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A detection method of robot grinding force based on ethercat

A detection method and grinding force technology, applied in force/torque/power measuring instruments, instruments, measuring devices, etc., can solve the problems of low detection and control accuracy, and achieve strong anti-interference ability, good stability, and simplified internal structure Effect

Active Publication Date: 2022-03-25
国工信(沧州)机器人有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method has a simple structure, low detection and control accuracy, and is not suitable for industrial environments with high precision requirements.

Method used

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  • A detection method of robot grinding force based on ethercat
  • A detection method of robot grinding force based on ethercat
  • A detection method of robot grinding force based on ethercat

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Embodiment Construction

[0040] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0041] Such as Figure 1 to Figure 5As shown, a method for detecting the grinding force of a robot based on EtherCAT of the present invention includes a motor 1, a grinding wheel 2, a semi-closed casing 3, a first spool 4, a first coil spring 5, and a first spool fixing block 6 , a magnetic grid sensor 7, a magnetic head 8, a second spool fixing block 10, a second coil spring 11 and a second spool 12, the semi-enclosed shell 3 is installed on the end effector of the grinding robot, and the motor 1 is installed Set in the semi-closed shell 3, the grinding wheel 2 is mounted on the bottom of the motor 1, the first spool 4 and the second spool 12 are mounted on the side end ...

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Abstract

The present invention relates to the technical field of robot processing, in particular to a method for detecting the grinding force of a robot based on EtherCAT, which avoids the friction and friction caused by the use of force sensors by using a magnetic grid displacement sensor instead of a traditional force sensor. The influence of centrifugal force effectively improves the detection accuracy of grinding force; and compared with the traditional force sensor, the detection device described in this patent has a simpler internal structure, simple manufacture, convenient installation and adjustment, and lower requirements on the conditions of the use environment. characteristics, and the detection device described in this patent has a strong anti-interference ability to the surrounding electromagnetic field, and has good stability when used in places with a lot of oil and dust; it includes a motor, a grinding wheel, a semi-closed casing, and the first sliding column , the first coil spring, the first sliding column fixing block, the magnetic grid sensor, the magnetic head, the second sliding column fixing block, the second coil spring and the second sliding column.

Description

technical field [0001] The invention relates to the technical field of robot processing, in particular to a method for detecting the grinding force of a robot based on EtherCAT. Background technique [0002] With the development of industrialization, more and more factories use robots for product processing. Grinding robot is used to replace manpower to polish the rough surface of various workpiece products, so that the workpiece can obtain the required surface quality. The grinding robot usually installs the grinding wheel on the control end of the robotic arm of the robot, and the robot controls the rotation of the grinding wheel and touches the fixed workpiece to realize the grinding operation of the product. [0003] One of the most important factors affecting the quality of the polished surface of the workpiece is the control of the grinding pressure. Only when the grinding pressure is appropriate, stable and controllable can the products produced by grinding meet the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01L5/00G01B7/02
CPCG01L5/00G01B7/02
Inventor 王林陈子聪王钦若
Owner 国工信(沧州)机器人有限公司