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A step control method, device, polishing robot and readable storage medium

A technology of step control and robot, which is applied in the fields of grinding robots, readable storage media, devices, and step control methods, and can solve the problems of restricting the precision of grinding, uneven distribution of grinding points, and inability to uniformity of grinding points, etc., to achieve The effect of improving the ability to dynamically correct the grinding position

Active Publication Date: 2020-12-08
武汉库柏特科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] During the grinding process of the workpiece by the robot grinding arm, the robot grinding arm is driven at a constant speed along the grinding track to feed the grinding tool to the surface of the workpiece, so that the grinding tool grinds the workpiece along the grinding track, and the grinding track can be used to calibrate all the grinding points on the workpiece surface The position on the workpiece cannot be used to ensure the uniformity of all grinding points on the workpiece surface. Many grinding points are often unevenly distributed on the workpiece surface, which will restrict the grinding accuracy of the robot grinding arm along the grinding trajectory.

Method used

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  • A step control method, device, polishing robot and readable storage medium
  • A step control method, device, polishing robot and readable storage medium
  • A step control method, device, polishing robot and readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0031] Such as figure 1 Shown is a step control method for a robot grinding arm, including the following steps:

[0032] Step 1. Locate the preset pose information at the current moment in the grinding track;

[0033] Step 2. Drive the robot grinding arm with grinding blades to feed the grinding blades to the current pre-grinding point according to the preset pose information at the current moment;

[0034] Step 3. Obtain the circumferential force value and axial force value of the polished blade at the current pre-polished point;

[0035] Step 4. Drive the grinding arm of the robot at a variable speed according to the circumferential force value and the axial force value at the current pre-grinding point to feed the grinding blade from the current pre-grinding point to the current deviation-correcting grinding point.

[0036] Before step 1, the grinding trajectory is pre-stored, and the grinding trajectory can be established in the following manner: collect the three-dimens...

Embodiment approach 2

[0044] Such as figure 2 Shown is another step control method for the robot grinding arm, including the following steps:

[0045] Step 1. Locate the preset pose information at the current moment in the grinding track;

[0046] Step 2. Drive the robot grinding arm with grinding blades to feed the grinding blades to the current pre-grinding point according to the preset pose information at the current moment;

[0047] Step 3. Obtain the circumferential force value and axial force value of the polished blade at the current pre-polished point;

[0048] Step 4. According to the circumferential force value and axial force value at the current pre-grinding point, the robot grinding arm is driven at a variable speed to feed the grinding blade from the current pre-grinding point to the current correction grinding point;

[0049] Step 5. Determine whether the sequence position of the preset pose information at the current moment in the grinding trajectory is the last position, if not,...

Embodiment approach 3

[0052] Step 4 specifically includes the following steps:

[0053] Step 41, generating the current shift command according to the circumferential force value at the current pre-grinding point;

[0054] Step 42. According to the axial force value at the current pre-polishing point, the preset pose information at the current moment is corrected into the current correcting pose information of the current correction grinding point in the robot coordinate system;

[0055] Step 43: Drive the grinding arm of the robot at a variable speed according to the current speed change command and the current deviation correction pose information to feed the grinding blade from the current pre-grinding point to the current deviation correction grinding point.

[0056] Specifically, the current speed change command may include an acceleration command for accelerating the driving of the robot grinding arm or an acceleration command for accelerating the driving of the robot grinding arm.

[0057] ...

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Abstract

The invention relates to the technical field of robot automatic grinding, and provides a robot grinding arm stepping control method and device, a grinding robot and a computer-readable storage medium.The method includes the steps of locating preset pose information at the current moment in a grinding trajectory; driving a robot grinding arm with a grinding blade to feed the grinding blade to a current pre-grinding point according to the preset pose information at the current moment; obtaining the circumferential force value and the axial force value of the grinding blade at the current pre-grinding point; and driving the robot grinding arm at variable speeds according to the circumferential force value and the axial force value to feed the grinding blade from the current pre-grinding point to a current deviation-correcting grinding point. The dynamical feed speed adjusting capacity and the dynamic grinding position deviation correcting capacity of the robot grinding arm in the grinding process can be improved, and the uniform, accurate and efficient grinding ability of the robot grinding arm is better improved.

Description

technical field [0001] The invention relates to the technical field of robot automatic grinding, in particular to a step control method and device, a grinding robot and a readable storage medium. Background technique [0002] The grinding robot includes a robot chassis and a robot grinding arm installed on the robot chassis. There is a grinding tool at the end of the robot grinding arm. The grinding tool enables the robot grinding arm to have a grinding function. The workpiece is automatically polished by the robot grinding arm, which greatly improves the grinding efficiency of the workpiece. , saving manpower and material resources, grinding tools can include angle grinders and polishing machines. [0003] During the grinding process of the workpiece by the robot grinding arm, the robot grinding arm is driven at a constant speed along the grinding track to feed the grinding tool to the surface of the workpiece, so that the grinding tool grinds the workpiece along the grindi...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J11/00
CPCB25J9/1602B25J9/1664B25J9/1679B25J11/0065
Inventor 李淼闫琳杨帆付中涛王志文艾胜郑萌
Owner 武汉库柏特科技有限公司
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