Robot Polishing Control Using Force and Torque Feedback
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Solution Overview
Problem
Existing automatic polishing systems cannot adjust the degree of polishing based on the condition of the paint film surface or protective layer surface, leading to insufficient polishing in some areas and excessive polishing in others, resulting in inefficient polishing processes.
Innovation Solution
An automatic polishing system comprising a multi-articulated robot, a polishing machine with a spinning spindle and polishing tool, and a sensor that provides normal reaction and torque information, allowing the control unit to adjust the polishing process based on surface conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the polishing machine moves at a constant speed across the entire surface, then the polishing process is simple and efficient, but the degree of polishing cannot be adjusted according to local surface conditions, resulting in insufficient polishing in poor areas and excessive polishing in good areas
Solution Approach 1:
The polishing machine transitions from constant-speed movement to dynamic speed adjustment based on real-time surface condition detection. The control unit modifies the moving speed according to the degree of polishing required for different areas, enabling adaptive polishing that matches local surface conditions while maintaining system efficiency
Solution Approach 2:
The system incorporates surface condition detection that provides feedback to the control unit, which then adjusts the polishing parameters accordingly. This closed-loop control enables the machine to respond to actual surface conditions and modify its operation to achieve uniform polishing across varying areas
2Manufacturing precision
If the polishing machine moves slower to ensure adequate polishing in poor areas, then sufficient polishing is achieved in those areas, but excessive polishing occurs in already good areas and the overall polishing time increases
Solution Approach 1:
The polishing machine applies different moving speeds to different areas based on their specific conditions. Poor areas receive slower movement for more thorough polishing, while good areas receive faster movement, ensuring each region gets appropriate attention without unnecessarily extending the overall process time
Solution Approach 2:
The system dynamically changes the moving speed parameter according to the detected surface condition and required polishing degree for each area. This parameter adjustment allows the machine to optimize polishing quality while minimizing total polishing time by avoiding uniform slow-speed operation across the entire surface
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
The system enables precise adjustment of the polishing degree according to the surface conditions, ensuring uniform polishing and optimizing the polishing time by avoiding excessive or insufficient polishing.
Implementation Method 1
a sensor which is provided between the end part and the polishing machine and which outputs normal reaction information indicative of normal reaction that acts from a polish target surface to the polishing machine and moment information indicative of moment around the spindle
Data Source
AI summary
Provided is an automatic polishing system that is capable of adjusting a degree of polishing in accordance with a condition of a surface of a body of a mobile object. The automatic polishing system includes: a multi-articulated robot; a polishing machine including a spindle that spins around an axis and a polishing tool that is fixed at an end of the spindle; a sensor which is provided between the multi-articulated robot and the polishing machine and which detects normal reaction (z-axis component Fz) that acts from a polish target surface to the polishing machine and moment (z-axis component Mz) that acts around the axis of the spindle; and a control unit which controls the multi-articulated robot based on the normal reaction (z-axis component Fz) and the moment (z-axis component Mz).