Rotatable Tool Holder Sensor Feedback for Grinding Compliance
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Solution Overview
Problem
Existing grinding processes are labor-intensive and require complex, costly active impedance control systems to adapt to the irregular surfaces of workpieces, making them difficult to automate.
Innovation Solution
A grinding device with a rotatable tool holder and sensor system, such as a rotary encoder, that converts angular position into a control signal to adjust the multi-axis manipulator, allowing passive compliance with the workpiece contour, reducing complexity and cost.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If active impedance control means (vision, force sensors, torque sensors) are used to achieve active compliance, then the ability to adaptively control the grinding tool path relative to the workpiece is improved, but the device complexity and cost increase significantly
Solution Approach 1:
The invention extracts and eliminates the complex active impedance control means (vision systems, force sensors, torque sensors) from the robotic manipulator, replacing them with a simple passive compliance mechanism through the rotatable tool holder that naturally adapts to workpiece contours without active control
Solution Approach 2:
The tool holder is designed to automatically and passively follow the workpiece contour through its own rotational movement about the pivot axis, without requiring external sensing or active control systems to dictate its position
2Adaptability or versatility
If complex impedance control programming is implemented to obtain reasonable compliance, then the adaptability to workpiece irregularities is improved, but the programming complexity and operational difficulty increase
Solution Approach 1:
The system eliminates the need for complex compliance programming by using a mechanically passive tool holder that automatically adapts to workpiece contours through its rotational degree of freedom, making the system as easy to operate as conventional fixed-position grinding
3Adaptability or versatility
If the tool holder is made freely rotatable about the pivot axis, then the ability to passively follow workpiece contour is improved, but the control precision of grinding angle may deteriorate
Solution Approach 1:
The invention introduces a sensor on the rotatable tool holder that provides feedback on the actual grinding angle or tool holder position, allowing the control system to maintain precise grinding angle control while preserving the passive compliance benefit of free rotation
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
Enables efficient, automated grinding by passively following the workpiece contour with reduced complexity and cost, maintaining a constant grinding angle despite irregularities, thus improving process efficiency.
Implementation Method 1
a sensor for converting at least one parameter indicative of an angular position of the tool holder about the pivot axis into an output signal that can be used for determining a control signal for controlling the multi-axis manipulator
Data Source
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AI summary
The invention relates to a grinding or polishing device and a method for treating a workpiece, wherein the grinding or polishing device comprises a tool holder for holding a grinding or polishing tool and a mounting head for mounting the tool holder to a multi-axis manipulator, 5 wherein the tool holder is rotatable with respect to the mounting head about a pivot axis, wherein the grinding or polishing device further comprises a sensor for converting at least one parameter indicative of an angular position of the tool holder about the pivot axis into an output signal 10 that can be used for determining a control signal for controlling the multi-axis manipulator.