Robot Deburring Path Correction With Force Feedback
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Solution Overview
Problem
Conventional deburring devices face challenges in stabilizing deburring quality due to detection errors from visual sensors and mechanical unit inaccuracies, leading to inconsistent pressing forces and reduced deburring efficiency.
Innovation Solution
The deburring device incorporates a robot program creation unit, a burr portion detection unit, a force control unit, a true path acquisition unit, and a path correction parameter calculation unit to update the robot program and correct for detection and mechanical errors, ensuring consistent deburring quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If visual sensor detection and force control are used to correct workpiece position, then deburring quality is stabilized, but detection errors and mechanical unit inaccuracies still cause inconsistent pressing force
Solution Approach 1:
The system uses force sensor detection as feedback to verify and correct the position determined by visual sensor detection. The force control unit adjusts the pressing force based on the difference between detected force and target force, creating a closed-loop feedback system that compensates for detection errors and mechanical inaccuracies, ensuring consistent deburring quality.
Solution Approach 2:
The force sensor acts as an intermediary between the visual sensor detection and the actual deburring operation. It provides an additional measurement layer that mediates the positioning process, allowing the system to detect and correct errors that the visual sensor alone cannot identify, thereby improving both measurement precision and manufacturing precision.
2Productivity
If robot parameters are set to average values for the entire working envelope, then general operation is maintained, but deburring accuracy is insufficient
Solution Approach 1:
The system applies local quality by using force control specifically at the deburring location rather than adjusting robot parameters globally. The force control unit provides localized precision control at the tool-workpiece interface, allowing average robot parameters to be maintained for overall productivity while achieving high accuracy at the critical deburring point through localized force feedback.
3Measurement precision
If visual sensor detection range is reduced or multiple locations are detected, then detection accuracy improves, but production cycle time increases
Solution Approach 1:
The system maintains continuous useful action by performing force control during the normal deburring operation without requiring separate detection steps. The force sensor continuously monitors pressing force throughout the deburring process, providing real-time correction without interrupting the workflow, thus improving measurement precision without increasing production cycle time.
Data Source
AI summary
A deburring device includes a robot program creating unit that creates a program from data of an object, a deburring part detecting unit that detects a position for a deburring part on the object, and a robot program updating unit that updates the program by the detected position of the deburring part. The deburring device also includes a force control unit that controls to yield a predetermined pressing force, an actual path acquiring unit that acquires an actual path of a robot when controlled at the predetermined pressing force by the updated program, and a path correction parameter calculating unit that calculates a correction parameter for the position for the deburring part on the object from the path of the robot from the visual sensor and the actual path.