Machine learning-based robot grinding method

A machine learning and robot technology, applied in the field of grinding, can solve the problems that manual operation cannot guarantee the consistency of grinding precision, low processing efficiency, and poor system versatility, so as to improve grinding precision and production efficiency and avoid blindness Sexuality, the effect of high quality control

Inactive Publication Date: 2010-06-16
TSINGHUA UNIV
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Problems solved by technology

This method is very expensive, the system has poor versatility, and the processing efficiency is low. Because the relationship between the parameters of the grinding process and the actual grinding amount is very complicated, uncertain manual operations cannot guarantee the consistency of grinding accuracy.

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Embodiment Construction

[0029] The robot grinding method based on machine learning proposed by the present invention is described in detail as follows in conjunction with accompanying drawings and embodiments:

[0030] The overall process of the inventive method is as figure 1 As shown, the details are as follows:

[0031] 1) Raw data collection: In each stage of abrasive belt work, a large number of workpieces of different materials (in this embodiment, aviation aluminum alloy, brass, magnesium alloy, titanium alloy, ductile iron and hard alloy) are ground In the experiment, measure the contact force f between the workpiece and the grinding wheel with a six-dimensional force sensor, measure the curvature s and the grinding amount u of the grinding surface of the workpiece with a three-dimensional measuring instrument, measure the processing speed v with a position sensor, and then store it in the form of a vector:i f i v i the s i >, i=1, 2...N, N is the number of sets of raw data (at least 20...

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Abstract

The invention relates to a machine learning-based robot grinding method, which belongs to the field of abrasive machining. The method comprises the following steps of: in each working stage of an abrasive belt, grinding workpieces made of different materials to obtain the contact force between the workpieces and a grinding wheel, the curvature and the grinding quantity of grinding surfaces of the workpieces, and the processing speed; modeling a dynamic model and initializing a self-adapting dynamic model set of a robot by using initial data and adopting a machine learning method; and according to an original dynamic model and measured data of the current working condition during grinding, establishing a self-adapting dynamic model of the current robot, and adding the self-adapting dynamic model to the self-adapting dynamic model set M of the robot. The machine learning-based robot grinding method can realize high-precision grinding, reduce the production cost and improve the processing efficiency.

Description

technical field [0001] The invention belongs to the field of grinding processing, in particular to a robot high-precision grinding method based on machine learning. Background technique [0002] Grinding has a wide range of applications, mainly divided into grinding wheel grinding and abrasive belt grinding. As the final process of processing, the level of grinding technology often determines the grade of the product. Therefore, the grinding process occupies a very important position in the field of mechanical processing. [0003] Grinding is a process of grinding the surface of the workpiece with a high-speed moving abrasive belt and corresponding contact methods according to the shape of the workpiece. This processing technology has important and extensive application backgrounds in the fields of aerospace, national defense, electric power, ships, and medical treatment. This processing technology. Grinding is more widely used in civilian products, such as the surface of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/18
Inventor 宋亦旭梁伟杨泽红贾培发
Owner TSINGHUA UNIV
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