Robot carving method based on elastic component

Abstract

The invention relates to a robot carving method based on an elastic component. According to the method provided by the invention, the elastic component is additionally arranged between the tail end of the traditional carving robot and a carving tool; the carving robot can change the magnitude of force and speed along the tangential direction of a milling cutter at the tail end through a force position hybrid control algorithm for the force measuring result of the elastic component according to different carving materials in a carving process, and meanwhile, and can keep the constant value along the longitudinal position direction, for ensuring the smooth execution of the carving process. The damage to tool bit or carved object, which can influence the carving progress and smoothness and reduce the carving precision, caused by the change of hardness of the carved object can be prevented; the magnitude of processing force and speed can be changed according to the hardness; the milling force and speed of the milling cutter can be automatically adjusted; the carving process is relatively automatic; compared with the traditional force sensor, the elastic component has the advantages of low cost, property meeting the requirements of the method and cost-saving effect. Thus, the method has excellent application prospect and economic benefit.

Description

technical field [0001] The invention relates to the field of robot engraving, and is a novel engraving method. Background technique [0002] Sculpture art culture is an important part of my country's long history and culture, and it is widely used in life and construction industries for its artistic appreciation and physical characteristics. The increase in demand for high-quality engraving products provides a broad space for the development of the engraving industry. With the development of automation, the engraving machine has completed the development from 2D-2.5D-3D. Traditional engraving machines can only complete 2.5D engraving due to the limitation of freedom and working space. Since the axial direction of the tool cannot be perpendicular to the surface of the product at all times, large fluctuations in the radial force are likely to produce a terraced field effect, which affects the processing effect and increases tool loss. Therefore, robotic engraving technology...

AI Technical Summary

Problems solved by technology

Not only is it troublesome, but the same material will also have uneven material, which will not only damage the cutter head, but more importantly, it will cause certain damage to the carved object, which will reduce the quality of the finished product.

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