directly acquires robot running parameter；
Described instruction sending module is based on driving part described in the robot operating parameter control and acts.
3. Pressure generator as claimed in claim 1, it is characterised in that the pressure controller further includes signal and sends mould
Block；
The signal transmitting module is connected with the robot controller, for sending the running parameter of the driving part in institute
Robot controller is stated, so that the robot controller monitors the running parameter of the driving part.
4. Pressure generator as claimed in claim 1, it is characterised in that the driving part includes the first motor, leading screw
And the nut on the leading screw is engaged in, and leading screw described in the output axis connection of first motor, the instrument and the spiral shell
Mother is fixedly connected, and first motor drives the instrument by the nut and the leading screw.
5. Pressure generator as claimed in claim 4, it is characterised in that the driving part further includes：
Encoder, for obtaining the rotational parameters of first motor；
Driver, storage inside have the operating mode of at least one first motor, and control first motor to be in phase
Answer mode of operation；
The signal input port of the pressure controller connects the signal output port of the encoder, so as to directly from the volume
Code device obtains the rotational parameters of first motor, and the signal output port of the pressure controller connects the driver
Signal input port, answer control instruction to be controlled in the driver, the driver according to the control instruction with the output phase
First motor is in corresponding operating mode；Alternatively,
The signal input port of the pressure controller connects the signal output port of the encoder by the driver, with
The rotational parameters of first motor described in indirect gain, and the signal output port of the pressure controller connects the driver
Signal input port, answer control instruction to be controlled in the driver, the driver according to the control instruction with the output phase
First motor is in corresponding operating mode.
6. Pressure generator as claimed in claim 5, it is characterised in that the driver is integrated in the pressure controller
It is internal；Or the driver is integrated in the inside of first motor.
7. Pressure generator as claimed in claim 1, it is characterised in that further include：
Pressure sensor, for detecting the instrument and by the pressure signal between contact；
The pressure controller judges the instrument and the pressure by between contact always according to the pressure signal.
8. Pressure generator as claimed in claim 1, it is characterised in that the driving part includes air compressor machine, flow control
Valve and cylinder processed, the flow control valve are arranged on the communicating pipe between the gas outlet of the air compressor machine and the working hole of the cylinder
Road, the instrument are arranged on the movable end of the cylinder.
9. Pressure generator as claimed in claim 8, it is characterised in that further include：
Angular transducer, for detecting the attitude angle of the cylinder；
It is described by contact that the pressure controller according to the attitude angle of detection judges that the instrument self gravitation is put on
Power, and then calculate the cylinder reality output power.
10. such as claim 1 to 9 any one of them Pressure generator, it is characterised in that the pressure controller with it is described
Robot controller is integrated.
11. a kind of lapping device, it is characterised in that described including claims 1 to 10 any one of them Pressure generator
Instrument is grinding tool component, and the grinding tool component includes at least grinding tool and drives the power part of the grinding tool rotation；
The pressure controller is additionally operable to receive the running parameter of power part and controls the velocity of rotation of the power part.
12. lapping device as claimed in claim 11, it is characterised in that the power part be using gas or liquid or
Second motor of person's driven by power.
13. lapping device as claimed in claim 12, it is characterised in that the power part further includes：
Encoder, for obtaining the rotational parameters of second motor；
Speed drive, for adjusting the rotating speed of second motor；
The signal input port of the pressure controller connects the signal output port of the encoder of second motor, so as to straight
The rotational parameters that second motor is obtained from the encoder of second motor are connect, and the signal of the pressure controller is defeated
Exit port connects the signal input port of the speed drive, and control instruction is answered in the speed drive, institute with the output phase
State the rotating speed that speed drive controls second motor according to the control instruction；Alternatively,
The signal input port of the pressure controller connects the encoder of second motor by the speed drive
Signal output port, with the rotational parameters of the second motor described in indirect gain, and the signal output part of the pressure controller
Mouth connects the signal input port of the speed drive, and control instruction is answered in the speed drive, the speed with the output phase
Spend the rotating speed that driver controls second motor according to the control instruction.
14. lapping device as claimed in claim 13, it is characterised in that the speed drive is integrated in the pressure control
Inside device；Alternatively, the speed drive is integrated in the inside of second motor.
15. lapping device as claimed in claim 12, it is characterised in that second motor is servo motor.
16. a kind of robot grinding system, including：
Robot, has at least one section mechanical arm；
Robot controller, for controlling the robot motion；It is characterized in that,
Further include any one of claims 1 to 10 any one of them Pressure generator or/and described claim 11 to 15
The lapping device, the lapping device are installed on the end of the last section mechanical arm of the robot.
17. a kind of robot system, including：Driving part, for driving the instrument being mounted thereon opposite reciprocal by contact
Action；
The robot set for the driving part；
Robot controller, including robot module and modular pressure, the robot module are used to control the robot to move
Make, the modular pressure is used to send driving operation instruction according to the goal pressure of setting；And
Pressure controller, has and controls the drive division according to the driving operation instruction sent from the robot controller
The pressure control module of part action.
18. robot system as claimed in claim 17, it is characterised in that the robot controller further comprises signal
Sending module；The signal transmitting module, for sending robot running parameter to the pressure controller, so as to the pressure
Force controller monitors the robot running parameter.
19. a kind of Acetabula device, it is characterised in that described including claims 1 to 10 any one of them Pressure generator
Instrument is sucker, and the Acetabula device further includes source of the gas and switch valve, and the switch valve is connected to the source of the gas and the sucker
Between.
A kind of 20. driving part, it is characterised in that
The driving part has instrument, and is installed in robot,
The driving part is controlled by pressure controller, thus drives the instrument relative to by contact reciprocating action.
21. driving part as claimed in claim 20, it is characterised in that the pressure controller is according to the goal pressure of setting
The driving part is controlled to act, and the pressure controller also distribution of machine people operation instruction is in the control robot
Robot controller.
22. driving part as claimed in claim 21, it is characterised in that the pressure controller is from the robot controller
Robot running parameter is obtained, and is acted based on driving part described in acquired robot operating parameter control.
23. driving part as claimed in claim 21, it is characterised in that control the robot controller of robot according to setting
Goal pressure send driving operation instruction,
The pressure controller controls the drive division according to the driving operation instruction sent from the robot controller
Part acts.
24. a kind of Pressure generator, it is characterised in that possess：
Driving part, for driving the instrument being mounted thereon relative to by contact reciprocating action；
Pressure controller, receives the driving operation instruction sent according to the goal pressure of setting from robot controller, and according to
The driving operation instruction controls the driving part action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720797880.9U CN207290112U (en) | 2017-07-03 | 2017-07-03 | Robot grinding system, robot system, lapping device, Acetabula device, driving part and Pressure generator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720797880.9U CN207290112U (en) | 2017-07-03 | 2017-07-03 | Robot grinding system, robot system, lapping device, Acetabula device, driving part and Pressure generator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207290112U true CN207290112U (en) | 2018-05-01 |
Family
ID=62450619
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720797880.9U Active CN207290112U (en) | 2017-07-03 | 2017-07-03 | Robot grinding system, robot system, lapping device, Acetabula device, driving part and Pressure generator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207290112U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202923A (en) * | 2017-07-03 | 2019-01-15 | 株式会社安川电机 | Robot grinding system, robot system, grinding device, Acetabula device, driving part and Pressure generator |
| CN111055213A (en) * | 2018-10-17 | 2020-04-24 | 凯斯科技股份有限公司 | Regulator for grinding device |
| CN111152126A (en) * | 2018-11-08 | 2020-05-15 | 凯斯科技股份有限公司 | Substrate processing apparatus |
-
2017
- 2017-07-03 CN CN201720797880.9U patent/CN207290112U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202923A (en) * | 2017-07-03 | 2019-01-15 | 株式会社安川电机 | Robot grinding system, robot system, grinding device, Acetabula device, driving part and Pressure generator |
| CN111055213A (en) * | 2018-10-17 | 2020-04-24 | 凯斯科技股份有限公司 | Regulator for grinding device |
| CN111152126A (en) * | 2018-11-08 | 2020-05-15 | 凯斯科技股份有限公司 | Substrate processing apparatus |
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Effective date of registration: 20230814 Address after: Fukuoka Prefecture Patentee after: Kabushiki Kaisha YASKAWA DENKI Patentee after: YASKAWA ELECTRIC (CHINA) Co.,Ltd. Address before: No. 2-1, Kurasaki Castle Stone, Bafanxi District, Kyushu City, Kubei Patentee before: Kabushiki Kaisha YASKAWA DENKI |