Polishing method of portal lifting robot based on force control

A technology of gantry hoisting and processing methods, which is applied to grinding automatic control devices, manufacturing tools, metal processing equipment, etc., can solve the problems of low grinding precision, poor quality, and difficulty in maintaining process consistency, and achieve good processing effects and convenient Operation, improve the effect of processing accuracy and processing effect

Inactive Publication Date: 2016-04-20
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology

[0004] The purpose of the present invention is to propose a robot grinding method based on online real-time load gravity compensation control for t

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  • Polishing method of portal lifting robot based on force control
  • Polishing method of portal lifting robot based on force control
  • Polishing method of portal lifting robot based on force control

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Embodiment Construction

[0031] Further illustrate the present invention below in conjunction with accompanying drawing.

[0032] Aiming at the problems of low grinding precision, poor quality, and difficulty in maintaining process consistency in the robot grinding system in the prior art, the invention proposes a grinding processing method based on force control for a gantry hoisting robot, which can complete the grinding of large curved surface molds processing. The whole system is mainly divided into two parts: one is the offline path planning part. According to the CAD model of the workpiece, the offline path planning file is generated on the industrial computer and imported into the robot, so that the robot can process the workpiece offline according to the ideal file model. The second is the online real-time force control part. During the grinding process of the robot, the communication connection between the industrial computer and the robot and the force sensor is established through Ethernet....

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Abstract

The invention relates to a polishing method of a portal lifting robot based on force control. The polishing method comprises the following steps: an industrial personal computer generates an offline path according to a workpiece model, and the robot processes a workpiece according to the offline path; a force sensor acquires force information at the tail end of the robot in real time to return to the industrial personal computer, and the industrial personal computer obtains returned force through gravity compensation according to the force information; the industrial personal computer obtains a difference between a set force target value and the returned force, and obtains a position corrected quantity through a force controller; and the sum of the position corrected quantity and a present position of the robot is obtained, and an impedance controller obtains a control quantity to control polishing acting force in robot processing. The polishing method eliminates the disturbance of tool gravity on the polishing acting force in the polishing process to guarantee the detecting and control precision of the polishing acting force, and is high in sensor measuring precision, high in robot control precision and excellent in processing effect.

Description

technical field [0001] The invention relates to a grinding processing method for a gantry hoisting robot based on force control, which belongs to the field of grinding processing, and in particular to a grinding processing method for a gantry hoisting robot based on force control. Background technique [0002] Large-scale transparent part mold is the key process equipment for transparent part molding. In order to achieve the optical performance index of transparent parts, not only the shape accuracy of the cavity must be ensured, but also high requirements are placed on the surface quality of the mold cavity. The size of the mold cavity reaches 3.2×1.8×1.5m, and its surface roughness requirement reaches Ra0.02um; such a large-sized cavity and such a high surface roughness requirement, it is difficult to guarantee the quality and construction period by manual grinding. [0003] Therefore, adopting a new method to replace the traditional manual grinding to improve the precisio...

Claims

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Application Information

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IPC IPC(8): B24B17/00B24B51/00B24B19/20
CPCB24B17/00B24B19/20B24B51/00
Inventor 杨林赵吉宾李论于彦凤刘殿海
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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