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A processing force control method for blade robot abrasive belt grinding

A robotic abrasive belt and grinding technology, which is applied in the direction of automatic grinding control devices, abrasive belt grinders, and workpiece feed movement control, can solve the problems of inability to process complex curved surface parts and low precision of force control, and achieve The effect of overcoming poor consistency, improving precision and surface quality, and improving efficiency

Active Publication Date: 2019-10-15
HUAZHONG UNIV OF SCI & TECH
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  • Abstract
  • Description
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Problems solved by technology

[0007] (3) The force control method of the above patent is an estimated force control, so the force control accuracy is not high, and it cannot be applied to the processing of complex curved surface parts

Method used

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  • A processing force control method for blade robot abrasive belt grinding
  • A processing force control method for blade robot abrasive belt grinding
  • A processing force control method for blade robot abrasive belt grinding

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Embodiment Construction

[0050]In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0051] figure 1 It is a principle diagram of force control for blade robot abrasive belt grinding according to an embodiment of the present invention. Such as figure 1 As shown, in this embodiment, a blade robot abrasive belt grinding force control method specifically includes:

[0052] S101. The acquisition and monitoring of grinding force is used to convert the voltage signal acquired by the...

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Abstract

The invention discloses a force control method for robotic abrasive belt grinding machining for a blade. The force control method for robotic abrasive belt grinding machining for the blade comprises the following steps: modulation and processing for voltage signals; compensation for a converted force; and a force control strategy. The modulation and processing for the voltage signals comprises thefollowing steps: acquiring the voltage signals of six channels of a sensor; carrying out software filtering on the acquired voltage signals; and converting the filtered voltage signals to force signals. The compensation for the converted force comprises the own zero drift compensation of the sensor and gravity compensation for a robotic end load. The force control strategy comprises hybrid force-position control and PI / PD control. The force control method for robotic abrasive belt grinding machining for the blade is capable of increasing the efficiency of the grinding machining, avoiding thecase of low consistency of manual grinding machining, realizing constant-force grinding machining, and keeping a uniform and consistent removal amount of a surface material, thereby improving the surface consistency of the blade while improving the machining accuracy and surface quality.

Description

technical field [0001] The invention relates to the application field of industrial robots, in particular to a method for controlling the processing force of blade robot abrasive belt grinding. Background technique [0002] At present, grinding processing mainly has great advantages in the field of simple geometric parts, such as cylindrical grinding, internal grinding and surface grinding of parts. However, for the grinding and finishing of complex curved surfaces, traditional grinding equipment and processes lack flexibility and poor adaptability, and the modification of the process takes a long time and is expensive. More importantly, most of them are currently manual grinding, such as , Aviation blades, steam turbine blades and other grinding industries. This leads to low grinding efficiency and poor product consistency, which seriously hinders the development of productivity; moreover, the on-site grinding environment is poor, which poses a greater potential threat to ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B24B21/16B24B21/18B24B49/16B24B41/00B24B51/00
Inventor 严思杰徐小虎周亚军李尚君连学军
Owner HUAZHONG UNIV OF SCI & TECH
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