Robot abrasive belt grinding method and system combining active and passive force control

Abstract

The invention discloses a robot abrasive belt grinding method combining active and passive force control. The method comprises the steps of S100, calibrating a robot, an active force sensor and a passive force sensor; S200, enabling the robot to clamp a workpiece to make flexible contact with an abrasive belt, and grinding the workpiece; S300, enabling the active force sensor to collect a contactforce signal of a workpiece in real time, carrying out real-time gravity compensation to obtain an active contact force signal, and enabling a one-dimensional force sensor to real-time collect a passive force signal of a contact wheel; S400, on the basis of the Kalman filtering method, carrying out information fusing on the active contact force signal and the passive force signal to obtain a feedback force signal; and S500, enabling the robot and an abrasive belt grinding and polishing machine to compare the feedback force and the preset contact force. The invention further discloses a grinding system. According to the method, the control precision of the contact force in the grinding machining environment of the robot is effectively improved; and on the other hand, the over and under grinding phenomena generated in the grinding process can be optimized, and material removal consistency of a machining workpiece and good surface roughness can be ensured.

Description

technical field [0001] The invention belongs to the technical field of intelligent manufacturing, and more specifically relates to a method and system for grinding a robot abrasive belt combined with active and passive force control. Background technique [0002] Robotic abrasive belt grinding technology has been successfully applied to the grinding and polishing of various parts due to its advantages of high degree of automation, strong versatility, and high flexibility. However, for the precision grinding of complex curved surfaces, due to the low positioning accuracy of the robot, the complex processing environment and the high degree of dependence on the path of offline planning, the phenomenon of over- and under-grinding is very easy to occur in the process of robot abrasive belt grinding, which is seriously serious. It affects the surface processing quality and contour accuracy of the workpiece, and hinders the further development of robotic abrasive belt grinding tech...

AI Technical Summary

Problems solved by technology

[0004] However, the force control system and method disclosed in the patent document CN107962480A and the patent document CN106914904B in the abrasive belt grinding process of the blade robot are both active force control methods, although these two methods have realized the robot clamping the workpiece end through different principles. Active constant force control, but neither takes into account the passive force control of the processing tool end in the actual processing environment, nor considers the combination of active force control and passive force control, the weak force between the workpiece and the grinding wheel during the grinding contact process Problems such as excessive and insufficient wear caused by rigid contact and low precision of contact force control still exist

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