Grinding and polishing unit pose perception method, grinding method and grinding and polishing unit

Abstract

The invention provides a method for sensing the position and posture of a grinding and polishing unit, a grinding method and a grinding and polishing unit, which acquire the deviation between the initial coordinates of the grinding and polishing unit and the target coordinates, and the robot controls the grinding and polishing unit to run from the initial coordinates to the target coordinates , use the attitude sensor to obtain the running angle of the grinding and polishing unit every preset time, and use the optical flow sensor to obtain the moving distance of the grinding and polishing unit between adjacent moments, and based on the dead reckoning algorithm, the coordinates of the grinding and polishing unit at the current moment can be obtained ; According to the deviation between the current coordinates of the grinding and polishing unit and the target coordinates, the robot controls the grinding and polishing unit to run from the current coordinates to the target coordinates until it reaches the target coordinates. The robot obtains the position and motion posture of the grinding and polishing unit to adjust the direction of the next step. It can adjust the trajectory of the grinding and polishing unit in real time, so that the grinding and polishing unit continues to move to the target coordinates, ensuring that the actual trajectory of the grinding and the planned trajectory are consistent. Consistency, avoid repeated grinding.

Description

Technical field [0001] The present invention relates to the technical field of special processing robots, and more particularly to a mulfonal monolithic sensory method, a grinding method, and a grinding unit. Background technique [0002] Large complex components such as plane skin, wind power blades, high-speed rail body, ship hull, etc. are the core components of aviation, traffic and energy and other industries. One of the most common machining operations currently large complex components is that there is high surface grinding, and most of the grinding operations have high requirements for polishing surface, such as surface grinding of large passenger plane skin. The surface consistency of polishing refers to the degree of consistency and quality of all grinding regions. The specific embodiment is to ensure the full surface, not repeatedly polished for all to be grinded. However, most of the millions of grinding devices do not have location sensing, it is difficult to achieve...

AI Technical Summary

Problems solved by technology

However, most of the current grinding and polishing actuators do not have the position sensing function, and it is difficult to achieve full-surface and non-repeated grinding

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