CN100387397C - A control method for a crystal ball grinding/polishing machine - Google Patents

Abstract

The invention provides a control method and a control device for a crystal ball grinding/polishing machine, the method decomposes the movement of the crystal ball placed on the grinding/polishing machine into movements in the directions of X, Y, and Z coordinate axes, The movement in the direction of the three coordinate axes is driven by their corresponding stepping motors, and the angle or position in the direction of the three coordinate axes is respectively fed back to the control device through the angle or position sensor. The control device at least includes a control module for X, Y, Z Three stepper motors driven in the direction of the three coordinate axes, a stepper motor driver for driving each stepper motor, and a display and a keyboard, the control module is mainly composed of an A/D conversion interface and sufficient serial and parallel Interface microcontroller and its peripheral conventional circuits. The crystal ball grinding/polishing machine can be fully automatic controlled by using the control method and the control device, which greatly improves the manufacturing precision, yield and production efficiency of the crystal ball, and reduces production cost at the same time.

Description

A control method for a crystal ball grinding/polishing machine

technical field

The invention relates to a control method for a crystal ball grinding/polishing machine, especially a control method capable of automatically controlling the crystal ball grinding/polishing machine.

Background technique

At present, crystal ball grinding/polishing machines are usually manually operated to grind and polish each triangular surface of the crystal ball. Since the angle and position of each triangular surface on the crystal ball are different, it is difficult for manual labor to adjust the accuracy. In order to ensure that each triangular surface is uniform, the phenomenon of large and small surfaces is prone to occur, resulting in inaccurate wiring of the upper and lower hemispheres and seriously affecting the appearance of the crystal ball. Moreover, the manual operation speed is slow, the production efficiency is not high, and the material loss is more. During the operation process The impulsive force produced will also cause a relatively large loss of the grinding/throwing disc on the grinding/polishing machine, which will affect the service life of the grinding/throwing disc, thereby making the production cost of the crystal ball higher.

Contents of the invention

In order to overcome the disadvantages of poor precision and high production cost of the existing crystal ball grinding/polishing machine, the present invention provides a control method for automatically controlling the crystal ball grinding/polishing machine and a control device for implementing the method. This method enables the grinding/polishing machine to grind and polish the crystal ball in a fully automatic state, which not only ensures the uniformity and high precision of each triangular surface on the crystal ball, but also reduces the production cost.

The technical solution provided by the present invention is: a control method for a crystal ball grinding/polishing machine, which is special in that the movement of the crystal ball placed on the grinding/polishing machine is decomposed into three coordinate axes of X, Y, and Z The movement in the direction, and the movement in the direction of the X, Y, and Z coordinate axes are driven by their independent corresponding stepper motors, and are controlled according to the following steps:

① Initialize each parameter;

②Through the angle or position sensor feedback information in the direction of the X, Y, and Z coordinate axes, the control device issues instructions to drive the motors respectively so that the X, Y, and Z axes are located at their respective initial positions;

③The Y-axis motor rotates the frame with the crystal ball to the set angle along the Y-axis set direction;

④ The X-axis motor rotates the frame with the crystal ball to the set angle along the X-axis set direction;

⑤The Z-axis motor drives the frame with the crystal ball to move downward. When the crystal ball touches the grinding/throwing disc of the grinding/polishing machine, the Z-axis position balance sensor will feed back the signal to the control device, and the control device will issue an instruction to make the Z-axis The motor stops or slows down so that the rack stops moving down or begins to move down slowly;

⑥The Z-axis motor drives the frame to move down slowly for a set distance, grinding or polishing a single X-axis surface of the crystal ball;

⑦The Z-axis motor drives the frame to move up the set distance, so that the frame is lifted, and the grinding or polishing of a single X-axis surface is completed;

⑧Repeat steps ④, ⑤, ⑥, ⑦ until the set number of X-axis surface grinding or polishing is completed;

⑨ Repeat steps ③, ④, ⑤, ⑥, ⑦, ⑧ until the grinding or polishing of the set number of Y-axis surfaces is completed;

⑩ After finishing all grinding or polishing work, restore each motor to its original working condition.

The parameters to be initialized mainly include the direction of each motor and the setting of the timer, the number of steps that the stepper motor needs to run in the X-axis direction, the number of X-axis planes, the number of Y-axis planes, and the angle of each plane. The number of steps converted, the number of steps on the Z-axis worktable, the number of slow-running steps, the number of steps back to the height of the table, the setting of the dwell time and the communication rate of the serial interface;

The control device for implementing the control method at least includes a control module, three stepper motors respectively used for driving in the directions of X, Y, and Z coordinate axes, and a stepper motor driver connected to the control module for driving each stepper motor, As well as display and keyboard, the control module is mainly composed of single-chip microcomputer with or expandable A/D conversion interface and sufficient serial and parallel interfaces and its peripheral conventional circuits, each stepper motor driver, display, keyboard and X, Y, Z axis The zero position sensor and the Z-axis balance sensor are respectively connected to the single-chip microcomputer through an interface or directly, and the Y-axis angle sensor can be connected to the single-chip microcomputer after A/D conversion or directly connected to the single-chip microcomputer.

The control module can be a single-chip microcomputer model AVRMEGA128, which has A/D conversion function and dozens of I/O ports, which is enough to meet the requirements of the device for the number of interfaces.

The control module can also choose MCS51 series single-chip microcomputer, which must be extended with interface circuit, and the interface circuit includes RS232 serial communication interface, A/D conversion interface and 8255 or other parallel interface chips or chipsets.

In order to make the control device more perfect, the single-chip microcomputer expands the RAM memory, and the display uses a 128X64 display module with Chinese characters.

The beneficial effect of the present invention is that, after decomposing the motion of the crystal ball into the motion of the X, Y, and Z coordinate axis directions, the grinding/polishing process of the crystal ball can be realized by controlling the control method and the control device provided by the present invention. The complete automation of the crystal ball improves the accuracy of the crystal ball and reduces the production cost of the crystal ball. Moreover, in the present invention, the contact between the crystal ball and the grinding/throwing disc is flexible contact, that is, when the crystal ball touches the surface of the grinding/throwing disc, once the sensor senses and feedbacks, the control device will issue instructions to drive the stepping motion of the crystal ball. The motor stops running or the speed is reduced to reduce the hard collision between the crystal ball and the grinding/throwing plate, so as to greatly improve the yield and precision of the crystal ball.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing.

Fig. 1 is the electrical principle block diagram of the control device in the present invention.

Fig. 2 is an electrical schematic diagram of the control device in the embodiment of the present invention.

In the figure, 1. Control module, 2. Keyboard, 3. Display, 4. X, Y, Z axis zero position sensor, 4.1, X axis zero position sensor, 4.2, Y axis zero position sensor, 4.3, Z axis zero position Sensor, 5. Z-axis balance sensor, 6. Y-axis angle sensor, 7. X-axis stepping motor driver, 8. X-axis stepping motor, 9. Y-axis stepping motor driver, 10. Y-axis stepping motor, 11. Z-axis stepping motor driver, 12. Z-axis stepping motor, 13. AVR MEGA128 microcontroller, 14. MAX232 serial communication interface, 15. 7805 regulated power supply, 16. RAM memory, 17. Parallel interface 8255 chip, 18. 74HC138 address decoder.

Detailed ways

The control method provided by the present invention is to decompose the motion of the crystal ball placed on the grinding/polishing machine into motions in the directions of X, Y, and Z coordinate axes. Driven by a motor, and the angle or position of the three coordinate axes of X, Y, and Z is sensed by the angle or position sensor and fed back to the control device, and the control device is controlled according to the following steps:

①Initialize each parameter. The parameters mainly include the direction of each motor and the setting of the timer, the number of steps that the stepper motor needs to run in the X-axis direction, the number of X-axis planes, and the number of Y-axis planes. , the number of steps conversion of each axis surface angle, the number of steps on the Z-axis worktable, the number of slow-running steps, the number of height steps back to the table, the setting of dwell time and the communication rate of the serial interface; each axis of the X-axis The number of running steps of the surface is passed by the formula $S=\frac{360/J*N}{m}$ Obtained, where S is the number of steps of the stepping motor, J is the number of X-axis surfaces, N is the ratio of the worm gear and worm driving the rack in the grinding/polishing machine, M is the angle of each step of the stepping motor, and Z The number of steps that the shaft stepper motor moves is obtained by dividing the required moving distance by the distance moved by each step of the stepping motor. Other parameters are determined by the best value obtained after the test. The working mode and related parameters of the device are controlled;

②According to the angles in the directions of the X, Y, and Z coordinate axes or the information fed back by the position sensor, the control module issues instructions to drive the motors respectively so that the X, Y, and Z axes are located at their respective initial positions;

③The Y-axis motor rotates the frame with the crystal ball to the set angle along the Y-axis set direction;

④ The X-axis motor rotates the frame with the crystal ball to the set angle along the X-axis set direction;

⑤The Z-axis motor drives the frame with the crystal ball to move downwards. When the crystal ball touches the grinding/throwing disc of the grinding/polishing machine, the Z-axis position sensor will feed back the signal to the control device, and the control device will issue an instruction to make the Z-axis motor Stop the operation or reduce the speed, so that the frame also stops moving down or starts to move down slowly. After the frame stops moving down, it can also be allowed to stay for a set period of time, and then an instruction is issued to make the motor drive the frame to continue to move down slowly. move, then stay again for a while;

⑥The Z-axis motor drives the frame to move down slowly for a set distance, grinding or polishing a single X-axis surface of the crystal ball;

⑦The Z-axis motor drives the frame to move up the set distance, so that the frame is lifted, and the grinding or polishing of a single X-axis surface is completed;

⑧Repeat steps ④, ⑤, ⑥, ⑦ until the set number of X-axis surface grinding or polishing is completed;

⑨ Repeat steps ③, ④, ⑤, ⑥, ⑦, ⑧ until the grinding or polishing of the set number of Y-axis surfaces is completed;

⑩ After finishing all grinding or polishing work, restore each motor to its original working condition.

For implementing above-mentioned control method, the present invention provides corresponding control device, and control device mainly comprises control module 1, three sets of stepping motor drivers 7,9,11 and stepping motors 8,10,12, display as shown in Figure 1 3 and keyboard 2, X, Y, Z axis zero position sensor 4, Z axis balance sensor 5, Y axis angle sensor 6 several parts. The control module 1 only needs to have an A/D conversion interface, a serial interface, sufficient parallel interfaces and programming functions. Generally, it is required to have at least one A/D conversion interface, one serial interface, and 14 I /O interface, the control module 1 can be made up of a single-chip microcomputer with an A/D conversion interface and sufficient serial and parallel interfaces and its peripheral conventional circuits. /D conversion interface, interface circuit and other single-chip microcomputers and their peripheral conventional circuits. For example, the single-chip microcomputer chooses the MCS51 series single-chip microcomputer. The external expansion of the single-chip microcomputer is composed of MAX232 serial communication interface and parallel interface 8255 or other parallel interface chips, any 10-bit A/ The interface circuit formed by the D conversion interface, each stepper motor driver 7, 9, 11, display 3, keyboard 2 and each sensor 4, 5, 6 are connected with the single-chip microcomputer through the interface respectively. Provided in Fig. 2 is the specific embodiment of the control device that the present invention can adopt, and control module 1 comprises AVR MEGA128 single-chip microcomputer 13, 7805 stabilized voltage power supply 15, AVRMEGA128 single-chip microcomputer 13 external expansions have MAX232 serial communication interface 14 and 62256RAM memory 16, X, Y, Z-axis zero position sensors 4.1, 4.2, 4.3, Z-axis balance sensor 5, Y-axis angle sensor 6, and stepper motor drivers 7, 9, 11 for the three directions of X, Y, and Z axes are directly passed through The interface on the AVRMEGA128 single-chip microcomputer 13 is connected with it, and the Z-axis balance sensor 5 is two position sensors 5.1, 5.2, which are respectively located on the left and right sides of the Z-axis. Each position sensor can use a Hall switch sensor. What is adopted in this embodiment is the model It is a Hall switch type sensor of A3144, and three stepping motors 8, 10, 12 are respectively connected with corresponding stepping motor drivers 7, 9, 11. In this embodiment, all stepping motors are three-phase stepping motors. The models of the motor drivers are all SJ-380, and its control signals are directly connected to the MEGA128 single-chip microcomputer 13. The display 3 and the keyboard 2 are connected to the AVRMEGA128 single-chip microcomputer 13 through the parallel interface 8255 chip 17, and the address decoder 74HC13818 is used to access different devices. Address decoding, the display uses a 128X64 display module with Chinese characters to facilitate man-machine dialogue.

When controlling the crystal ball grinding/polishing machine with the control method and control device provided by the present invention, the concrete work process is as follows:

After the command to start working is issued from the keyboard, the control device starts the normal working process.

First, the single-chip microcomputer sends an instruction to make each stepping motor find the zero position, and the direction signal is first sent to each stepping motor driver, and then the single-chip microcomputer sends a pulse signal to each stepping motor driver, and the stepping motor starts to rotate. After running the set number of steps , the stepper motor stops running; the control module sends a direction signal opposite to the direction above to the driver, and then the microcontroller sends out a pulse signal, and the stepper motor starts to run in the opposite direction. During the rotation of the stepper motor, the control module simultaneously detects The signal of the zero position sensor of each axis, when the signal of a certain axis position sensor changes, it means that the axis has reached the zero position, then the control module sends an instruction to stop the corresponding stepping motor, and the control device continues to send pulse signals until all the steps Both feed motors find their own zero positions.

After the stepper motors of each axis reach the zero position, the grinding/polishing of the crystal ball begins.

The control module sets the angle of the Y-axis plane, and at the same time sends direction signals and pulse signals to the Y-axis stepping motor driver to make the Y-axis stepping motor start to move; at the same time, the change of the angle sensor is detected on the A/D conversion interface of the control module , compare the angle detected by the sensor with the set angle, if they are the same, stop sending pulse signals to the Y-axis stepper motor driver, otherwise continue to send pulse signals until the detected angle is the same as the set angle, control The module stops sending pulse signals to the Y-axis stepper motor driver.

Then the control module sets the number of steps of the X-axis rotation, and then sends a direction signal and a pulse signal to the X-axis stepping motor driver to make the stepping motor of this axis start to rotate until the number of X-axis rotation steps is zero, and then stop the rotation of the axis. Send a pulse signal, and one plane rotation of the X axis is completed.

Then the control module sends direction signals and pulse signals to the Z-axis stepping motor driver in turn to make the Z-axis stepping motor rotate and drive the rack to move down along the Z-axis direction. When the crystal ball touches the grinding/throwing disc, The signal of the Z-axis balance sensor located at both ends of the Z-axis will change. After the signal is fed back to the control module, the control module immediately stops sending pulse signals to the Z-axis stepping motor driver, and the stepping motor stops rotating immediately. At this time, the control device Set the number of steps to be followed by the Z-axis stepper motor, and change the frequency of the pulse signal sent to the Z-axis stepper motor driver, so that the speed of the stepper motor is reduced or the control device stops sending the pulse signal to the Z-axis stepper motor driver. Pulse signal to make the Z-axis stepping motor stop running for a set period of time, and then continue to send pulse signals to the Z-axis stepping motor driver. After running the set number of steps, stop sending pulse signals, and send out the Z-axis The direction signal of the stepping motor moving in the opposite direction changes the moving direction of the Z-axis stepping motor, resets the number of steps of the stepping motor, and then sends a pulse signal to the Z-axis stepping motor driver. At this time, the Z-axis stepping motor It will drive the rack to move upwards until the number of Z-axis set steps is zero, stop sending pulse signals to the Z-axis stepping motor driver, and the Z-axis stepping motor stops running.

In this way, the grinding/polishing of a single surface of the X-axis is completed, and then the control device judges whether the number of grinding/polishing of the X-axis surface is the set value, (this value is set during initialization), if it is different from the set value , then the surface number is set as the next X-axis surface, and then repeat the above-mentioned control process of the Z-axis stepper motor driver to complete the grinding/polishing of all the set surfaces in the X-axis direction. When it is the same as the set value, then Indicates that the grinding/polishing of all set surfaces in the X-axis direction has been completed, and then proceed to the following process.

The control module judges whether the grinding/polishing quantity of the Y-axis surface is the set value, and if not, continues the above-mentioned control process for each stepper motor driver in the X and Z directions, if the grinding/polishing quantity is the same as the set value Then continue the following process.

The control module first sets the rotation direction of the X-axis stepping motor, and calculates and sets the number of steps that the axis needs to rotate, and then sends a pulse signal to the X-axis stepping motor driver, and the counter starts to work. When the number of steps is zero , the control device stops sending pulse signals to the X-axis stepping motor, the X-axis stepping motor stops rotating, and the axis resets.

The control module first sets the direction signal of the Y-axis stepping motor opposite to the normal working direction, and then sends the direction signal and pulse signal to the Y-axis stepping motor driver to drive the Y-axis stepping motor to rotate in the opposite direction, and the frame is in the Y-axis direction. Return to the original position along the original path.

The control module first sets the direction signal of the Z-axis stepping motor opposite to the original movement direction, and sets the number of steps that the Z-axis needs to run, and then sends the direction and pulse signals to the Z-axis stepping motor driver to drive the Z-axis stepping motor Move up to the initial position.

After completing the above work process, the grinding/polishing of the entire crystal ball is completed.

Claims (3)

1. A control method for a crystal ball grinding/polishing machine, characterized in that: the motion of the crystal ball placed on the grinding/polishing machine is decomposed into motions in X, Y, and Z coordinate axis directions, and X, Y The movement in the direction of the three coordinate axes of , Z is driven by their independent corresponding stepper motors, and the angle or position of the three coordinate axes of X, Y, and Z are respectively fed back to the control device through the angle sensor or position sensor signal, and the control device is as follows Steps to control: (1) Initialize each parameter. The parameters mainly include the direction of each motor and the setting of the timer, the number of steps that the stepper motor needs to run in the X-axis direction, the number of X-axis planes, and the number of Y-axis planes. The number of steps, the number of steps conversion of each axis angle, the number of steps on the Z-axis worktable, the number of slow running steps, the number of height steps back to the table, the setting of dwell time and the communication rate of the serial interface; (2) Through the angle or position sensor feedback information in the direction of the X, Y, and Z coordinate axes, the control device issues instructions to drive the motors respectively so that the X, Y, and Z axes are located at their respective initial positions; (3) The Y-axis motor rotates the frame with the crystal ball to the set angle along the Y-axis set direction; (4) The X-axis motor rotates the frame with the crystal ball to the set angle along the X-axis set direction: (5) The Z-axis motor drives the frame with the crystal ball to move downwards. When the crystal ball touches the grinding/throwing disc of the grinding/polishing machine, the Z-axis position sensor will feed back the signal to the control device, and the control device will send an instruction to make The Z-axis motor stops or reduces the speed, so that the rack also stops or starts to move down slowly; (6) The Z-axis motor drives the frame to slowly move down the set distance to grind or polish a single X-axis surface of the crystal ball; (7) The Z-axis motor drives the frame to move up the set distance, so that the frame is lifted, and the grinding or polishing of a single X-axis surface is completed; (8) Repeat steps (4), (5), (6), and (7) until the set number of X-axis surface grinding or polishing is completed; (9) Repeat steps (3), (4), (5), (6), (7), and (8) until the grinding or polishing of the set number of Y-axis surfaces is completed; (10) After finishing all grinding or polishing work, restore each motor to its original working condition. 2. The control method for crystal ball grinding/polishing machine according to claim 1, characterized in that: the number of running steps of each axial surface of the X-axis passes through the formula $S=\frac{360/J*N}{m}$ Obtained, where S is the number of steps that the stepping motor runs, J is the number of X-axis surfaces, N is the modulus ratio of the worm gear that drives the rack in the grinding/polishing machine, and M is the angle of each step of the stepping motor , the number of steps moved by the Z-axis stepper motor is obtained by dividing the required moving distance by the distance moved by the stepper motor per step, and the parameters are determined by the best value obtained after the test. 3. The control method for a crystal ball grinding/polishing machine according to claim 1, characterized in that: when the Z-axis motor drives the frame to move downward, the crystal ball stops running or slows down when it touches the throwing disc, and stops at the setting After a certain period of time, continue to drive the rack to move down slowly, and then stay for a period of time again.

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