Robot grinding system for solving deformation problem and track planning method of robot grinding system

Abstract

The invention discloses a robot grinding system for solving the deformation problem and a track planning method of the robot grinding system. The system is a rectangular coordinate robot grinding system. The rectangular coordinate robot grinding system comprises a workbench rack, a guiding unit of a three-axis rectangular coordinate robot, a drive unit, a six-dimensional force sensor measuring unit, a grinding tool and a hook face workpiece. The rectangular coordinate robot grinding system further comprises a two-shaft rotation work platform installing the hook face workpiece, a deformation calculating module and an interpolation point optimizing module. According to the method, the deformation calculating module and the interpolation point optimizing module are used for conducting adjustment; according to the robot grinding system structure and stress conditions, the angle between the workpiece and the tool is changed through the two-shaft rotation platform, the deformation situation of a robot cutting system at different cutting angles and different feeding speeds is evaluated, the grinding feeding speed restraint formula based on grinding deformation is inferred according to the precision requirement, and finally the hook face grinding machining track is optimized.

Description

technical field [0001] The invention belongs to the technical field of robot processing applications, and relates to an industrial robot grinding trajectory optimization technology, in particular to a rectangular coordinate robot grinding device, grinding deformation calculation, speed constraint and interpolation point planning method. Background technique [0002] As one of the main means of machining, grinding is widely used in the manufacturing industry. At present, there are mainly two methods for realizing robot grinding processing: conducting a large number of grinding experiments, and using regression analysis to obtain the robot grinding model of specific materials; Control the position of the grinding tool and the contact force between the tool and workpiece. [0003] 1) The method of obtaining the robot grinding model through regression analysis requires a large amount of experimental data, and the grinding model obtained by this method can only be used for speci...

AI Technical Summary

Problems solved by technology

This method is low in cost, but does not consider the deformation of the robot itself and the assembly error of the workpiece, and the machining accuracy is low; the force control method with sensors mainly relies on the data feedback from the sensor to judge the force position at the end of the robot, and realizes real-time force position control.

This does not take into account the influence of robot grinding angle and feed speed difference on system deformation

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