Constant force grinding control system and method

Abstract

The invention discloses a constant force grinding control system and method. The system mainly comprises a robot, a grinding machine, a precision linear motion module, an AC servo motor, a pressure sensor and an industrial computer; the AC servo motor and the precision linear motion module drive the grinding machine to perform floating displacement. A robot drives a workpiece to continuously perform grinding on the floating grinding machine according to a pre-programmed running procedure, so that the grinding force can be controlled in the vicinity of the desired grinding force, and an actualgrinding force signal is transmitted to the industrial computer through the pressure sensor. The industrial computer uses a Kalman filter to process noise and uses a fuzzy control algorithm to achieveconstant force grinding. The constant force grinding control system and method of the invention can obviously improve the grinding quality; the sensing system adopts an efficient real-time control system, which can realize real-time data acquisition of the grinding force signal in milliseconds, and controls the AC servo motor to drive a sand disc to do vertical displacement to achieve constant force grinding in real time.

Description

technical field [0001] The invention relates to the field of robot grinding and control engineering, in particular to a grinding control system and method in which the grinding force is stabilized near an expected value during the grinding process. Background technique [0002] In the traditional manufacturing industry, polishing and grinding is the most basic process, but its cost accounts for 30% of the total cost. Grinding and polishing parts not only have a wide variety but also most of them have complex appearances. Usually, industrial grinding and polishing operations are completed manually, which is labor-intensive, low-efficiency, and extremely poor working environment. The polishing and grinding machine developed for a small number of regular workpieces in the market can only complete a single process task, and basically cannot complete other tasks except the original process. The development process is cumbersome and the flexibility is poor, and the cost is expensi...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems of low surface quality and low efficiency of manual grinding products, and provide a constant force grinding control system, which can be used for research on robot constant force grinding, including the design of the main body of the machine, control technology, and Filter design, so as to achieve the stability of the grinding force near the expected grinding force during the grinding process, improve the surface quality of the workpiece and improve the processing efficiency

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