Robot grinding device and grinding method based on six-dimensional force sensor and binocular vision

Abstract

The invention discloses a robot polishing device and method based on a six-dimensional force sensor and binocular vision. The polishing device comprises a mechanical arm, a sensor fixed base, the six-dimensional force sensor, industrial cameras, a flexible connecting piece, a motor fixed base, a polishing motor and two-shaft acceleration sensors. The six-dimensional force sensor is fixedly connected with the tail end joint of the mechanical arm through the sensor fixed base, the six-dimensional force sensor is flexibly connected with the motor fixed base through a flexible connecting piece, the polishing motor is installed on the motor fixed base, the industrial cameras are symmetrically arranged on the two sides of the flexible connecting piece, and the two-shaft acceleration sensors arearranged on the tail end joint of the mechanical arm and the polishing motor. The polishing method comprises the first step of generation of a depth point cloud graph, the second step of polishing time control, the third step of polishing PI control and the fourth step of mechanical arm position compensation. The robot polishing device is simple, stable, easy to control, good in polishing effect,high in efficiency and capable of compensating force position deflection in the polishing process and improving machining quality.

Description

technical field [0001] The invention relates to the field of industrial robot material processing, in particular to a robot grinding device and a grinding method based on a six-dimensional force sensor and binocular vision. Background technique [0002] At present, the automation level of the grinding industry is relatively low, and more complex parts need to be manually polished by experienced workers. The grinding operation is labor-intensive and tedious, and the noise and dust generated by grinding will damage the health of workers. [0003] Therefore, the current grinding industry urgently needs a set of equipment and control methods with high automation level, strong versatility, high processing precision and high efficiency to realize automatic grinding operations and liberate manpower. [0004] Patent CN103009218B discloses a robot grinding device and grinding method, the grinding motor and the six-dimensional force sensor are not on the same axis, and there is torque...

AI Technical Summary

Problems solved by technology

[0004] Patent CN103009218B discloses a robot grinding device and grinding method, the grinding motor and the six-dimensional force sensor are not on the same axis, and there is torque interference; the grinding vibration is directly transmitted to the six-dimensional force sensor, which will cause damage to the six-dimensional force sensor , affecting the service life

In addition, the displacement sensor is used to measure the processed surface information, the detection range of one stroke is small, and the grinding information is not comprehensive

In CN103009218B, even if the grinding motor and the six-dimensional force sensor are arranged on the same axis, the vibration generated during grinding will affect the measurement of force and torque, and will also cause irreversible damage to the measurement structure of the six-dimensional force sensor

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