Active compliance robot grinding system with controlled pressure and changeable speed and method

Abstract

The invention discloses an active compliance robot grinding system with controlled pressure and changeable speed. The active compliance robot grinding system with the controlled pressure and the changeable speed comprises an industrial robot, a controlled pressure compliance grinding tool, a detection module and a computing control module. The industrial robot moves and locates the controlled pressure compliance grinding tool in a three-dimensional space. An optical mirror surface is compliantly grinded by the controlled pressure compliance grinding tool with the controlled pressure and the changeable speed. An actual surface shape of the optical mirror surface is measured by the detection module. The computing control module plans a grinding track, a pressure, a rotating speed and a dwell time according to comparing the actual surface shape and a target surface shape to obtain an error curved surface, and the industrial robot and the controlled pressure compliance grinding tool are controlled to carry out complicated optical mirror surface grinding which is high in rate of convergence.

Description

technical field [0001] The invention relates to the field of grinding and polishing, in particular to an active and compliant robot grinding system and method with controllable pressure and variable speed, which can realize precise grinding of brittle materials such as optical mirrors with complex surfaces. Background technique [0002] In recent years, with the development of precision optics and aerospace technology, optical mirrors with complex surface shapes have been more and more widely used. The complexity of the surface shape, the requirements for precision and the caliber of optical mirrors are getting higher and higher. Therefore, there is an urgent need for a A complex surface-shaped optical mirror processing system with short processing cycle, high precision, strong adaptability and relatively low cost. [0003] The current grinding process of optical mirrors with complex surfaces is mainly processed by lapping and polishing machine tools, which are expensive. Th...

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Problems solved by technology

[0004] However, in the existing robot milling and polishing devices, the working pressure between the working components installed on the robot flange and the workpiece is realized by the robot, and is monitored and adjusted by the force sensor, so the working pressure adjustment will occur The response is slow, the deviation between the actual value and the theoretical value of the pressure during the processing is large, and the phenomenon of damage to the surface of the workpiece is prone to occur due to impact; at the same time, the theoretical working pressure of this device is constant during processing, and it cannot be adjusted according to the different local processing requirements of the actual surface shape. The processing pressure is adjusted accordingly, making the convergence speed of the entire processing process slower

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