Intelligent grinding device based on force control and visual technology

Abstract

The invention discloses an intelligent grinding device based on force control and a vision technology, and belongs to the technical field of automatic grinding and polishing equipment. The grinding device comprises a six-dimensional force sensor, an industrial vision assembly, constant force actuators, passive adjusting devices, a connecting piece and a grinding assembly, wherein the six-dimensional force sensor is fixed on the connecting piece; three through holes are formed in the connecting piece and are uniformly distributed on the circumference taking the six-dimensional force sensor as the center, and three through holes fix the grinding assembly correspondingly; the grinding assembly comprises grinding heads, the passive adjusting devices and the constant force actuators, and the grinding heads are connected with the constant force actuators through the passive adjusting devices; and the industrial vision assembly is used for detecting whether a grinding obstacle exists in the grinding advancing direction or not in real time, and the obstacle avoidance effect is achieved. The invention provides the efficient intelligent grinding device based on the force control and the vision technology being efficient, safe and good in grinding effect for automatic grinding and polishing, and the automation level and the intelligent level in the grinding and polishing process are improved.

Description

technical field [0001] The invention relates to the technical field of automatic grinding and polishing equipment, in particular to an intelligent grinding device based on force control and vision technology. Background technique [0002] At present, the grinding and polishing methods in my country are still mainly manual grinding and polishing, which is not only labor-intensive, but also has low processing efficiency, requires high technical proficiency of workers, and is an area with a high incidence of occupational diseases among workers. Therefore, the extensive application of automated grinding and polishing equipment is an important way to realize "mechanical substitution" and promote the technological transformation and upgrading of traditional manufacturing industries. [0003] The automatic grinding and polishing equipment is mainly composed of a feeding system and a grinding and polishing head. The feeding system, such as a joint robot, a right-angle robot, a paral...

AI Technical Summary

Problems solved by technology

At present, the grinding and polishing head is relatively rough. Generally, there is only the actuator for grinding and polishing. It lacks a reliable control system and sensing system, and cannot achieve constant force grinding. It lacks interaction and feedback interaction with the feed system, and cannot be adjusted in real time. As a result, the current automatic grinding and polishing equipment has a narrow adaptability and cannot cope with various complex situations encountered in grinding and polishing.

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