摘要
针对磨削机器人多采用开环控制,且无视觉功能,无法纠正铸件摆放误差的问题,设计了一种基于位移传感器的位置补偿系统。系统采用激光位移传感器作为检测装置,将待打磨铸件的位置数据检测出来,通过模拟电压的形式将被测值传送至可编程多轴运动控制器CK3M,CK3M将模拟量转换为数字量;再由工业以太网发送至上位机LabVIEW,对铸件位置数据进行归一化处理,再与标定值作差生成各轴补偿量,进而实现偏置铸件的精确打磨。实验表明:在打磨周期内引入各轴补偿量可以修正铸件摆放偏差带来的打磨误差,在重复性打磨实验中可靠性高,较大地改善了铸件打磨质量。
A position compensation system based on displacement sensor is designed,aiming at the problem that grinding robots mostly use open-loop control and have no visual function and can not correct the placement errors of castings.The system uses laser displacement sensor as detection device to detect the position data of the castings to be polished.The measured values are transmitted to the programmable multi-axis motion controller CK3M in which analog quantity is transformed into digital quantity,and then sent to upper computer LabVIEW by industrial ethernet in LabVIEW.After normalizing the position data of the castings,the compensation of each axis is generated by the difference between the normalized value and the standard value,and then the accurate grinding of the offset castings is realized.Experiments show that the grinding error caused by the deviation of casting placement can be corrected by introducing the compensation amount of each axis in the grinding cycle,which has high reliability in repeated grinding experiments and greatly improves the grinding quality of castings.
作者
张国旭
李杨
张慧颖
杨世凤
ZHANG Guoxu;LI Yang;ZHANG Huiying;YANG Shifeng(College of Electronic Information and Automation,Tianjin University of Science and Technology,Tianjin 300222,China)
出处
《传感器与微系统》
CSCD
北大核心
2021年第4期74-76,79,共4页
Transducer and Microsystem Technologies
基金
天津市农业科技成果转化与推广项目(201502360)。
关键词
位移传感器
位置补偿
运动控制
displacement sensor
position compensation
motion control
