CN102975047A - Clamp with automatic clamping force regulation function and regulating method of clamp - Google Patents
Clamp with automatic clamping force regulation function and regulating method of clamp Download PDFInfo
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- CN102975047A CN102975047A CN2012104977596A CN201210497759A CN102975047A CN 102975047 A CN102975047 A CN 102975047A CN 2012104977596 A CN2012104977596 A CN 2012104977596A CN 201210497759 A CN201210497759 A CN 201210497759A CN 102975047 A CN102975047 A CN 102975047A
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Abstract
The invention relates to a clamp with an automatic clamping force regulation function and a regulating method of the clamp. The clamp with the automatic clamping force regulation function comprises a clamp, a clamping force detecting device, an A/D (analog to digital) converter, a central processing unit, a motor controller, a motor driver and a control motor, wherein the clamp comprises a clamp body, a regulating screw nut and a regulating screw rod, an installing and clamping groove is arranged in the clamp body, the regulating screw nut is arranged at one side or two sides of the installing and clamping groove provided by the clamp body, the regulating screw rod passes through a threaded hole of the regulating screw nut to form a spiral driving pair, in addition, the regulating screw rod is connected with an output shaft of the control motor, the clamping force detecting device is arranged on the clamp body, the signal output end of the clamping force detecting device is connected with the signal input end of the central processing unit through the A/D converter, the signal output end of the central processing unit is connected with the signal input end of the motor controller, and the signal output end of the motor controller is electrically connected with the control motor through the motor driver. The clamp and the regulating method have the advantages that the design is ingenious, the structure is simple, the clamping force can be regulated, and in addition, the operation is simple.
Description
Technical Field
The invention relates to an automatic clamping force adjusting clamp and an adjusting method thereof, belonging to the reforming technology of the automatic clamping force adjusting clamp and the adjusting method thereof.
Background
The existing clamp can not adjust the clamping force generally, so that the situation of insufficient clamping force can occur in the clamping process, the workpiece can not be effectively clamped, the workpiece deviates in the machining process, and the machining quality is directly influenced; or the clamping force is too large, and the workpiece can be damaged in serious conditions.
Disclosure of Invention
The invention aims to provide the clamping force automatic adjusting clamp which is ingenious in design, simple in structure and capable of adjusting the clamping force by considering the problems.
Another object of the present invention is to provide an adjusting method of a clamping force automatic adjusting clamp, which is simple in operation.
The technical scheme of the invention is as follows: the automatic clamping force regulating system of the clamp comprises a clamp, a clamping force detection device, an A/D converter, a central processing unit, a motor controller, a motor driver and a control motor, wherein the clamp comprises a clamp body, an adjusting nut and an adjusting screw rod, wherein the clamp body is provided with a clamping groove, the adjusting nut is arranged at one side or two sides of the clamping groove arranged on the clamp body, the adjusting screw rod passes through a threaded hole of the adjusting nut to form a screw transmission pair, the adjusting screw is connected with an output shaft of the control motor, the clamping force detection device is arranged on the clamp body, a signal output end of the clamping force detection device is connected with a signal input end of the central processing unit through an A/D converter, a signal output end of the central processing unit is connected with a signal input end of the motor controller, and a signal output end of the motor controller is electrically connected with the control motor through a motor driver.
The clamping force detection device is a strain gauge, and the strain gauge is adhered to the clamp.
The central processing unit is a singlechip.
The central processing unit is also connected with a display module.
The central processing unit is powered by a storage battery.
And a coupling is also arranged between the adjusting screw and the control motor.
The invention discloses an adjusting method of an automatic clamp force adjusting system, which comprises the following steps:
1) after the part is arranged in the clamp, a clamping force detection device is arranged on the clamp;
2) the clamping force detection device detects the clamping force of the clamp and inputs signals to the central processing unit through the A/D converter;
3) and the central processing unit is compared with the preset value, if the difference exists, a control signal is output to the control motor through the motor controller and the motor driver, the control motor drives the adjusting screw rod to rotate, the corresponding adjusting nut moves, and the adjusting nut drives the clamping groove of the clamp to move so as to adjust the clamping force on the clamp and keep the clamping force within the required range of the preset value.
The control method of the control motor adopts fuzzy PID control, firstly PID parameter initialization is carried out, and the PID parameter comprises
、
、
Wherein
in order to control the parameters of the ratio,
in order to integrate the control parameters of the device,taking the initial pressure value as the differential control parameter, calculating the current Kp, Ki and Kd according to the PID control principle and the pressure control characteristic, and outputting to the power supplyThe machine carries out the control of clamp force, constantly according to the pressure value of current calculation and the adjustment of given value, repeats many times, until the pressure value that is closest, reaches the purpose of stable automatic adjustment anchor clamps pressure.
The invention discloses an adjusting method of an automatic clamp force adjusting system, which comprises the following steps:
the fuzzy self-adaptive PID control takes an error e and an error change ec as input, finds out a fuzzy relation graph between three parameters of the PID and the error change ec, and modifies the three parameters on line according to a fuzzy control principle, so that a controlled object has good dynamic and static performances, and the fuzzy self-adaptive PID control specifically comprises the following steps:
1) fuzzy linguistic variables
The error e and the error change rate ec are input, and three parameters, which are PID, are output.
2) Fuzzy setting control table:
establishing a proper fuzzy rule table according to actual operation experience to obtain
、
And
three parameters are respectively set into a fuzzy control table;
3) calculating the current KpKiKdValue of
The range of variation of e and ec is defined as the domain of discourse on the fuzzy set,
e={-5，-4，-3，-2，-1,0,+1,+2,+3,+4,+5}
ec={-5，-4，-3，-2，-1,0,+1,+2,+3,+4,+5}
its fuzzy subset is:
e={NB,NM,NS,ZO,PS,PM,PB}，ec={NB,NM,NS,ZO,PS,PM,PB}
in the formula: NB represents negative big, NM represents negative middle, NS represents negative small, ZE represents extended zero, PS represents positive small, PM represents positive middle, PB represents positive big, Gaussian distribution is selected as membership function distribution, thus membership of each fuzzy subset can be obtained, fuzzy matrix of PID parameter is designed by fuzzy synthesis inference according to membership assignment table and fuzzy control model of each fuzzy subset, and correction parameter is found out and substituted into the following calculation:
in the formula:、
and
is the initial value of the PID parameter,
、
and
the value of the final corresponding PID parameter is obtained;
the invention adopts the structure provided with the clamping force detection device, and controls the motor to rotate forwards or backwards according to the detected clamping force through the central processing unit, the motor controller and the motor driver so as to achieve the aim of adjusting the clamping force. In addition, the adjusting method of the clamping force automatic adjusting clamp is simple to operate. The invention is a clamping force automatic adjusting clamp which has ingenious design and excellent performance and is convenient and practical and an adjusting method thereof.
Drawings
FIG. 1 is an overall view of the present invention;
FIG. 2 is a front view of the clamp body of the present invention;
FIG. 3 is a side view of the clamp body of the present invention;
FIG. 4 is a flow chart of PID control according to the invention;
FIG. 5 is a front view of a machined part of the present invention;
FIG. 6 is a side view of a machined part of the present invention.
Detailed Description
Example (b):
the structure diagram of the invention is shown in figure 1, the automatic clamp clamping force adjusting system of the invention comprises a clamp 1, a clamping force detecting device 2, an A/D converter 3, a central processing unit 4, a motor controller 5, a motor driver 6 and a control motor 7, wherein the clamp 1 comprises a clamp body 11, an adjusting nut 11 and an adjusting screw 13, a clamping groove is arranged on the clamp body 11, the adjusting nut 11 is arranged at one side or two sides of the clamping groove arranged on the clamp body 11, the adjusting screw 13 passes through a threaded hole of the adjusting nut 11 to form a spiral transmission pair, the adjusting screw 13 is connected with an output shaft of the control motor 7, the clamping force detecting device 2 is arranged on the clamp body 11, a signal output end of the clamping force detecting device 2 is connected with a signal input end of the central processing unit 4 through the A/D converter 3, a signal output end of the central processing unit 4 is connected with a signal input end of the motor controller 5, the signal output end of the motor controller 5 is connected with a control motor 7 through a motor driver 6.
The clamping force detecting device 2 is a strain gauge, and the strain gauge is adhered to the jig 1.
The central processing unit 4 is a single chip microcomputer.
The central processing unit 4 is also connected to a display module 10.
The central processing unit 4 is powered by a battery 6.
A coupling 14 is also arranged between the adjusting screw 13 and the control motor 7.
The invention discloses an adjusting method of an automatic clamp force adjusting system, which comprises the following steps:
1) after a part is arranged in the clamp 1, a clamping force detection device 2 is arranged on the clamp 1;
2) the clamping force detection device 2 detects the clamping force of the clamp 1 and inputs signals to the central processing unit 4 through the A/D converter 3;
3) and the central processing unit 4 is compared with the preset value, if the difference exists, a control signal is output to the control motor 7 through the motor controller 5 and the motor driver 6, the control motor 7 drives the adjusting screw 13 to rotate, the corresponding adjusting nut 11 moves, and the adjusting nut 11 drives the clamping groove of the clamp 1 to move to adjust the clamping force on the clamp so as to keep the clamping force within the required range of the preset value.
The control method for the control motor 7 adopts fuzzy PID control, firstly carries out PID parameter initialization, and the PID parameter comprises Kp、Ki、KdTaking the initial pressure value, and calculating the current K according to the PID control principle and the pressure control characteristicp、Ki、KdAnd then the pressure value is output to a motor to control the clamping force, and the adjustment is continuously carried out according to the currently calculated pressure value and the given value, and the repeated adjustment is carried out for a plurality of times until the pressure value is the closest to achieve the purpose of stably and automatically adjusting the pressure of the clamp.
The invention discloses an adjusting method of a clamp clamping force automatic adjusting system, wherein the control method of a control motor adopts fuzzy PID control, a clamp detection pressure value is compared with a given pressure value, a difference signal obtained by comparison is calculated by controlling a certain rule to obtain a corresponding control value, and a control quantity is sent to a control system to be correspondingly controlled, so that the work is continuously carried out, and the aim of automatic adjustment is fulfilled. Namely, the clamping function is realized when the stepping motor is controlled to rotate in the forward direction; when the stepping motor is controlled to rotate reversely, the loosening function is realized.
FIG. 5 is a flow chart of PID control inside the fixture, after the program is started, the PID parameter initialization is performed first, and most importantly, K is performedp、Ki、KdThen enters the control loop body. Firstly, the pressure initial value is taken, and the current K is calculated according to the PID control principle and the pressure control characteristicp、Ki、KdAnd then the pressure value is output to a motor to control the clamping force, and the adjustment is continuously carried out according to the currently calculated pressure value and the given value, and the repeated adjustment is carried out for a plurality of times until the pressure value is the closest to achieve the purpose of stably and automatically adjusting the pressure of the clamp.
Fuzzy PID control principle:
the fuzzy self-adaptive PID control takes an error e and an error change ec as input, finds out a fuzzy relation graph between three parameters of the PID and the error change ec, and modifies the three parameters on line according to a fuzzy control principle, so that a controlled object has good dynamic and static performances.
1) Fuzzy linguistic variables
The error e and the error change rate ec are input, and three parameters, which are PID, are output.
2) Fuzzy setting control meter
Establishing a proper fuzzy rule table according to actual operation experience to obtain
、And
three parameters are respectively adjusted.
3) Calculating the current Kp、Ki、KdValue of
This document is a two-input, three-output fuzzy controller. The range of variation for e and ec is defined as the domain of discourse on the fuzzy set.
e={-5，-4，-3，-2，-1,0,+1,+2,+3,+4,+5}
ec={-5，-4，-3，-2，-1,0,+1,+2,+3,+4,+5}
Its fuzzy subset is:
e={NB,NM,NS,ZO,PS,PM,PB}，ec={NB,NM,NS,ZO,PS,PM,PB}
in the formula: NB represents negative large, NM represents negative medium, NS represents negative small, ZE represents zero padding, PS represents positive small, PM represents positive medium, and PB represents positive large. And Gaussian distribution is selected as the distribution of the membership function, so that the membership degree of each fuzzy subset can be obtained. Then, according to the membership assignment table of each fuzzy subset and each parameter fuzzy control model, applying fuzzy synthesis reasoning to design a fuzzy matrix of PID parameters, and finding out correction parameters to be substituted into the following calculations:
；
in the formula:
、and
is the initial value of the PID parameter,
、
andis the value of the final PID parameter.
Claims (9)
1. An automatic clamp clamping force adjusting system is characterized by comprising a clamp (1), a clamping force detecting device (2), an A/D converter (3), a central processing unit (4), a motor controller (5), a motor driver (6) and a control motor (7), wherein the clamp (1) comprises a clamp body (11), an adjusting nut (11) and an adjusting screw rod (13), a clamping groove is formed in the clamp body (11), the adjusting nut (11) is arranged on one side or two sides of the clamping groove formed in the clamp body (11), the adjusting screw rod (13) penetrates through a threaded hole of the adjusting nut (11) to form a spiral transmission pair, the adjusting screw rod (13) is connected with an output shaft of the control motor (7), the clamping force detecting device (2) is arranged on the clamp body (11), a signal output end of the clamping force detecting device (2) is connected with a signal input end of the central processing unit (4) through the A/D converter (3), the signal output end of the central processing unit (4) is connected with the signal input end of the motor controller (5), and the signal output end of the motor controller (5) is electrically connected with the control motor (7) through the motor driver (6).
2. The system for automatically adjusting the clamping force of a clamp according to claim 1, wherein the clamping force detecting device (2) is a strain gauge, and the strain gauge is adhered to the clamp (1).
3. The system for automatically adjusting the clamping force of a clamp according to claim 1, wherein the central processing unit (4) is a single chip microcomputer.
4. The system for automatically adjusting the clamping force of a clamp according to claim 1, wherein the central processing unit (4) is further connected with a display module (10).
5. The system for automatically adjusting the clamping force of a clamping device as claimed in claim 1, wherein the central processing unit (4) is powered by an accumulator (6).
6. The automatic clamp force adjusting system according to claim 1, wherein a coupling (14) is further provided between the adjusting screw (13) and the control motor (7).
7. An adjusting method of an automatic clamp force adjusting system is characterized by comprising the following steps:
1) after the part is arranged in the clamp (1), a clamping force detection device (2) is arranged on the clamp (1);
2) the clamping force detection device (2) detects the clamping force of the clamp (1) and inputs signals to the central processing unit (4) through the A/D converter (3);
3) and the central processing unit (4) is compared with the preset value, if the difference exists, a control signal is output to the control motor (7) through the motor controller (5) and the motor driver (6), the control motor (7) drives the adjusting screw rod (13) to rotate, the corresponding adjusting nut (11) moves, and the adjusting nut (11) drives the clamping groove of the clamp (1) to move to adjust the clamping force on the clamp so as to keep the clamping force within the required range of the preset value.
8. The method of claim 7, wherein the control of the control motor (7) is performed by fuzzy PID control, and PID parameters including PID parameters are initialized
、
、
Wherein
in order to control the parameters of the ratio,
in order to integrate the control parameters of the device,
is a differential control parameter; taking the initial value of pressure, controlling the principle and pressure according to PIDThe current Kp, Ki and Kd are calculated by the force control characteristics, then the current Kp, Ki and Kd are output to a motor to control the clamping force, and the adjustment is continuously carried out according to the current calculated pressure value and a given value, and the repeated operation is carried out for a plurality of times until the pressure value is the closest to the current calculated pressure value, so that the purpose of stably and automatically adjusting the pressure of the clamp is achieved.
9. The method of claim 8, wherein the fuzzy PID control comprises:
the fuzzy self-adaptive PID control takes an error e and an error change rate ec as input, finds out a fuzzy relation graph between three parameters of the PID and the error change rate ec, and modifies the three parameters on line according to a fuzzy control principle, so that a controlled object has good dynamic and static performances, and the method specifically comprises the following steps:
1) fuzzy linguistic variables
Taking the error e and the error change rate ec as input, and outputting three parameters which are respectively PID;
2) fuzzy setting control table:
establishing a proper fuzzy rule table according to actual operation experience to obtain
、
And
three parameters are respectively set into a fuzzy control table;
wherein,
in order to control the parameters of the ratio,in order to integrate the control parameters of the device,
is a differential control parameter;
3) calculating the current Kp、Ki、KdValue of
The range of variation of e and ec is defined as the domain of discourse on the fuzzy set,
e={-5，-4，-3，-2，-1,0,+1,+2,+3,+4,+5}
ec={-5，-4，-3，-2，-1,0,+1,+2,+3,+4,+5}
its fuzzy subset is:
e={NB,NM,NS,ZO,PS,PM,PB}，ec={NB,NM,NS,ZO,PS,PM,PB}
in the formula: NB represents negative large, NM represents negative medium, NS represents negative small, ZE represents zero padding, PS represents positive small, PM represents positive medium, PB represents positive large; then, according to the membership assignment table of each fuzzy subset and each parameter fuzzy control model, applying fuzzy synthesis reasoning to design a fuzzy matrix of PID parameters, finding out correction parameters and substituting the correction parameters into the following calculations:
；
in the formula:
、
and
is the initial value of the PID parameter,
、and
the value of the final corresponding PID parameter is obtained; visible fuzzy PID (proportion integration differentiation) online parameter adjustment
、
And
so that these parameters are optimized and the system achieves the best control effect.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104977596A CN102975047A (en) | 2012-11-29 | 2012-11-29 | Clamp with automatic clamping force regulation function and regulating method of clamp |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012104977596A CN102975047A (en) | 2012-11-29 | 2012-11-29 | Clamp with automatic clamping force regulation function and regulating method of clamp |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078749A (en) * | 2016-06-22 | 2016-11-09 | 奇瑞汽车股份有限公司 | A kind of robot hand and robot |
| CN112123025A (en) * | 2020-09-17 | 2020-12-25 | 深圳太辰光通信股份有限公司 | Machining process and machining device for ceramic ferrule |
| WO2021022357A1 (en) * | 2019-08-02 | 2021-02-11 | Candu Energy Inc. | Portable polymer tester and testing method |
| CN112958327A (en) * | 2021-03-18 | 2021-06-15 | 上海怡上电子科技有限公司 | Spraying test fixture for filter and working method and system thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078749A (en) * | 2016-06-22 | 2016-11-09 | 奇瑞汽车股份有限公司 | A kind of robot hand and robot |
| CN106078749B (en) * | 2016-06-22 | 2019-01-25 | 奇瑞汽车股份有限公司 | A kind of robot hand and robot |
| WO2021022357A1 (en) * | 2019-08-02 | 2021-02-11 | Candu Energy Inc. | Portable polymer tester and testing method |
| CN112123025A (en) * | 2020-09-17 | 2020-12-25 | 深圳太辰光通信股份有限公司 | Machining process and machining device for ceramic ferrule |
| CN112958327A (en) * | 2021-03-18 | 2021-06-15 | 上海怡上电子科技有限公司 | Spraying test fixture for filter and working method and system thereof |
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Application publication date: 20130320 |