Intelligent force control robot grinding system and method

Abstract

The invention relates to an intelligent force control robot grinding system. The intelligent force control robot grinding system comprises a computer, an industrial camera, a robot, a robot controller, a calibration and compensation system, a safety protection unit, a force sensor and an automatic knife changing system. The computer is connected with the industrial camera. The robot controller is connected with the computer, the robot, the calibration and compensation system, the safety protection unit, the force sensor and the automatic knife changing system. A method comprises the steps that the computer receives workpiece scanning data collected by the industrial camera, generates a knife path and converts the knife path into the robot posture and the tail end path; calibration and compensation are carried out; the robot controller controls all joints to move while the robot posture and the tail end path are adjusted. Hardware of a high-precision force control grinding system is achieved, the path self-calibration and online compensation technology is adopted, and the machining of a complex hook face with the high requirements for machining precision and surface smoothness can be finished.

Description

technical field [0001] The invention belongs to the field of grinding and polishing processing of large complex curved surfaces, in particular to an intelligent force-controlled robot grinding processing system and a matching processing method for processing complex curved surfaces. Background technique [0002] With the advancement of science and technology and the continuous development of the manufacturing industry, the market demand for grinding and polishing continues to grow. However, at present, the grinding and polishing process in my country is mainly manual. Manual grinding is inefficient, time-consuming and laborious, with low precision, poor product uniformity, harsh working environment for workers, and difficulty in automatic production. This has become a bottleneck for the further development of the grinding and polishing industry. Therefore, the research on automatic grinding and polishing equipment has attracted widespread attention from many universities, sc...

AI Technical Summary

Problems solved by technology

[0005] The main purpose of the present invention is to solve the problem that the existing automatic grinding device has insufficient precision and cannot process large-scale curved surfaces, and proposes an intelligent force-controlled robot grinding processing system capable of performing precision grinding on large-scale complex curved surfaces. method

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