Anti-collision and force overshoot detection system and method for blade grinding and polishing

Abstract

The invention discloses an anti-collision and force overshoot detection system and method for blade grinding and polishing. The system includes a robot grinding and polishing unit, including a robot and a grinding and polishing mechanism, and the gripping blade of the robot and the grinding and polishing mechanism gradually transition from a non-contact state to a contact state; a force control measuring device, which includes a six-dimensional force sensor and The force control probe is used to measure the contact force signal between the blade and the grinding and polishing mechanism in real time; the force control optimization module is used to filter the contact force signal, gravity compensation and Impedance calculation, to obtain force or moment signals under different contact states with the blade and the grinding and polishing mechanism; and a control module, used to control the pose and feed parameters of the robot according to the force or moment signal, so as to The contact state between the grinding and polishing mechanisms realizes the self-adaptive adjustment of the contact force. The invention can effectively detect the collision and force overshoot of blade grinding and polishing processing, and has high detection accuracy.

Description

technical field [0001] The invention belongs to the technical field of robot processing and detection, and more specifically relates to a system and method for detecting anti-collision and force overshoot in grinding and polishing of blades. Background technique [0002] Blades play an important role in many occasions in the industrial field, and the grinding and polishing of blades is a key process for all kinds of blades. With the advancement of science and technology and the development of the times, traditional manual grinding and polishing is facing many challenges, such as harsh working environment, loud noise and harm to the body. The replacement of traditional manual blade grinding and polishing by industrial robots has gradually become a development trend and research hotspot. Robot blade grinding and polishing can not only improve the processing quality and production efficiency of blade grinding and polishing, but also reduce manual labor intensity and health dama...

AI Technical Summary

Problems solved by technology

At present, there are relatively few studies on collision dynamics and control strategies, especially in the field of precise force control. The transition state is a necessary process from a free state to a stable state. The strong vibration of the contact force will affect the implementation of the subsequent force control strategy. Seriously affect the service life of grinding tools, resulting in unstable control system

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