A high-precision force-position mixing control device for robot polishing

Abstract

The invention belongs to the technical field of robot processing constant force control, and discloses a high-precision force-position mixing control device for robot grinding and polishing processing. The force-position mixing control device includes connecting flanges, end covers, force sensors, dynamic inclination sensors, active power control modules, transmission modules and metal housings, where the connecting flanges are used to connect the device to the end of the robot; the force sensors are used to Measure the axial contact force during the polishing process; the dynamic inclination sensor is used to detect the instantaneous attitude of the device; the upper end of the active power control module is connected to the force sensor, and its lower end is directly connected to the transmission module; the end cover and the metal shell are used Used to fix and protect internal components. The invention adopts a high-response space structure and has a gravity compensation function, which effectively reduces the load on the end of the motor mover, improves the dynamic precision of the contact force control, and then realizes the smooth contact with the surface of the workpiece to be polished, ensuring Consistency and uniformity of the polishing process.

Description

technical field [0001] The invention belongs to the technical field of constant force control of robot processing, and more particularly relates to a high-precision force-position hybrid control device for robot grinding and polishing processing. Background technique [0002] With the increasingly high performance requirements of products and the increasingly complex structure, large and complex surface parts are more and more widely used in aerospace, energy and power and other fields, and higher requirements are put forward for their machining geometric accuracy and surface quality. Require. For the surface grinding and polishing of large and complex curved parts, it is imperative to use industrial robots to gradually replace manual operations. However, because it is often difficult to obtain the accurate geometry of complex curved parts, the machining path of the robot deviates from its nominal curved surface. At the same time, considering the repetitive positioning erro...

AI Technical Summary

Problems solved by technology

The cylinder-driven devices that have formed products include Ferrobotics of Austria and PushCorp of the United States. The force control accuracy is high, and the technology has become mature. The further improvement of its force control accuracy; the motor-driven device usually uses a voice coil motor with high response capability as the drive, which can improve the response capability of the device to a certain extent, but ignores the load at the end of the motor mover will reduce its response capability , so that the dynamic accuracy of force control decreases

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