A constant force grinding and polishing method for industrial robots based on big data

Abstract

The invention belongs to the field of industrial robots, and discloses an industrial robot constant-force grinding and polishing method based on big data. The method comprises the following steps of firstly, collecting robot running data, specifically, a six-component force sensor is connected with an industrial robot and a controller, and through continuous adjusting of the laminating degree of the same grinding track, a large amount of running data are collected for forming a training set; secondly, determining a BP neural network topological model; thirdly, according to the running data obtained in the first step, training the BP neural network topological model built in the second step; and fourthly, applying the trained BP neural network topological model to the grinding living example of the industrial robot without a sensor, obtaining a grinding force time domain curve in the running process of the industrial robot, and according to the preset grinding force threshold value, adjusting the track of the industrial robot, and obtaining the constant-force grinding effect. The path fine adjusting work is repeated, and the problems that grinding and polishing efficiency is low, and machining cost is high are solved.

Description

technical field [0001] The invention belongs to the field of industrial robots, and more specifically relates to a constant force grinding and polishing method for an industrial robot. Background technique [0002] Machining processes, such as grinding, deburring, polishing, turning and milling, etc., are basically accomplished by controlling process-specific forces between the tool and the workpiece being machined. If the contact force is not adjusted during machining, the machining contact force will often vary significantly during the process. Adjusting the machining contact force to a certain extent has many advantages, such as increased productivity, material removal rate, avoiding tool breakage, adjusting robot and tool deflection, and extending tool life, etc. For grinding, assembly and high-altitude glass wiping, compliant control of force and position simultaneous control is required. Mechanical parts such as aircraft engines, steam turbine blades, and molds have ...

AI Technical Summary

Problems solved by technology

However, force sensor feedback is still required for support, and there are still disadvantages such as difficulty in large-scale use and high cost.

[0006] Although scholars at home and abroad have achieved good results in robot grinding control, there are as many as a dozen or even hundreds of robots in the current factory, and it is obviously too expensive to install a set of expensive force sensors for each robot. Cannot be used in mass production

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