Control method for removal of grinding and polishing material of curve workpiece robot
A technology of curved surface workpieces and control methods, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of inability to obtain accurate tangential force, poor real-time performance and accuracy
Inactive Publication Date: 2017-07-07
NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG
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Problems solved by technology
[0004] However, the existing robot polishing equipment is generally a simple integration of the polishing tool and the robot system, so the real-time and accuracy of the contact force control during the polishing process are not good, and it is difficult to directly control it based on the Preston theory in actual production. Polishing material removal; in addition, according to the latest research, the friction coefficient in the contact surface is not the same everywhere, and it will not always maintain a constant value, which means that precise normal force control cannot obtain precise tangential force
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[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0021] A material removal control method for robotic polishing of a curved surface workpiece provided in this embodiment includes the following steps:
[0022] 1), based on the functional relationship of cutting power P in grinding and polishing:
[0023] P=U a ·I a
[0024] Among them: U a The armature voltage of the grinding and polishing motor for grinding and polishing, I a The armature current of the grinding and polishing motor for grinding and polishing;
[0025] 2), monitor the armature current I of the grinding and polishing motor a , to control the armature voltage U of the grinding and polishing motor a .
[0026] The above-mentioned material removal control method for robotic grinding and polishing of curved surface workpieces has the following control principles:
[0027] Generally, the armature current I of the motor a Generally ...
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The invention discloses a control method for removal of a grinding and polishing material of a curve workpiece robot. The control method comprises following steps: firstly, on the basis of the functional relationship of grinding and polishing machining cutting power P of P=Ua*Ia, Ua is the armature voltage of a grinding and polishing machining grinding polishing motor, and Ia is the armature current of the grinding and polishing machining grinding polishing motor; secondly, the armature current Ia of the grinding and polishing machining grinding polishing motor is monitored, and the armature voltage Ua of the grinding and polishing machining grinding polishing motor is controlled. The technical aim of improving the control precision and stability of removal of the curve workpiece surface grinding and polishing material is achieved. The control method for removal of the grinding and polishing material of the curve workpiece robot has the beneficial effects of being high in control precision, good in stability and the like.
Description
technical field [0001] The invention relates to a material removal control method for workpiece robot polishing and polishing, in particular to a material removal control method for curved surface workpiece robot polishing. Background technique [0002] For the processing of large workpieces with free-form surface features such as molds, after obtaining the required geometric shape through CNC milling, further finishing processing is still required to obtain high-quality surface quality. For a long time, the finishing process of this curved surface shape has mainly been completed by manual grinding and polishing process. In recent years, with the in-depth application of automation and intelligent equipment such as robots, the research and application of robotic grinding and polishing technology and equipment for curved surface workpieces have achieved considerable development, and some technologies and equipment have been applied and promoted, but some of them are still Tec...
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IPC IPC(8): B25J9/16B25J11/00
CPCB25J9/1679B25J11/0065
Inventor 詹建明胡利永王贤成马睿林钟焘张壮壮
Owner NINGBO INST OF TECH ZHEJIANG UNIV ZHEJIANG