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Constant-force grinding method for industrial robot

An industrial robot and robot technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as workpiece scrapping, achieve the effects of improving grinding quality, real-time effective correction, and ensuring motion accuracy

Inactive Publication Date: 2021-08-03
GUANGXI UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Grinding is a very important process. Once the grinding quality does not meet the requirements, it will often lead to the scrapping of the entire workpiece

Method used

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  • Constant-force grinding method for industrial robot
  • Constant-force grinding method for industrial robot
  • Constant-force grinding method for industrial robot

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Embodiment Construction

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0044] A preferred embodiment of the present invention provides a constant force grinding method for an industrial robot. The force sensor of the present invention is installed between the end flange of the grinding robot and the grinding electric spindle, and the feedback force is obtained through the force sensor, such as figure 1 Shown, the present invention comprises the steps:

[0045] S1. Compensate the gravity of the grinding tool on the force detected by th...

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Abstract

The invention discloses a constant-force grinding method for an industrial robot. The constant-force grinding method comprises the following steps that S1, gravity compensation is conducted on force detected by a force sensor of the robot; S2, initial grinding data are calculated according to the grinding position, and the robot is controlled to move according to planned initial grinding data; S3, according to grinding force data fed back in real time, the torque generated by the real-time grinding force on all joints of the robot is calculated, and torque compensation is conducted on corresponding joint drivers; S4, corrected grinding data are formed, and the robot is controlled to move according to a new grinding path; and S5, the grinding operation is finished. According to the method, the grinding path can be effectively corrected in real time, the grinding movement precision can be guaranteed, and the grinding quality is improved.

Description

technical field [0001] The invention belongs to the technical field of industrial robot grinding, and in particular relates to a grinding method for a robot used to grind workpieces. Background technique [0002] During the grinding process, the tool at the end of the robot and the surface of the workpiece generate grinding force, and the grinding head at the end of the robot will generate contact force with the workpiece during the grinding and polishing process. Due to the irregular shape of the workpiece to be processed, in the position control mode of the robot , the contact force will change at any time. If the contact force is large, the grinding head, robot and workpiece may be damaged. However, when the contact force is small, the grinding head and the workpiece cannot be kept in good contact during the grinding and polishing process, which will affect the processed parts. The surface quality cannot meet the requirements of the grinding task only through the robot po...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/16
CPCB25J11/0065B25J9/1664B25J9/1679
Inventor 潘海鸿韦颖陈琳张学涛陈博扬吴锡鹏陈韬唐秀莹梁安张琦伟
Owner GUANGXI UNIV