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Force-controlled flange for polishing operation of industrial robot and polishing method

A technology of industrial robots and flanges, which is applied to the parts of grinding machine tools, shock absorbers, shock absorbers, etc., can solve the problems of damaging the grinding head and producing quality problems, and achieves the advantages of easy control, simple structure, and elimination of influence Effect

Inactive Publication Date: 2016-01-13
SUZHOU UNIV
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

If the path is not set to match the surface or dimensions of the part, there will be immediate quality issues and possible damage to the grinding head

Method used

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  • Force-controlled flange for polishing operation of industrial robot and polishing method
  • Force-controlled flange for polishing operation of industrial robot and polishing method
  • Force-controlled flange for polishing operation of industrial robot and polishing method

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Embodiment Construction

[0020] In the automatic polishing system, it is necessary to adjust the contact force value between the processed workpiece and the grinding tool to ensure the grinding quality of the processed workpiece (usually to increase the size of the contact force), and the force control flange in this embodiment exactly to achieve this goal. When the workpiece is not in contact with the grinding tool, adjust the proportional valve to provide an appropriate pressure to the air spring to ensure its good airtightness.

[0021] The technical solutions in the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to ...

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Abstract

The invention discloses a force-controlled flange for the polishing operation of an industrial robot and a polishing method. The force-controlled flange comprises an upper base, a lower base, an air spring and a proportional valve. The upper base and the lower base are arranged in a spaced mode up and down. The air spring is arranged between the upper base and the lower base. The proportional valve can adjust the pressure in the air spring. A displacement sensor is arranged between the upper base and the lower base. The proportional valve comprises a pressure sensor for monitoring the pressure in the air spring. According to the force-controlled flange for the polishing operation of the industrial robot and the polishing method, the adjustment of the contact force can be achieved; the requirement for position precision of the industrial robot in the polishing process is lowered; the production cost is reduced, and the quality of products can be improved. The force-controlled flange is simple in structure, convenient to control and easy to popularize in a grinding production line. A ball spline is selected for replacing a guiding rail and a rectilinear motion ball bearing, and the rotational degree of freedom is restrained, accordingly, the influence of the radial force (relative to the guiding rail) can be better eliminated.

Description

technical field [0001] The invention relates to the field of robot contact force control systems, in particular to a force control flange for industrial robot polishing operations and a polishing method. Background technique [0002] In the past 20 years, robots have provided an effective economic means for realizing industrial automation, and it has been widely used in the fields of deburring, chamfering and grinding finishing of parts. With the increasing application of robots in various fields, many occasions require robots to have the ability to sense and control contact force. The end effector is in contact with the environment. Therefore, to complete these tasks, the robot must have the ability to flexibly control the contact force. [0003] The traditional robot programming method adopts the principle of defining the path and speed, that is to say, regardless of the force in the process of processing, the robot's running path and speed always maintain the preset val...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B24B41/00F16F9/32
CPCB24B41/00F16F9/3207
Inventor 黄婷樊成陈国栋孙立宁王振华李闯
Owner SUZHOU UNIV
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