The Design Of Control System For Reducer Eccentric Axis NC Grinding Machine

China has become the world's second largest market for industrial robot application.And the demand for industrial robots is constantly expanding.As a key component of robot reducer,the quality of eccentric shaft is one of the important determinant factors to the performance of reducer.The machining precision and production efficiency of eccentric shaft will affect the quality of the robot products and the development of robot industry.In order to ensure high machining precision and surface quality,the grinding is generally adopted as the final machining process of eccentric shaft at home and abroad.The key theory and technology of tangent point tracing grinding is adopted in this paper,which can help to achieve the purpose of high efficiency and high precision grinding.In this paper,the control part of the CNC grinding machine for the eccentric shaft of the reducer is mainly studied.The processing method of robot parts can be improved,which will bring great social and economic benefits to enterprises and society.The main research work of this paper is as follows:First of all,the mathematical model for two-axis coordinated tangent point tracing grinding is established in this paper according to the particular processing technology of eccentric shaft.And we deduce and simulate the motion equations for the Grinding wheel moving(X-axis)and the work-piece rotation(C-axis),which provided theoreticalfoundation for the two-axis motion control and grinding trajectory programming control of the eccentric shaft grinding.Secondly,the eccentric shaft grinding process is studied by using Rexroth MTX micro CNC system as the hardware and software platform.Then the mathematical model of two axis linkage is programmed with C language,and it is converted to G code after data post-processing.Moreover,we design a work-piece head and tail frame system formed by a close-cycle system consists of angle grating,rolling bearing,and torque motor,which ensures that the rotation accuracy of the work-piece is in allowed range ±3sec.We also design a grinding wheel horizontal feed system consists of servo motor,ball screw,hydrostatic guideway and grating ruler,which ensures that the positioning accuracy is less than or equal to 0.001mm;In addition,the MARPOSS online measurement system is used to realize the consistency of work-piece size in the machining process.It will ensure that the machining accuracy of work-piece is less than or equal to 0.002 mm.Finally,electrical schematic diagram and human-computer interaction are designed in this paper.Then we carry out the PLC programming and NC programming.And we debug the machine after testing the installation of it.Then the machined parts meet the design precision after the operation of the machine is stable.