阅读说明：本技术 一种多自由度力控减振装置及其控制方法 (Multi-degree-of-freedom force control vibration damping device and control method thereof ) 是由 陆新江 许都 李韶 于 2021-11-09 设计创作，主要内容包括：本发明提供了一种多自由度力控减振装置及其控制方法,多自由度力控减振装置包括依次连接的打磨刀具、安装台、主动调位机构和减振器,主动调位机构包括多个滑台和多个连接部,每个滑台滑动块对应连接一个连接部的一端,滑台与移动部件固定连接,移动部件用于带动主动调位机构移动,多个连接部背离滑台的另一端均与安装台连接,打磨刀具与安装台的一侧固定连接,减振器设置于安装台背离打磨刀具的一侧；需要进行打磨作业时,移动部件按预设轨迹带动主动调位机构移动,从而使得打磨刀具靠近待加工工件的表面,并按预设好的运行轨迹运动,替代了人工劳作,提高了打磨质量。(The invention provides a multi-degree-of-freedom force control vibration damping device and a control method thereof, wherein the multi-degree-of-freedom force control vibration damping device comprises a grinding cutter, a mounting table, an active positioning mechanism and a vibration damper which are sequentially connected, the active positioning mechanism comprises a plurality of sliding tables and a plurality of connecting parts, each sliding block of each sliding table is correspondingly connected with one end of one connecting part, each sliding table is fixedly connected with a moving part, the moving part is used for driving the active positioning mechanism to move, the other ends of the plurality of connecting parts, which are deviated from the sliding tables, are connected with the mounting table, the grinding cutter is fixedly connected with one side of the mounting table, and the vibration damper is arranged on one side of the mounting table, which is away from the grinding cutter; when polishing operation is needed, the moving part drives the active positioning mechanism to move according to a preset track, so that the polishing cutter is close to the surface of a workpiece to be processed, and moves according to a preset running track, manual work is replaced, and polishing quality is improved.)

1. A multi-degree-of-freedom force control vibration damper is characterized by comprising a grinding cutter, a mounting table and an active positioning mechanism which are sequentially connected, wherein the active positioning mechanism comprises a plurality of sliding tables and a plurality of connecting parts, a sliding block of each sliding table is correspondingly connected with one end of one connecting part, one end of each sliding table departing from the grinding cutter is fixedly connected with a moving part, the moving part is used for driving the active positioning mechanism to move, one ends of the plurality of connecting parts departing from the sliding tables are connected with the mounting table, the grinding cutter is fixedly connected with one side of the mounting table, the multi-degree-of-freedom force control vibration damper further comprises a vibration damper, the vibration damper is arranged on one side of the mounting table departing from the grinding cutter, the active positioning mechanism is used for controlling the position of the mounting table by controlling the movement of the sliding tables under the driving of the moving part, thereby controlling the contact force between the grinding tool and the workpiece to be processed.

2. The multi-degree-of-freedom force control vibration damper according to claim 1, wherein the sliding table comprises a driving part, a sliding block and a fixed block, one side of the fixed block is fixedly connected with the sliding block, the sliding block is connected with the driving part, the driving parts of the plurality of sliding tables enclose a positioning space, and one side of the sliding block, which is far away from the fixed block, faces the positioning space; the drive division is used for the drive the slider is followed the length direction motion of slip table, the fixed block orientation one side of slider with deviate from relative both sides wall between one side of slider forms the connecting hole respectively, the connecting hole be used for with connecting portion fixed connection.

3. The multi-degree-of-freedom force control vibration damper according to claim 2, characterized in that each of the connecting portions comprises two connecting rods, each of the connecting rods comprises a first spherical hinge, a connecting rod and a second spherical hinge, the first spherical hinge is fixedly connected with one end of the connecting rod, the second spherical hinge is fixedly connected with the other end of the connecting rod, the first spherical hinge is fixedly connected with the sliding table, and the second spherical hinge is fixedly connected with the mounting table.

4. The multi-degree-of-freedom force control vibration damper according to any one of claims 1 to 3, wherein the vibration damper comprises a connecting block, a mounting block, a damping block, an induction coil, a magnet and a linear bearing, one side of the connecting block is fixedly connected with one side of the mounting table away from the grinding tool, one side of the connecting block away from the mounting table is fixedly connected with the mounting block, the mounting block and the damping block are fixedly connected through the linear bearing, the induction coil is fixedly connected with the damping block, the magnet is fixedly connected with the mounting block, and the damping block is used for moving back and forth in a direction away from the mounting block and towards the mounting block when vibration occurs so as to drive the induction coil to cut a magnetic induction line of the magnet.

5. The multi-degree-of-freedom force control vibration damper according to claim 2, further comprising a fixing plate, wherein one side of the fixing plate is fixedly connected with one end of each of the plurality of sliding tables, and one side of the fixing plate, which is far away from the sliding tables, is used for being connected with a moving part.

6. A control method of a multi-degree-of-freedom force control vibration damper is characterized in that the multi-degree-of-freedom force control vibration damper is applied to polishing workpieces, a detection part and a control part are additionally arranged on the multi-degree-of-freedom force control vibration damper, the detection part is used for detecting the real-time position of a sliding table and the stress of the working table and the sliding table, the control part is used for controlling the movement of a moving part and an active positioning mechanism, and the control method of the multi-degree-of-freedom force control vibration damper comprises the following steps:

determining the operation track, the operation time and the expected contact force of the grinding tool according to the model of the workpiece to be ground:

the control component acquires a running track, running time and expected contact force;

the control component calculates control information according to the running track and the running time;

the control component controls the movement of the moving component and the active positioning mechanism according to the control information so as to fit the movement track;

the detection part acquires the real-time position of the sliding table and the real-time stress of the sliding table in real time in the operation process and inputs the real-time position and the real-time stress into the control part;

the detection part calculates the actual stress and the actual position of the tail end according to the real-time position and the real-time stress of the sliding table;

the control part compares the actual stress of the tail end with the expected contact force to determine an error result, confirms whether the error is within a set error range according to the comparison result, and determines whether to correct the motion track in real time so as to meet the requirement of the expected contact force.

7. The method as claimed in claim 6, wherein the step of the control component calculating the control information according to the operation track and the operation time comprises:

the control component disperses the running track into a plurality of running point positions;

the control component discretizes the operation time into a plurality of operation moments;

the control component corresponds the operation time and the operation point positions one by one;

and the control part calculates control information according to the operation point position and the operation time.

8. The method as claimed in claim 7, further comprising, before the step of controlling the moving member and the active positioning mechanism to move according to the control information by the control member to follow a motion trajectory:

establishing a constant force output mixed force position control model;

inputting the constant force output mixed force position control model into a control part;

the constant force output mixed force position control model is used for correcting a motion track according to real-time stress, real-time position and expected contact force.

9. The method as claimed in claim 8, wherein the step of comparing the actual force applied to the end of the control component with the expected contact force to determine an error result, determining whether the error is within a set error range according to the comparison result, and determining whether to correct the motion trajectory in real time to meet the requirement of the expected contact force comprises:

inputting the real-time stress, the real-time position and the expected contact force into a constant-force output mixed force position control model;

the constant force output hybrid force level control model is based onCalculating an expected point position;

and the constant force output mixed force position control model replaces the expected point position and the running point position so as to correct the motion trail.

10. The method as claimed in claim 9, wherein the step of comparing the actual force applied to the end with the expected contact force by the control unit to determine an error result, determining whether the error is within a predetermined error range according to the comparison result, and determining whether to correct the motion trajectory in real time to satisfy the requirement of the expected contact force further comprises:

the control component acquires the expected point position from the constant force output hybrid force position control model;

the control part reversely solves the control command of the single sliding table according to the expected point position;

the control part controls the movement of the single sliding table according to the control command, and further adjusts the position of the connecting table, so that the requirement of expected contact force is met.

Technical Field

The invention relates to the technical field of intelligent manufacturing, in particular to a multi-degree-of-freedom force control vibration damper and a control method of the multi-degree-of-freedom force control vibration damper.

Background

Robots are widely used in the field of smart manufacturing, for example, aerospace, automotive, and hardware manufacturing. The polishing process is the most typical labor-intensive scene in a plurality of automatic processes, and relates to surface polishing, burr removal and the like, generally, the polishing process is manual operation, the efficiency is low, the working environment is poor, the labor capacity is large, and the surface machining quality is greatly influenced by the proficiency of workers. The robot can greatly improve the processing efficiency, the consistency of the processed surface is good, and the robot is also a trend of intelligent manufacturing. For this reason, in order to improve the processing quality of the surface and suppress high-frequency cutting vibration during processing, the polishing force of the surface is controlled to improve the processing quality of the surface. Therefore, the three-degree-of-freedom active force control polishing device for robot operation is provided for realizing active flexible polishing of a curved surface, so that the processing quality of the surface is improved.

Disclosure of Invention

The invention mainly aims to provide a multi-degree-of-freedom force control vibration damping device and a control method thereof, aiming at realizing active flexible polishing of a curved surface and further improving the processing quality of the surface.

In order to achieve the purpose, the technical scheme provided by the invention is as follows: a multi-degree-of-freedom force control vibration damper comprises a grinding cutter, a mounting table and an active positioning mechanism which are connected in sequence, wherein the active positioning mechanism comprises a plurality of sliding tables and a plurality of connecting parts, each sliding block of each sliding table is correspondingly connected with one end of one connecting part, one end of each sliding table, which deviates from the grinding cutter, is fixedly connected with a moving part, the moving part is used for driving the active positioning mechanism to move, one ends of the plurality of connecting parts, which deviate from the sliding tables, are connected with the mounting table, the grinding cutter is fixedly connected with one side of the mounting table, the multi-degree-of-freedom force control vibration damper further comprises a vibration damper, the vibration damper is arranged at one side, which deviates from the grinding cutter, of the mounting table, the active positioning mechanism is used for controlling the position of the mounting table by controlling the movement of the sliding tables under the driving of the moving part, thereby controlling the contact force between the grinding tool and the workpiece to be processed.

Preferably, the sliding table comprises a driving part, a sliding block and a fixed block, one side of the fixed block is fixedly connected with the sliding block, the sliding block is connected with the driving part, the driving parts of the plurality of sliding tables form a positioning space in an enclosing mode, and one side of the sliding block, which is far away from the fixed block, faces the positioning space; the drive division is used for the drive the slider is followed the length direction motion of slip table, the fixed block orientation one side of slider with deviate from relative both sides wall between one side of slider forms the connecting hole respectively, the connecting hole be used for with connecting portion fixed connection.

Preferably, every connecting portion include two connecting rods, the connecting rod includes first spherical hinge, connecting rod and second spherical hinge, first spherical hinge with the one end fixed connection of connecting rod, the second spherical hinge with the other end fixed connection of connecting rod, first spherical hinge be used for with slip table fixed connection, the second spherical hinge be used for with mount table fixed connection.

Preferably, the shock absorber comprises a connecting block, a mounting block, a damping block, an induction coil, a magnet and a linear bearing, one side of the connecting block is fixedly connected with one side of the mounting table, which is away from the polishing tool, the side of the connecting block, which is away from the mounting table, is fixedly connected with the mounting block, the mounting block and the damping block are fixedly connected through the linear bearing, the induction coil is fixedly connected with the damping block, the magnet is fixedly connected with the mounting block, and the damping block moves back and forth in the direction away from the mounting block and towards the mounting block when being used for vibrating so as to drive the induction coil to cut the magnetic induction line of the magnet.

Preferably, the multi-degree-of-freedom force control vibration damper further comprises a fixing plate, one side of the fixing plate is fixedly connected with one ends of the sliding tables, and one side of the fixing plate, which deviates from the sliding tables, is used for being connected with the moving part.

In order to achieve the above object, the present invention further provides a control method of a multi-degree-of-freedom force-controlled vibration damping device, wherein the multi-degree-of-freedom force-controlled vibration damping device is further additionally provided with a detection component and a control component, the detection component is used for detecting a real-time position of the sliding table and stress of the working table and the sliding table, the control component is used for controlling movement of the moving component and the active positioning mechanism, and the control method of the multi-degree-of-freedom force-controlled vibration damping device comprises the following steps:

determining the operation track, the operation time and the expected contact force of the grinding tool according to the model of the workpiece to be ground:

the control component acquires a running track, running time and expected contact force;

the control component calculates control information according to the running track and the running time;

the control component controls the movement of the moving component and the active positioning mechanism according to the control information so as to fit the movement track;

the detection part acquires the real-time position of the sliding table and the real-time stress of the sliding table in real time in the operation process and inputs the real-time position and the real-time stress into the control part;

the detection part calculates the actual stress and the actual position of the tail end according to the real-time position and the real-time stress of the sliding table;

the control part compares the actual stress of the tail end with the expected contact force to determine an error result, confirms whether the error is within a set error range according to the comparison result, and determines whether to correct the motion track in real time so as to meet the requirement of the expected contact force.

Preferably, the step of the control component calculating the control information according to the operation track and the operation time includes:

the control component disperses the running track into a plurality of running point positions;

the control component discretizes the operation time into a plurality of operation moments;

the control component corresponds the operation time and the operation point positions one by one;

and the control part calculates control information according to the operation point position and the operation time.

Preferably, before the step of controlling the moving component and the active positioning mechanism to move according to the control information by the control component so as to fit the motion trajectory, the method further includes:

establishing a constant force output mixed force position control model;

inputting the constant force output mixed force position control model into a control part;

the constant force output mixed force position control model is used for correcting a motion track according to real-time stress, real-time position and expected contact force.

Preferably, the step of comparing the actual force applied to the end with the expected contact force by the control part to determine an error result, determining whether the error is within a set error range according to the comparison result, and determining whether to correct the motion trajectory in real time so as to meet the requirement of the expected contact force includes:

inputting the real-time stress, the real-time position and the expected contact force into a constant-force output mixed force position control model;

the constant force output hybrid force level control model is based onCalculating an expected point position;

and the constant force output mixed force position control model replaces the expected point position and the running point position so as to correct the motion trail.

Preferably, the step of comparing the actual force applied to the end with the expected contact force by the control component to determine an error result, determining whether the error is within a set error range according to the comparison result, and determining whether to correct the motion trajectory in real time to meet the requirement of the expected contact force further comprises:

the control component acquires the expected point position from the constant force output hybrid force position control model;

the control part reversely solves the control command of the single sliding table according to the expected point position;

the control part controls the movement of the single sliding table according to the control command, and further adjusts the position of the connecting table, so that the requirement of expected contact force is met.

Compared with the prior art, the invention at least has the following beneficial effects:

according to the technical scheme, when polishing operation is required, the moving part drives the active positioning mechanism to move according to a preset track, so that the polishing cutter is close to the surface of a workpiece to be processed and moves according to a preset running track, and manual work is replaced; because vibration can occur in the polishing process, a vibration absorber is additionally arranged to inhibit high-frequency vibration, and the polishing quality is improved; meanwhile, the surface condition of the workpiece to be machined cannot be completely reflected during modeling, the active positioning mechanism is additionally arranged, the contact force of the tail end and the surface of the workpiece is controlled by adjusting the sliding tables, the output force is kept constant, and the surface machining quality is further improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic diagram of an axial structure of a multi-degree-of-freedom force-controlled vibration damping device according to the present invention;

FIG. 2 is a schematic side view of a multi-degree-of-freedom force-controlled damping device according to the present invention;

FIG. 3 is a schematic structural diagram of a sliding table of a multi-degree-of-freedom force-controlled vibration damping device according to the present invention;

FIG. 4 is a schematic structural diagram of a connecting rod of a multi-degree-of-freedom force-controlled vibration damping device according to the present invention;

FIG. 5 is a schematic structural diagram of a damper of the multiple degree of freedom force controlled damping device according to the present invention;

FIG. 6 is a schematic diagram of an internal structure of a damper of the multi-degree-of-freedom force-controlled damping device according to the present invention;

FIG. 7 is a schematic diagram of a coordinate system establishment according to a control method of a multi-degree-of-freedom force-controlled vibration damping device provided by the present invention;

FIG. 8 is a flowchart illustrating a method for controlling a multi-degree-of-freedom force-controlled damping device according to a first embodiment of the present invention;

fig. 9 is a flow chart of a control method of a multi-degree-of-freedom force-controlled vibration damping device according to the present invention.

The reference numbers illustrate:

1-grinding a cutter; 2-mounting a platform; 3-an active positioning mechanism; 4-a shock absorber; 5-a sliding table; 6-a connecting part; 7-a drive section; 8-a slide block; 9-fixing block; 10-connecting holes; 11-a first spherical hinge; 12-a connecting rod; 13-a second spherical hinge; 14-connecting blocks; 15-mounting a block; 16-a damping block; 17-an induction coil; 18-a magnet; 19-linear bearings; and 20, fixing a plate.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

Referring to fig. 1-9, the present invention provides a multi-degree-of-freedom force-controlled vibration damping device.

A multi-degree-of-freedom force control vibration damper comprises a grinding cutter 1, a mounting table 2 and an active positioning mechanism 3 which are connected in sequence, wherein the active positioning mechanism 3 comprises a plurality of sliding tables 5 and a plurality of connecting parts 6, each sliding block 8 of each sliding table 5 is correspondingly connected with one end of one connecting part 6, one end of each sliding table 5 departing from the grinding cutter 1 is fixedly connected with a moving part, the moving part is used for driving the active positioning mechanism 3 to move, one ends of the plurality of connecting parts 6 departing from the sliding tables 5 are connected with the mounting table 2, the grinding cutter 1 is fixedly connected with one side of the mounting table 2, the multi-degree-of-freedom force control vibration damper further comprises a vibration damper 4, the vibration damper 4 is arranged at one side of the mounting table 2 departing from the grinding cutter 1, the active positioning mechanism 3 is used for controlling the movement of the sliding tables 5 under the driving of the moving part, to control the position of the mounting table 2 and thus the contact force of the grinding tool 1 with the workpiece to be machined.

When polishing operation is required, the moving part drives the active positioning mechanism 3 to move according to a preset track, so that the polishing tool 1 is driven to move, the polishing tool 1 is close to the surface of a workpiece to be processed and moves according to a preset running track, and manual work is replaced; because vibration can occur in the polishing process, the vibration damper 4 is additionally arranged to inhibit high-frequency vibration, so that the polishing quality is improved; meanwhile, the surface condition of the workpiece to be machined cannot be completely reflected during modeling, the active positioning mechanism 3 is additionally arranged, the contact force of the tail end and the surface of the workpiece is controlled by adjusting the plurality of sliding tables 5, the output force is kept constant, and the surface machining quality is further improved.

In the present invention, for convenience of description, the ends are referred to as grinding tools.

Further, the slip table 5 is provided with threely, connecting portion 6 are provided with three groups, and is three adopt parallelly connected mode between the slip table 5, mount table 2 is the flange to play good fixed effect.

Preferably, the sliding table 5 comprises a driving part 7, a sliding block 8 and a fixed block 9, one side of the fixed block 9 is fixedly connected with the sliding block 8, the sliding block 8 is connected with the driving part 7, the driving parts 7 of the plurality of sliding tables enclose a positioning space, and one side of the sliding block 8 departing from the fixed block 9 faces the positioning space; the drive division 7 is used for the drive slider 8 is followed the length direction motion of slip table 5, fixed block 9 orientation one side of slider 8 with deviate from relative both sides wall between one side of slider 8 forms connecting hole 10 respectively, connecting hole 10 be used for with connecting portion 6 fixed connection.

Specifically, the two connecting holes 10 are symmetrical with respect to the fixed block 9, and the driving portion 7 is a servo electric cylinder; the three sliding tables 5 adopt a parallel stable structure, and the output force of the tail end polishing cutter 1 is adjusted by adjusting the output displacement of the servo electric cylinder.

Preferably, every connecting portion 6 includes two connecting rods, the connecting rod includes first spherical hinge 11, connecting rod 12 and second spherical hinge 13, first spherical hinge 11 with the one end fixed connection of connecting rod 12, second spherical hinge 13 with the other end fixed connection of connecting rod 12, first spherical hinge 11 be used for with 5 fixed connection of slip table, second spherical hinge 13 be used for with 2 fixed connection of mount table.

Specifically, first spherical hinge 11 outwards protrudes form be used for with first connecting rod 12 that slip table 5 is connected, second spherical hinge 13 outwards protrudes form be used for with second connecting rod 12 that mount table 2 is connected, first connecting rod 12 with connecting hole 10 interference fit, the lateral wall of mount table 2 form a plurality of be used for with connecting rod fixed connection's fixed orifices, second connecting rod 12 be used for with fixed orifices interference fit.

Preferably, the shock absorber 4 includes a connecting block 14, a mounting block 15, a damping block 16, an induction coil 17, a magnet 18 and a linear bearing 19, one side of the connecting block 14 is fixedly connected to one side of the mounting table 2 away from the polishing tool 1, one side of the connecting block 14 away from the mounting table 2 is fixedly connected to the mounting block 15, the mounting block 15 and the damping block 16 are fixedly connected through the linear bearing 19, the induction coil 17 is fixedly connected to the damping block 16, the magnet 18 is fixedly connected to the mounting block 15, and the damping block 16 is configured to move back and forth in a direction away from the mounting block 15 and toward the mounting block 15 when vibrating, so as to drive the induction coil 17 to cut a magnetic induction line of the magnet 18.

Specifically, the outer contour of the shock absorber 4 is cylindrical, the mounting block 15 protrudes outwards towards one side of the damping block 16 to form a connecting column for connecting the linear bearing 19, the axis of the connecting column is collinear with the axis of the mounting block 15, the damping block 16 protrudes outwards towards one side of the mounting block 15 to form a mounting cylinder, the inner wall of the mounting cylinder is sleeved on the outer surface of the linear bearing 19, and the outer wall of the mounting cylinder is used for mounting the induction coil 17.

Further, the shock absorber 4 adopts an electromagnetic induction principle, the induction coil 17 cuts the magnetic induction line of the magnet 18 to generate induced electromotive force in the high-frequency vibration process, so that induced current is generated, and then magnetic field force is generated to block the movement of the damping block 16, so that vibration energy is consumed, and the purpose of suppressing vibration is achieved.

Preferably, the multi-degree-of-freedom force control vibration damper further comprises a fixing plate 20, one side of the fixing plate 20 is fixedly connected with one end of each of the plurality of sliding tables 5, and one side, departing from the sliding tables 5, of the fixing plate 20 is used for being connected with a moving part.

Specifically, one side of fixed plate 20 with slip table 5 fixed connection, a six-dimensional force transducer (product model is ATI80 x) is connected to the opposite side of fixed plate 20, six-dimensional force transducer is used for detecting the atress condition of every slip table 5, six-dimensional force transducer deviate from one side of fixed plate 20 with moving part fixed connection.

In order to achieve the above object, the present invention further provides a control method of the multi-degree-of-freedom force control vibration damping device, wherein the multi-degree-of-freedom force control vibration damping device is further additionally provided with a detection component and a control component, the detection component is used for detecting the real-time position of the sliding table 5 and the stress between the working table and the sliding table 5, and the control component is used for controlling the movement of the moving component and the active positioning mechanism 3;

specifically, the detection part comprises a six-dimensional force sensor and a feedback assembly, the feedback assembly is additionally arranged inside the sliding table 5, and the feedback assembly is used for feeding back the position information of the sliding table 5.

Referring to fig. 8, in a first embodiment of the method for controlling a multiple degree of freedom force-controlled vibration damping device according to the present invention, the method for controlling a multiple degree of freedom force-controlled vibration damping device includes the following steps:

s10: establishing a workpiece model to be polished;

s20: determining the operation track, the operation time and the expected contact force of the grinding tool 1 according to the workpiece model to be ground:

s30: the control component acquires a running track, running time and expected contact force;

s40: the control component calculates control information according to the running track and the running time, wherein the control information comprises control information of the moving component and a sliding table control command of the active positioning mechanism 3;

s50: the control part controls the moving part and the active positioning mechanism 3 to move according to the control information so as to fit the motion track;

s60: the detection part acquires the real-time position of the sliding table 5 and the real-time stress of the sliding table 5 in real time in the operation process, and inputs the real-time position and the real-time stress into the control part;

s70: the detection part calculates the actual stress and the actual position of the tail end according to the real-time position and the real-time stress of the sliding table 5;

s80: the control part compares the actual stress of the tail end with the expected contact force to determine an error result, confirms whether the error is within a set error range according to the comparison result and determines whether to correct the motion track in real time;

s90: if the error result is out of the set range, the control part corrects the motion track

S100: and the control part calculates a control signal according to the corrected motion track and the actual position to control the motion of the active positioning mechanism so as to meet the requirement of expected contact force.

S110: if the error result is within the set range, the motion trail is not corrected.

Specifically, a workpiece model to be polished is established in an external device, control information is determined in a conventional programming mode, and when the multi-degree-of-freedom force control vibration damping device is controlled to perform polishing operation, the control part automatically feeds back and corrects a motion track after acquiring actual stress through a preset control program so as to ensure that the tail end is always in a constant force output state and improve polishing quality.

In a second embodiment of the method for controlling a multi-degree-of-freedom force-controlled vibration damping device according to the present invention, the step of calculating control information by the control component according to the operation trajectory and the operation time includes:

s120: the control component disperses the running track into a plurality of running point positions;

s130: the control component discretizes the operation time into a plurality of operation moments;

s140: the control component corresponds the operation time and the operation point positions one by one;

s150: and the control part calculates control information according to the operation point position and the operation time.

Specifically, referring to fig. 5 and fig. 6, since we can only know and directly control the position of the sliding table 5, but the required and designed trajectory is the end trajectory, the inverse kinematics of the end trajectory needs to be performed, and the inverse solution formula is as follows:

（1）；

（2）；

（3）；

wherein the origin of the coordinate system is the center of a circumscribed circle of one end of the grinding tool 1 deviating from the three sliding tables 5、Andrespectively corresponding to the output height of one of the sliding tables 5 (taking one end of the sliding table 5 departing from the grinding tool 1 as a starting point), x, y and z represent coordinates of the tail end position relative to the original point, and R represents a circumscribed circleThe radius, r, represents the radius of the mount 2.

And when the tail end position and the output positions of the three sliding tables 5 need to be converted, calling the inverse formula, and obtaining the required sliding table control command through the inverse formula.

In a third embodiment of the method for controlling a multi-degree-of-freedom force-controlled vibration damping device according to the present invention, before the step of controlling the movement of the moving member and the active positioning mechanism 3 by the control member according to the control information to fit the movement locus, the method further includes:

s160: establishing a constant force output mixed force position control model;

s170: inputting the constant force output mixed force position control model into a control part;

s180: the constant force output mixed force position control model is used for correcting a motion track according to real-time stress, real-time position and expected contact force.

And the constant force output mixed force position control model is established in advance, and the motion trail is corrected through the constant force output mixed force position control model, so that the constant force output at the tail end is realized.

In a fourth embodiment of the method for controlling a multi-degree-of-freedom force-controlled vibration damping device according to the present invention, the step of comparing the real-time stress of the table with the expected contact force by the control unit, and the real-time correction of the motion trajectory according to the comparison result includes:

s190: inputting the real-time stress, the real-time position and the expected contact force into a constant-force output mixed force position control model;

s200: the constant force output hybrid force level control model is based onCalculating an expected point position;

s210: and the constant force output mixed force position control model replaces the expected point position and the running point position so as to correct the motion trail.

Specifically, in step S190, the formulaPerforming the following steps;

，it is the desired contact force that is,f is the error of the contact force,for real-time stress, E =Wherein E is the position error,to expect the coordinates of the point in the X-axis direction,coordinates of the real-time position in the X-axis direction;

wherein the content of the first and second substances,is the second derivative of the position error with respect to time,the first derivative of the position error with respect to time, M represents the overall mass (expressed in matrix form), B represents the overall damping coefficient (expressed in matrix form), and K represents the virtual stiffness coefficient (expressed in matrix form);

the constant-force output hybrid force position control model has the advantages that an expected position (running point position) of the tail end of the device is specified, control (inverse solution control) is carried out by adjusting the positions of the servo motors according to the measured contact force (real-time stress), the tail end of the device is ensured to be tightly attached to a workpiece, and therefore the error between the output force of the device and the expected contact force is ensured to be within a certain range; meanwhile, the structure is stable, the output force in three directions (along the z axis, around the x axis and around the y axis) can be adjusted simultaneously, and the response speed of the tail end is high due to the adoption of a linear driving mode.

Further, theThree calculations are required to obtain X, Y and the desired point in the Z direction, E = when performing the calculation in the X directionWhen calculation in the Y direction is performed, E =When performing calculation in the Z direction, E =；To expect the coordinates of the point in the Y-axis direction,coordinates of the real-time position in the Y-axis direction;to expect the coordinates of the point in the Z-axis direction,the real-time position is a coordinate in the Z-axis direction; the sliding table can only move a group of control quantities due to different control quantities obtained in different directions, and control interference occurs at the moment, so that a main control direction is often stipulated in advance during actual control, the X direction is taken as the main direction in the application, the stipulation of the specific main direction is influenced by different cutters, different machining conditions and other factors together, and the direction with the largest control displacement is often selected according to experience;

referring to fig. 7, in the present application, since a lateral grinding tool is selected, the X direction is defined as a main direction, specifically pointing to: and taking a point on the axis of the bottom circumcircle, and enabling the point to be connected with the contact point of the side surface of the grinding cutter and the workpiece to form a straight line which is vertical to the axis of the bottom circumcircle.

In a fifth embodiment of the method for controlling a multi-degree-of-freedom force-controlled vibration damping device according to the present invention, the step of calculating a control signal by the control component according to the corrected motion trajectory and the actual position to control the motion of the active positioning mechanism 3 so as to satisfy the requirement of the expected contact force includes:

s220: the control component acquires the expected point position from the constant force output hybrid force position control model;

s230: the control part reversely solves the control command of the single sliding table 5 according to the expected point position;

s240: the control part controls the movement of the single sliding table 5 according to the control command, and further adjusts the position of the connecting table, so that the requirement of expected contact force is met.

Specifically, step S220 includes:

s250: the control part receives the expected point positions and replaces the expected point positions with corresponding operation point positions;

s260: the control part calls an inverse solution formula to calculate the control command of the single sliding table 5.

Referring to fig. 9, to facilitate understanding of the present invention, a control feedback model is also provided, which is illustrated as follows:

firstly, a desired position (namely, a running point position where the running track is scattered in the second embodiment) is specified; specifying a desired contact force, and inputting the desired contact force and a desired position into the hybrid controller;

detecting the actual contact force in real time through the detection part and comparing the actual contact force with the expected contact force (refer to steps S90-S110); and adjusting the current position according to the comparison result, then obtaining control information of a servo motor in the sliding table according to the kinematic model, and controlling the servo motor to move according to the control information so as to adjust the distance between the tail end and the workpiece, thereby adjusting the actual contact force.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.