Polishing robot system and control method thereof

Abstract

The invention relates to a grinding robot system and a control method thereof. The system comprises a grinding robot, a force control assembly, an electrical cabinet and a control assembly. Wherein the force control assembly comprises a force control connecting flange and a force position compensator, and the force position compensator is connected with the polishing robot through the force control connecting flange and used for controlling the polishing force; the electrical cabinet is connected with the polishing robot; and the control assembly is connected with the electrical cabinet and used for controlling the polishing robot to conduct polishing operation. The grinding robot system solves the problem of force control when the grinding robot system is in contact with the effective first-time contact surface of the to-be-ground part, and the product quality of technologies such as grinding is improved; the automation problem between a contact surface sensitive characteristic process and rapid contact movement is effectively solved, and the precision and stability of a polishing process are improved; the site space is saved, the polishing robot does not need to be manually dragged for track simulation, and the safety performance is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation equipment, and in particular to a polishing robot system and a control method thereof. Background Art

[0002] In the manufacturing industry, component polishing is a critical process, and its quality directly impacts product performance and appearance. Manual polishing is labor-intensive, subject to significant human influence, and difficult to ensure consistency. Consequently, industrial automation equipment has emerged. However, traditional automated polishing equipment suffers from complex structures, poor flexibility, low polishing quality, and limited adaptability to parts of varying shapes. Summary of the Invention

[0003] Based on this, it is necessary to provide a polishing robot system and its control method to address the problems of low polishing quality and insufficient adaptability.

[0004] In a first aspect, the present application provides a polishing robot system, the system comprising:

[0005] polishing robots;

[0006] The force control component includes a force control connecting flange and a force compensator. The force compensator is connected to the grinding robot through the force control connecting flange. The force compensator is used to control the grinding force.

[0007] Electrical cabinet, connected to the grinding robot;

[0008] The control component is connected to the electrical cabinet and is used to control the grinding robot to perform grinding operations.

[0009] In one embodiment, the force-position compensator includes a gravity compensation module, which is used to obtain gravity compensation data. The force-position compensator can control the contact force between the grinding robot and the workpiece to be ground in real time based on the gravity compensation data.

[0010] In one embodiment, the force-position compensator includes a contour feature acquisition module, which is used to obtain contour feature data of the workpiece to be polished. The force-position compensator can be expanded and contracted according to the contour feature data to control the polishing force in real time.

[0011] In one embodiment, the grinding robot includes:

[0012] The robotic arm is connected to the force control connection flange;

[0013] Cables, used to connect the robotic arm and the electrical cabinet;

[0014] The cable bag is located outside the robot arm and is used to wrap cables;

[0015] The robot base is movably connected to the robotic arm.

[0016] In one embodiment, the polishing robot further comprises:

[0017] Grinding tool, connected to the force compensator.

[0018] In one embodiment, the control component includes:

[0019] The input module is connected to the electrical cabinet and is used to output grinding parameters to the grinding robot; the grinding robot can perform grinding work according to the grinding parameters;

[0020] A display module is provided on the electrical cabinet and is used to output the operating status of the polishing robot system;

[0021] The alarm module is installed on the electrical cabinet and is used for fault alarm of the grinding robot system.

[0022] In one embodiment, the grinding parameters include control mode, grinding force, grinding speed, grinding path, and grinding time.

[0023] In one embodiment, the input module includes:

[0024] The teaching pendant is connected to the electrical cabinet and is used for point configuration of the grinding operation and motion control of the grinding robot;

[0025] The reservation button box is connected to the electrical cabinet and is used to emergency stop the grinding robot and schedule the grinding operation.

[0026] In one embodiment, the display module includes a manual instruction acquisition module, which is used to acquire manual instructions to control the polishing robot to perform polishing operations in real time.

[0027] In a second aspect, the present application further provides a control method for a polishing robot system, comprising the steps of:

[0028] The electrical cabinet activates the grinding robot system;

[0029] The control component transmits the grinding parameters to the force control component and the grinding robot;

[0030] The grinding robot performs grinding operations according to the grinding parameters, and the force control component controls the grinding force of the grinding robot according to the grinding parameters;

[0031] The control components perform fault monitoring and alarm.

[0032] The above-mentioned polishing robot system uses the force control component to compensate for gravity according to work needs and accurately output the contact force parallel to the axis of the robotic arm, thereby solving the problem of force control when the polishing robot system touches the effective first contact surface of the workpiece to be polished, and improving the product quality of polishing and other processes; at the same time, through the force control component, the polishing robot system can adaptively expand and contract according to the contour characteristics of the contact surface of the workpiece to be polished, effectively solving the automation problem between the contact surface sensitive feature process and the rapid contact movement, and improving the accuracy and stability of the polishing process; in addition, the polishing robot system integrates the polishing equipment and the electrical cabinet, saving site space, and there is no need for manual dragging of the polishing robot for trajectory simulation, which significantly improves safety performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a structural diagram of a polishing robot system in one embodiment of the present application;

[0034] Figure 2 Schematic diagram of a flow chart of a control method for a polishing robot system in one embodiment;

[0035] Figure 3 A schematic diagram of a flow chart of selecting an operating mode and completing polishing parameter configuration steps through a control component in one embodiment;

[0036] Figure 4 A schematic flow chart of the steps of controlling a grinding machine to perform a grinding operation by a force control component according to a grinding parameter configuration in one embodiment;

[0037] Figure 5 FIG. 1 is a flow chart of the steps of performing fault monitoring and alarming by a control component in one embodiment.

[0038] Reference numerals:

[0039] 10. Polishing robot; 110. Robotic arm; 120. Pipeline package; 130. Robot base; 20. Force control component; 210. Force control connecting flange; 220. Force compensator; 230. Polishing tool; 30. Electrical cabinet; 40. Control component; 410. Teach pendant; 420. Appointment button box; 430. Touch screen; 440. Three-color light. DETAILED DESCRIPTION

[0040] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0041] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0042] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0043] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0044] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0045] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0046] Traditional grinding operations mainly rely on manual or semi-automated equipment, and have the following problems: unstable grinding force control, manual operation is difficult to ensure constant contact force, resulting in inconsistent workpiece surface quality; the degree of automation is low, ordinary robots can only execute preset trajectories and cannot adapt to complex curved surfaces or workpiece size deviations; the system integration is insufficient, and modules such as robots, force control devices, and electrical controls are separate, resulting in bulky equipment and complex debugging.

[0047] Traditional automated grinding equipment only handles a limited number of workpiece types, making contact force difficult to control. Furthermore, the robot can only grind one side of the workpiece, requiring manual switching of the grinding surface and replacement of consumables. Furthermore, the system requires a large footprint, difficult wiring, and low safety features. Furthermore, there are challenges with force control during the robot's initial grinding, making initial contact force difficult to control.

[0048] Based on this, in an exemplary embodiment, as Figure 1 As shown, the present application provides a polishing robot system, which includes a polishing robot 10 , a force control component 20 , an electrical cabinet 30 and a control component 40 .

[0049] Optionally, the grinding robot 10 may adopt a multi-joint robotic arm 110 structure with high repeatability and positioning accuracy, suitable for complex trajectory grinding; and can be adapted to a variety of grinding tools 230 (such as grinding wheels, polishing wheels, pneumatic grinding heads, etc.).

[0050] The force control assembly 20 includes a force control connecting flange 210 and a force position compensator 220 . The force position compensator 220 is connected to the grinding robot 10 via the force control connecting flange 210 for controlling the grinding force.

[0051] Optionally, a force-controlled connecting flange 210 connects the grinding robot 10 to the force compensator 220, featuring a highly rigid structure for precise torque transmission. The force compensator 220 can be a constant-force, compliant flange. Based on pneumatic principles, it integrates the sensing, control, and execution systems. This allows for gravity compensation of the end-of-line grinding tool 230 and precise output of contact force parallel to the axis of the robotic arm 110, adapting to the contours of the contact surface.

[0052] The electrical cabinet 30 is connected to the polishing robot 10 .

[0053] Optionally, the electrical cabinet 30 provides power and air supply for the polishing robot system, and can integrate the robot controller, force control system power supply, IO (Input / Output) module and safety circuit; it adopts a modular design to support rapid expansion (such as adding a tool changing device, a dust removal system, etc.); it has a built-in fault diagnosis unit that can monitor the system status in real time and issue an alarm (such as overload, communication abnormality, etc.).

[0054] The control component 40 is connected to the electrical cabinet 30 and is used to control the polishing robot 10 to perform polishing operations.

[0055] Optionally, the control component 40 is the core control unit of the polishing robot system, which is connected to the electrical cabinet 30 through an industrial bus or hard-wired signal to achieve coordinated control of the polishing robot 10, the force control component 20 and peripheral equipment.

[0056] For example, the control component 40 can adopt a high-performance industrial PLC (Programmable Logic Controller) or a dedicated motion controller with a built-in multi-axis linkage algorithm and multiple control modes; it can parse the polishing path input by the user, such as importing a CAD model or manually guiding the robot to record key points through the teach pendant 410; generate robot motion instructions and synchronously adjust the pressure parameters of the force control component 20; monitor the system status in real time (such as motor current, force sensor feedback), and trigger the abnormal protection mechanism.

[0057] The above-mentioned polishing robot system, through the force control component 20, performs gravity compensation according to work needs and accurately outputs contact force parallel to the axis of the robotic arm 110, thereby solving the problem of force control when the polishing robot system effectively touches the first contact surface of the workpiece to be polished, and improving the product quality of polishing and other processes; at the same time, through the force control component 20, the polishing robot system can adaptively expand and contract according to the contour characteristics of the contact surface of the workpiece to be polished, effectively solving the automation problem between the contact surface sensitive feature process and the rapid contact movement, and improving the accuracy and stability of the polishing process; in addition, the polishing robot system integrates the polishing equipment and the electrical cabinet 30, saving site space, and there is no need for manual dragging of the polishing robot 10 for trajectory simulation, which significantly improves safety performance.

[0058] In an exemplary embodiment, the force compensator 220 includes a gravity compensation module, which is used to obtain gravity compensation data. The force compensator 220 can control the contact force between the grinding robot 10 and the workpiece to be ground in real time based on the gravity compensation data.

[0059] Exemplarily, the force compensator 220 implements gravity compensation through hardware structure and control algorithms. The force compensator 220 can be equipped with a multi-axis force sensor, installed between the end flange of the robotic arm and the grinding tool. The sensor's measurement range covers multi-directional force conditions, and a built-in temperature compensation circuit ensures that measurement accuracy is not affected by ambient temperature. The force compensator 220 can be equipped with a high-precision encoder to collect data on the angles of each joint in real time, calculate the spatial posture of the tool coordinate system through forward kinematics, establish a mathematical model of gravity effects, and calculate the theoretical gravity components under different postures. The force compensator 220 can be equipped with a dynamic compensation controller that uses an adaptive filtering algorithm to separate the gravity component and output the compensation torque through a control loop. The compensation parameters are automatically adjusted according to the tool mass characteristics.

[0060] For example, the force compensator 220 can adopt a composite solution of pneumatic servo control + mechanical buffering, and its core functions include: gravity compensation, eliminating the influence of the end grinding tool 230's own weight on the contact force; precise control of axial force, dynamic adjustment of the contact force parallel to the axis of the robot arm 110; contour adaptation, real-time expansion and contraction according to the surface shape of the workpiece, maintaining a constant normal pressure. The force compensator 220 has a built-in high-precision cylinder, which adjusts the air pressure through a proportional valve to output the axial contact force. A force sensor is integrated at the end of the piston rod to provide real-time feedback of the contact force data. During the initial contact stage, the cylinder is pre-filled with low-pressure gas, so that the grinding tool 230 slowly approaches the workpiece in a flexible state; during the steady-state grinding stage, the controller dynamically adjusts the air pressure according to the feedback from the force sensor to maintain the set grinding force. A built-in mechanical spring damper is used as a secondary buffer, which automatically triggers the mechanical brake when the force exceeds the limit.

[0061] In an exemplary embodiment, the force compensator 220 includes a contour feature acquisition module, which is used to obtain contour feature data of the workpiece to be polished. The force compensator 220 can be expanded and contracted according to the contour feature data and control the polishing force in real time.

[0062] For example, the force compensator 220 can use a high-response linear motor to drive the telescopic axis, integrate a laser displacement sensor array, and reconstruct the surface profile using a point cloud processing algorithm. Force sensor data is collected synchronously with profile scanning data to establish a complete contact state model.

[0063] For example, in traditional robotic grinding operations, the initial contact with the workpiece can easily lead to excessive impact force due to rigid collision. This means that the instantaneous force peak is too large, which can easily cause scratches on the workpiece surface or tool breakage, and vibration of the robotic arm 110 affects the accuracy of subsequent trajectory. The force compensator 220 can also use a multi-dimensional force sensor + servo motor drive to detect and adjust the grinding contact force in real time. It has an adaptive telescopic function that can automatically adjust the grinding depth according to the workpiece surface contour. It supports constant force mode (such as setting a constant pressure of 10N) and dynamic mode (such as automatically adjusting to changes in the curved surface).

[0064] In an exemplary embodiment, Figure 1 As shown, the polishing robot 10 includes: a robotic arm 110, a pipeline package 120, a robot base 130 and cables.

[0065] The robotic arm 110 is connected to the force control connection flange 210;

[0066] Cables for connecting the robotic arm 110 and the electrical cabinet 30;

[0067] The cable pack 120 is located outside the robotic arm 110 and is used to wrap cables;

[0068] The robot base 130 is movably connected to the robot arm 110 .

[0069] For example, the robotic arm 110 can employ a multi-axis serial articulated design, with each joint driven by a high-precision harmonic reducer to ensure accurate repeatable positioning. The arm body can be constructed from a high-strength alloy and carbon fiber composite material, achieving a balance between lightweight and rigidity. The robotic arm 110 can be adapted to accommodate a force control assembly 20 and a grinding tool 230. The robotic arm 110 can also employ a hollow design, allowing cables to pass through the joints, reducing the risk of external interference.

[0070] The cable pack 120 encases the polishing robot's cables (such as motor power lines, encoder signal lines, and air lines). It can be constructed using a segmented tubing structure, with each segment connected by a universal joint to ensure tangle-free movement during the full range of motion of the robot arm 110. The cable pack 120's initial end is fixed to the electrical interface of the robot base 130, and its terminal end extends to the force control assembly 20. Soft cushioning sheaths can be added to key bends in the cable pack 120 to prevent cable fatigue and breakage due to prolonged motion.

[0071] The robot base 130 can be made of cast iron and feature built-in shock-absorbing pads to reduce the impact force transmitted to the ground during grinding operations. The robot base 130 also features an extended mounting surface for attaching guide rails or a positioner to the robot arm 110. Waterproof aviation connectors (for power, communication, and I / O) are also located on the side of the robot base 130 for quick docking with the electrical cabinet 30.

[0072] In the above embodiment, the wiring design of the pipeline package 120 reduces the probability of cable damage and ensures the stable operation of the polishing robot system; the multi-axis robotic arm 110 is used to achieve flexible and precise adjustment of the polishing posture, thereby ensuring the polishing quality and adapting to a variety of polishing tools 230.

[0073] In an exemplary embodiment, Figure 1 As shown, the grinding robot 10 also includes:

[0074] The grinding tool 230 is connected to the force compensator 220 .

[0075] For example, the grinding tool 230 can be rigidly connected to the end of the force compensator 220 via a standardized quick-change interface, and can be equipped with a grinding wheel (for rough grinding), a polishing wheel (for fine finishing), a wire brush (for deburring), etc. A sealing ring is provided on the mounting end of the grinding tool 230 to prevent grinding debris from entering the interior of the force control assembly 20.

[0076] In an exemplary embodiment, the control assembly 40 includes:

[0077] An input module connected to the electrical cabinet 30 for outputting polishing parameters to the polishing robot 10; the polishing robot 10 can perform polishing work according to the polishing parameters;

[0078] A display module is provided on the electrical cabinet 30 and is used to output the operating status of the polishing robot 10 system;

[0079] The alarm module is provided on the electrical cabinet 30 and is used for fault alarm of the polishing robot 10 system.

[0080] Exemplarily, the display module includes a touch screen 430 , and the alarm module includes a three-color light 440 .

[0081] The touch screen 430 is provided on the electrical cabinet 30 and is used to output the operating status of the polishing robot system.

[0082] The three-color light 440 is provided on the top of the electrical cabinet 30 and is used for fault alarm of the polishing robot system.

[0083] For example, touch screen 430 is integrated into the door panel of electrical cabinet 30, serving as a visual monitoring interface for real-time monitoring of information such as the joint angles of robot arm 110, tool coordinate system position, pressure feedback from force control assembly 20, and a tool wear progress bar. A tri-color indicator light 440 is mounted in a highly visible position atop electrical cabinet 30. Green indicates normal system operation and the robot is in automatic operation. Alarm information is displayed in a hierarchical manner, such as yellow for "force sensor out of limit" and red for "servo overheating, fault shutdown."

[0084] In an exemplary embodiment, Figure 1 As shown, the input module includes: a teaching pendant 410 and a reservation button box 420.

[0085] The teaching pendant 410 is connected to the electrical cabinet 30 and is used for point configuration of the grinding operation and motion control of the grinding robot 10 .

[0086] The reservation button box 420 is connected to the electrical cabinet 30 and is used to emergency stop the grinding robot 10 and reserve a grinding operation.

[0087] For example, the teaching pendant 410 is the core operating terminal of the polishing robot system, which is connected to the electrical cabinet 30 via an industrial bus and has the following functions:

[0088] Point teaching: The operator can manually guide the robot arm 110 to move to key positions (such as the edge of the workpiece, the tool change point) and record the coordinates through the teaching button; support trajectory smoothing optimization (such as arc interpolation and speed transition) to avoid vibration caused by sudden path changes; parameter setting: set process parameters such as grinding force, feed speed, tool compensation, etc.; provide force control curve preview function to simulate contact force changes in real time; mode switching: manual mode, used for debugging and emergency intervention, requires the three-speed switch to be in the middle position to unlock; remote mode, executes preset programs, supports external signal triggering and start-up; in teaching mode, the robot arm 110 can be manually guided to move to key positions and save parameters.

[0089] Exemplarily, the reservation button box 420 is a physical operation panel, hardwired to the safety PLC of the electrical cabinet 30. It controls the operation of external axes and the standby / active status (on / off identification) of the grinding robot 10. The reservation button box 420 can also be used for emergency stop and workpiece reservation. To leave work, press and hold the A and B station buttons simultaneously for three seconds. The standby state stops the robot and the force control component 20 maintains a low voltage standby state. The active state activates the grinding program, and the tri-color indicator light 440 switches to a green running indicator. Preset positions (such as "horizontal grinding position" and "vertical side milling position") can be called up, and the robot arm 110 automatically moves to the target position. This allows for multi-angle collaborative operation in conjunction with external axis control (such as positioner rotation).

[0090] In an exemplary embodiment, the display module includes a manual instruction acquisition module, which is used to acquire manual instructions to control the polishing robot 10 to perform the polishing operation in real time.

[0091] Illustratively, the touchscreen 430 is also used to manually control the grinding robot 10 during grinding operations. The touchscreen 430 also allows manual control of the grinding device, providing a virtual joystick interface that supports touch-slide control of single-axis motion of the robotic arm 110 or linear movement within the tool coordinate system. In automatic mode, if an anomaly is detected (such as workpiece offset), the touchscreen 430 automatically displays a manual intervention window, allowing the operator to fine-tune the tool position.

[0092] In the above embodiment, the complementary functions and redundant control of the teach pendant 410, the appointment button box 420, and the touch screen 430 significantly enhance operational flexibility, strengthen safety, and improve operational efficiency. Both the teach pendant 410 and the touch screen 430 can independently set paths and adjust parameters, supporting dual-channel control to prevent production line stalls caused by a single device failure. The manual control function covers all scenarios. Furthermore, the touch screen 430 integrates monitoring and control functions, reducing device switching time and improving polishing efficiency.

[0093] In an exemplary embodiment, Figure 2 As shown, the present application also provides a control method for a polishing robot system, comprising the steps of:

[0094] In step 202 , the electrical cabinet 30 activates the polishing robot system.

[0095] Exemplarily, step 202 is a system activation step, in which the power switch on the side of the electrical cabinet 30 is rotated to supply power to the grinding robot 10, the force control component 20 and the control component 40; the system automatically detects the communication status of each module (such as robot servo ready, force sensor zero point calibration); if the detection is abnormal, the touch screen 430 displays "System initialization failed" and locks the operation.

[0096] In step 204 , the control component 40 transmits the grinding parameters to the force control component 20 and the grinding robot 10 .

[0097] For example, step 204 involves mode selection and parameter configuration. The operating modes include: manual mode, which unlocks the robotic arm 110 by setting the teach pendant 410's three-position switch to the center position for point-to-point teaching or emergency intervention; automatic mode, which initiates a preset program upon receiving an external command signal; and remote mode, which allows the backend control system to directly issue motion commands. Grinding parameter configuration includes grinding force, feed rate, tool compensation, grinding intensity, grinding speed, and grinding path. Parameter group storage is also supported, allowing for one-click recall of preset process templates.

[0098] In step 206 , the polishing robot 10 performs the polishing operation according to the polishing parameters, and the force control component 20 controls the polishing force of the polishing robot 10 according to the polishing parameters.

[0099] For example, during the contact phase, the force control assembly 20 controls the grinding robot 10 to approach the workpiece at a low speed. The force control assembly 20 is pre-filled with low-pressure gas to achieve flexible contact. After initial contact, the robot pauses momentarily, allowing the force loop to stabilize. During the steady-state grinding phase, the force control assembly 20 controls the arm's trajectory and controls the force compensator 220 to dynamically adjust the air pressure to maintain the set contact force. The tool's displacement is adjusted in real time based on the surface contour and adaptively adjusted.

[0100] In step 208 , the control component 40 performs fault monitoring and alarm.

[0101] For example, key parameters (motor current, force sensor data, tool life, etc.) are displayed via the touch screen 430 in the control assembly 40 ; the status of the three-color light 440 is updated synchronously (green - operation, yellow - warning, red - fault).

[0102] In the above embodiment, pneumatic force control is used to achieve zero impact on the first contact, avoiding damage to the workpiece surface; adaptive contour tracking significantly improves the grinding quality of complex curved surfaces; the touch screen 430 and the teach pendant 410 have dual control channels, reducing dependence on a single device; and multiple fault detection mechanisms (electrical cabinet 30 self-test + real-time monitoring) ensure that no alarms are missed.

[0103] In an exemplary embodiment, Figure 3 As shown, the operation modes include manual mode, remote mode and teaching mode; the control component 40 transmits the grinding parameters to the force control component 20 and the grinding robot 10, including the following steps:

[0104] In step 302 , the teaching pendant 410 selects the manual mode, and the reservation button box 420 controls the polishing robot 10 to enter the servo state.

[0105] For example, manual mode is used for operational scenarios such as equipment commissioning, emergency intervention, and simple point teaching. Remote mode is used in automated control scenarios. Teach mode is used for complex trajectory programming and process parameter optimization. After activating the system, select manual mode using the teach pendant 410 and adjust the servo buttons until the touch screen 430 displays the servo ready status.

[0106] Step 304 : When the first preset starting condition or the second preset starting condition is met, the control component 40 controls the polishing robot 10 to start.

[0107] For example, the first preset start condition is that in manual mode, the three-position switch is in the middle position, and the robot brake clicks to indicate that the start is complete. The second preset start condition is that in remote mode or teach mode, the robot receives a start signal sent by the background, and the robot brake clicks to indicate that the start is complete.

[0108] In step 306 , the teaching pendant 410 performs polishing parameter configuration and peripheral equipment configuration operations.

[0109] For example, before the grinding operation, the grinding process parameters and peripheral equipment configurations, such as grinding force, grinding speed, and grinding path, are set through the teach pendant 410. By pressing the reservation key in the reservation button box 420, the control system enters the working mode and drives the robot arm 110 through each axis according to the set grinding motion trajectory to achieve the grinding posture. At the same time, the force compensator 220 is controlled to compensate for the gravity of the end tool according to the working requirements and accurately output the contact force parallel to the axis of the robot arm 110, so that the grinding tool 230 can always accurately act on the surface of the component, ensuring the grinding quality.

[0110] In the above embodiment, the three-layer architecture design of mode classification-condition judgment-parameter management is used to realize intelligent management and safety control of operation modes, which significantly improves the ease of use while ensuring system reliability.

[0111] In an exemplary embodiment, the grinding parameters include grinding force, grinding speed, and grinding path; the peripheral equipment includes an automatic consumables changing library, a safety light grid, and a clamping jaw.

[0112] In an exemplary embodiment, Figure 4 As shown, according to the grinding parameter configuration, the grinding robot 10 is controlled by the force control component 20 to perform the grinding operation, including the following steps:

[0113] In step 402 , the reservation button box 420 controls the polishing robot 10 to enter the working mode.

[0114] For example, by operating the reservation button box 420, the control system enters the work preparation state. The robot servo system switches from the standby state to the working state, the device status indicator switches from the standby display to the running display, and the operation interface automatically jumps to the operation monitoring page.

[0115] In step 404 , the force control assembly 20 controls the robot arm 110 to reach a grinding posture according to the grinding parameter configuration.

[0116] For example, according to the preset grinding process parameters, the control system guides the robot arm 110 to move to the working position: the main controller coordinates the movement of each joint to ensure that it reaches the target position smoothly; the tool center point automatically aligns with the normal direction of the workpiece surface, and the system monitors the movement status in real time and automatically adjusts when an abnormality occurs.

[0117] In step 406 , the force compensator 220 obtains gravity compensation data.

[0118] Exemplarily, the force compensator 220 collects and processes force data in real time, high-precision sensors continuously monitor forces in all directions, the system automatically calculates the amount of gravity compensation under the current posture, and the compensation parameters are dynamically adjusted according to the tool type and installation angle.

[0119] In step 408 , the force compensator 220 controls the extension and retraction of the robotic arm 110 and the grinding force of the grinding robot 10 according to the gravity compensation data.

[0120] For example, closed-loop control based on real-time force feedback is implemented according to gravity compensation data, and a flexible control strategy is adopted in the initial contact stage to avoid impact and maintain constant pressure output during the steady-state grinding stage. The force is automatically adjusted when encountering contour changes; the protection mechanism is immediately activated in abnormal situations.

[0121] In the above-mentioned embodiment, each component works closely together to achieve intelligent polishing, enabling real-time interaction between motion control and force feedback, automatic matching of process parameters to current operational requirements, multi-level warning and handling of abnormal situations, and visual monitoring of the entire operational status. This method, through a process-based control strategy, achieves high-quality adaptive polishing while ensuring operational safety, meeting both precision machining requirements and possessing excellent engineering applicability.

[0122] In an exemplary embodiment, Figure 5 As shown, the control component 40 performs fault monitoring and alarming including the following steps:

[0123] Step 502: When a fault occurs in the polishing robot system, the tricolor light 440 emits red light and an alarm sounds.

[0124] For example, when an abnormal situation occurs during the operation of the polishing robot system, the system immediately activates a multi-level alarm mechanism: the three-color light 440 switches to a red warning state, and uses a high-frequency flashing mode to enhance the visual warning effect; the integrated buzzer emits an intermittent alarm sound, and the sound pressure level reaches a level that can be clearly identified; the alarm signal is directly transmitted through hard wiring to ensure that it can still be triggered even if the control system fails.

[0125] In step 504 , the touch screen 430 displays the cause of the fault.

[0126] For example, the system determines the root cause of the fault through multiple detection mechanisms. The real-time data acquisition module records the system parameters a certain time (such as 30 seconds) before the fault occurs, identifies the fault parameters, and displays the cause of the fault through the touch screen 430. This ensures timely response to the fault and provides comprehensive subsequent processing support, significantly improving equipment reliability and maintenance efficiency.

[0127] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The above embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A polishing robot system, characterized in that: include: polishing robots; A force control component, comprising a force control connecting flange and a force position compensator, wherein the force position compensator is connected to the polishing robot via the force control connecting flange, and the force position compensator is used to control the polishing force; an electrical cabinet connected to the polishing robot; A control component is connected to the electrical cabinet and is used to control the polishing robot to perform polishing operations.

2. The polishing robot system according to claim 1, characterized in that: The force-position compensator includes a gravity compensation module, which is used to obtain gravity compensation data. The force-position compensator can control the contact force between the grinding robot and the workpiece to be ground in real time based on the gravity compensation data.

3. The polishing robot system according to claim 1, characterized in that: The force-position compensator includes a contour feature acquisition module, which is used to obtain contour feature data of the workpiece to be polished. The force-position compensator can be expanded and contracted according to the contour feature data to control the polishing force in real time.

4. The polishing robot system according to claim 1, characterized in that: The polishing robot comprises: a robotic arm connected to the force control connection flange; a cable for connecting the robotic arm and the electrical cabinet; A cable bag, located outside the robotic arm and used to wrap the cable; The robot base is movably connected to the robotic arm.

5. The polishing robot system according to claim 4, characterized in that: The polishing robot also includes: A grinding tool is connected to the force compensator.

6. The polishing robot system according to claim 1, characterized in that: The control component includes: An input module, connected to the electrical cabinet, for outputting polishing parameters to the polishing robot; the polishing robot can perform polishing work according to the polishing parameters; A display module is provided on the electrical cabinet and is used to output the operating status of the polishing robot system; An alarm module is provided on the electrical cabinet and is used for fault alarm of the polishing robot system.

7. The polishing robot system according to claim 6, characterized in that: The polishing parameters include control mode, polishing force, polishing speed, polishing path, and polishing time.

8. The polishing robot system according to claim 6, characterized in that: The input module includes: A teaching pendant connected to the electrical cabinet, used for point configuration of the grinding operation and motion control of the grinding robot; A reservation button box is connected to the electrical cabinet and is used for emergency stopping the polishing robot and reserving the polishing operation.

9. The polishing robot system according to claim 6, characterized in that: The display module includes a manual instruction acquisition module, which is used to acquire manual instructions to control the polishing robot to perform polishing operations in real time.

10. A control method for a polishing robot system according to any one of claims 1 to 9, characterized in that: Including steps: The electrical cabinet activates the grinding robot system; The control component transmits grinding parameters to the force control component and the grinding robot; The polishing robot performs the polishing operation according to the polishing parameters, and the force control component controls the polishing force of the polishing robot according to the polishing parameters; The control component performs fault monitoring and alarm.

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