Robot Machining Contact Guidance for Precision With Low Rigidity
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Solution Overview
Problem
Existing robot machining systems face challenges in maintaining precise control and stability during machining operations, especially when using robots with lower rigidity, which can lead to variations in the position of the machining tool relative to the workpiece, affecting machining precision and flexibility.
Innovation Solution
The system incorporates a robot machining system with a hand and machining device equipped with guide surfaces and guided portions that maintain contact during machining, utilizing a force sensor to control the relative movement and positioning of the machining tool and workpiece, ensuring precise alignment and stability through controlled contact between these surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a robot with lower rigidity is used for machining operations, then flexibility and ease of operation are improved, but machining precision and stability deteriorate due to variations in the position of the machining tool relative to the workpiece
Solution Approach 1:
A force sensor is introduced as an intermediary between the robot and machining device to detect contact forces during machining operations. The control device uses this feedback to adjust the robot's or machining device's position, compensating for the robot's lower rigidity and maintaining precise tool-to-workpiece positioning throughout the machining process
2Device complexity
If the robot and machining device are controlled independently without contact maintenance, then device complexity is reduced, but machining precision deteriorates due to loss of positional relationship between tool and workpiece
Solution Approach 1:
A force sensor provides real-time feedback on the contact force between the robot and machining device. The control device continuously adjusts the robot's or machining device's position based on this feedback signal, maintaining a consistent contact state and positional relationship between the machining tool and workpiece throughout the operation
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration enhances machining precision and flexibility by maintaining a consistent positional relationship between the machining tool and workpiece, even with robots of lower rigidity, allowing for precise machining and reduced setup changes, thereby shortening machining time and improving operational efficiency.
Implementation Method 1
a force sensor that is provided in at least one of the robot and the machining device and that detects a force acting between the robot and the machining device when the workpiece is being machined by the machining tool
Data Source
AI summary
A robot machining system including: a robot in which a hand is attached to a distal end of an arm thereof; a force sensor provided in one of the robot and the machining device and detecting a force acting therebetween when a workpiece is being machined; and a control device that controls the robot or the machining device according to the detected force, wherein one of the machining device and the hand is provided with guide surfaces that extend along a direction in which the machining device and the hand are relatively moved when the workpiece is machined; the other of the machining device and the hand is provided with guided portions that are brought into contact with the guide surfaces when the workpiece is machined; and the control device performs control for maintaining a contact state between the guide surfaces and the guided portions during machining of the workpiece.