Grinding Robot Speed Compensation for Uneven Surfaces
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Solution Overview
Problem
Existing grinding robot systems face challenges in maintaining consistent grinding quality when the movement speed of the robot is changed, leading to grinding unevenness.
Innovation Solution
A grinding robot system that includes a motor-driven grinder and a control unit which calculates and adjusts the rotational speed of the grinder based on the movement speed of the robot, using pre-defined functions stored in a memory unit and feedback from a rotation-speed detecting unit to maintain a constant relative speed between the grinding stone and the workpiece.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the robot movement speed is changed, then productivity is improved, but grinding precision deteriorates due to grinding unevenness
Solution Approach 1:
The grinder rotational speed is dynamically adjusted according to the robot's movement speed. When the robot moves faster, the grinder rotational speed is increased proportionally to maintain constant relative speed between the grinding stone and workpiece, preventing grinding unevenness while enabling higher productivity
Solution Approach 2:
The rotational speed parameter of the grinder is changed in response to changes in the robot's movement speed parameter. By changing the grinder speed parameter to match the robot speed parameter, the system maintains optimal grinding conditions across different productivity levels
2Manufacturing precision
If the grinder rotational speed is increased to match robot speed, then grinding precision is maintained, but energy consumption increases
Solution Approach 1:
The grinder rotational speed is increased only to the extent necessary to compensate for the robot's movement speed, not excessively. This partial action approach maintains grinding precision by providing just enough speed compensation to prevent unevenness, avoiding unnecessary energy consumption that would result from excessive speed increases
Data Source
AI summary
The occurrence of grinding unevenness is prevented even when the movement speed of a robot is changed. Provided is a grinding robot system including: a motor-driven grinder that performs grinding; a robot that grinds a grinding target by means of the grinder in a state in which one of the grinder or the grinding target is attached to a distal end thereof and is moved, and the other is set at a fixed position; and a control unit that controls the robot and the grinder, wherein the control unit calculates a rotational-speed command value for the grinder that changes according to the movement speed of the distal end of the robot and controls the rotational speed of the grinder on the basis of the calculated rotational-speed command value.