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Contact vibration suppression method and system for grinding and polishing machining of robot

A technology of contact vibration and robot, which is applied in the direction of automatic grinding control device, workpiece feed movement control, metal processing equipment, etc., can solve the problem of not considering the vibration signal of the contact process, and achieve the suppression of overgrinding and contact suppression Vibration, the effect of ensuring stability

Active Publication Date: 2021-05-04
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The main disadvantage of this method is that the control center of gravity is to control the contact force during the grinding and polishing process with constant force, and the vibration signal during the contact process is not considered.

Method used

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  • Contact vibration suppression method and system for grinding and polishing machining of robot
  • Contact vibration suppression method and system for grinding and polishing machining of robot
  • Contact vibration suppression method and system for grinding and polishing machining of robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0100] In this embodiment, the specific steps of a method for suppressing the contact vibration of robot grinding and polishing are as follows:

[0101] (1) Calibrate the robot and the sensor respectively, use the robot to grind the workpiece according to the preset processing path and contact force, and use the six-dimensional force sensor, one-dimensional force sensor, and displacement sensor to collect contact force, passive force, The displacement of the support rod of the grinding and polishing machine changes.

[0102] (2) Obtain the original contact force signal during the grinding and polishing process of the robot, and use the wavelet threshold denoising method to perform wavelet denoising processing, and perform empirical wavelet decomposition on the denoised signal to obtain several low-frequency to high-frequency Signal components of different frequency bands.

[0103] (3) Calculate the normalized permutation entropy value of the decomposed components of each freq...

Embodiment 2

[0121] This embodiment provides a method for suppressing the contact vibration of robot grinding and polishing using the device of Embodiment 1, and a comparative experiment is carried out with a grinding and polishing machine not using the system of the present invention.

[0122] That is to say, the grinding and polishing machine provided by the experimental comparison group is a constant force grinding and polishing machine whose support rod can move in a straight line, but the output force of the cylinder is constant during the grinding and polishing process, and the other is a dynamic adaptability according to the external environment. This type of grinding and polishing machine is a system for suppressing the contact vibration of the robot grinding and polishing process provided by Embodiment 1 of the present invention.

[0123] 1. Set the grinding and polishing parameters of the two grinding and polishing machines

[0124]Set the initial force of the cylinder of the for...

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Abstract

The invention belongs to the technical field of intelligent manufacturing, and particularly discloses a contact vibration suppression method and system for robot grinding and polishing machining. The contact vibration suppression method comprises the steps that in the grinding and polishing machining process, normal contact force signals, collected by a six-dimensional force sensor in real time, of a workpiece are obtained, empirical wavelet decomposition and normalized permutation entropy value calculation are conducted on the normal contact force signals, the vibration form existing in an interval section where an entropy value is correspondingly located is obtained, and motion of a robot grinding and polishing machining abrasive belt contact wheel is adjusted according to the vibration form and the vibration energy of each signal component. The contact vibration suppression system comprises a robot, an abrasive belt grinding and polishing machine and a control module. The abrasive belt grinding and polishing machine comprises a damping air cylinder, a displacement sensor and an elastic air cylinder. According to the contact vibration suppression method and system, the fluctuation and the maximum overshoot of the normal force in the grinding and polishing process of the robot are effectively reduced, grinding and polishing vibration can be suppressed, meanwhile, the over-grinding phenomenon during workpiece cutting-in is optimized, and the stability of the abrasive belt grinding and polishing contact force of the robot is guaranteed.

Description

technical field [0001] The invention belongs to the technical field of intelligent manufacturing, and more specifically relates to a contact vibration suppression method and system for robot grinding and polishing. Background technique [0002] The robot grinding and polishing system is widely used in the grinding and polishing of various complex parts due to its advantages of flexible manufacturing, strong scalability, stable reliability, and low price. However, due to the low positioning accuracy and weak rigidity of the robot, it is often prone to processing vibration and grinding vibration marks during the grinding and polishing process of complex parts, and it is difficult to guarantee the surface consistency and integrity of the grinding area, which is prone to overshooting. The grinding phenomenon seriously affects the processing quality of the workpiece and hinders its application in the field of precision machining. [0003] In order to solve the above problems, th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B24B21/00B24B51/00B24B49/00G06F17/14
CPCB24B21/00B24B51/00B24B49/00G06F17/148
Inventor 严思杰匡民兴杨泽源李杰徐小虎
Owner HUAZHONG UNIV OF SCI & TECH