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Force-position mixing control method for grinding and polishing of force-controlled robot

A hybrid control and robot technology, applied in the field of grinding and polishing, can solve the problems of not considering the influence of grinding and polishing pressure and feed speed, and achieve the effect of improving grinding and polishing precision and surface uniformity

Inactive Publication Date: 2019-06-25
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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Problems solved by technology

[0005] In view of the above-mentioned technical status, the present invention provides a force-position mixed control method for force-controlled robot grinding and polishing, so as to solve the problem that the existing control method can only realize robot position control, and does not consider the impact of grinding and polishing pressure and feed speed on grinding and polishing. Effectively improve the uniformity and processing quality of the grinding and polishing surface

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  • Force-position mixing control method for grinding and polishing of force-controlled robot
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  • Force-position mixing control method for grinding and polishing of force-controlled robot

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Embodiment Construction

[0040] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings. It should be noted that the following embodiments are intended to facilitate understanding of the present invention, but do not limit it in any way.

[0041] This embodiment is based on UG and robotstudio to realize an ABB force-controlled robot grinding and polishing automobile hub force-position hybrid control off-line programming method, which specifically includes the following steps:

[0042] 1. Tool processing trajectory planning

[0043] First, import the three-dimensional model of the automobile wheel hub into UG, generate the corresponding tool machining track for the upper surface of the automobile wheel hub and the side of the spoke, and generate the five-axis machining G code program through the post-processor of the five-axis CNC machine tool;

[0044] 2. Robot position program generation

[0045] Using the ABB robot offline pr...

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Abstract

The invention provides a force-position mixing control method for grinding and polishing of a force-controlled robot. According to the method, on the basis of a workpiece three-dimensional model, a grinding and polishing tool machining track and / or a five-axis NC program matched with a workpiece is generated according to different machining surfaces, and then a robot position control program is generated; based on a Hertz contact theory, suppose the pressure intensity of each position grinding and polishing contact point is the same, the grinding and polishing positive pressure of the contactarea is obtained according to the contact surface pressure stress distribution rule; the feeding speed is obtained through a feeding speed self-adaptive model; and in the grinding and polishing process, the position of the robot is controlled, the grinding and polishing pressure and the feeding speed of the grinding and polishing tool are controlled at the same time, so that the grinding and polishing precision and the surface uniformity of a complex curved surface workpiece can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of grinding and polishing, and specifically designs a force-position mixing control method for grinding and polishing processing of a force-controlled robot. Background technique [0002] With the continuous development of industrial automation and robot technology, robots have been widely used in some heavy, repetitive, dangerous or harmful work, such as the handling of large workpieces, the rapid sorting of electronic components, and spraying, welding, etc. The field of non-contact processing. The field of grinding and polishing is still usually done manually at present, but due to the characteristics of labor-intensive grinding and polishing production, high dust and high hazards, difficult recruitment, low efficiency, and poor quality consistency, and the robot force control technology is becoming more and more perfect, industrial robots It is gradually being used for grinding and polishing. [0003] R...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J11/00
Inventor 李俊杰陈庆盈杨桂林方灶军廉宏远张启平李华民
Owner NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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