A robot tactile servo control method for milling of easily deformable structures

A technology of servo control and milling processing, which is applied in the direction of metal processing machinery parts, metal processing, metal processing equipment, etc., can solve the problems of easy deformation of the structure, damage of milling results, low rigidity, etc., to improve accuracy and safety, The effect of strong flexibility

Active Publication Date: 2021-09-17
NANKAI UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that when the milled structure with low rigidity or difficult to be completely fixed is processed, its structure is prone to deformation or displacement, which will destroy the milling result, and proposes a robot tactile servo system for milling of easily deformable structures. Control Method

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  • A robot tactile servo control method for milling of easily deformable structures
  • A robot tactile servo control method for milling of easily deformable structures
  • A robot tactile servo control method for milling of easily deformable structures

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Embodiment 1

[0038] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0039] Such as figure 1 The robot tactile servo control system for milling of easily deformable structures is shown. The system includes a milling robot equipped with milling tools, an accelerometer sensor array module, a communication module, a controller, a motor control module and a host computer: milling The vibration signal is collected by the accelerometer sensor array module and then transmitted to the controller by the communication module. The controller executes the control algorithm to generate the result and transmits it to the motor drive module, and then the motor drive module controls the movement of the robot to keep the milling depth constant. At the same time The controller will also be transmitted to the host computer, which displays the milling status in real time and can send instructions to control the operation...

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Abstract

A robot tactile servo control method for milling of easily deformable structures uses the vibration signal of a milling tool as a control variable for automatic control of the milling process. This method includes two stages, one is the signal acquisition and processing stage, in this stage, the vibration information is collected in real time, and the characteristic information in the milling process is obtained after processing; the second is the robot motion control stage, the vibration signal is fed back to the controller in real time, and the control algorithm is executed to control the robot. The robot performs motion control and compensates for disturbances caused by deformation. The cost of the acceleration sensor array in this method is low, and the fabrication is simple. Different numbers of array patterns can be designed according to requirements, rolled into a tube and tightly wrapped on the surface of the milling tool, and the existing structure of the robot does not need to be modified. When the rigidity of the milling structure is low or cannot be completely fixed, the milling depth can be basically kept unchanged, and it has high control precision, and has strong flexibility and great practical prospects.

Description

technical field [0001] The invention relates to a robot tactile servo control method for milling processing of easily deformable structures, belonging to the technical field of robot tactile perception, tactile servo and operation control. Background technique [0002] In robotics-related fields, milling operations of workpieces with high-speed rotating tools are in many cases a basic operation performed by robots. [0003] At present, in the field of robot milling control, the milling targets are mostly materials with high structural rigidity, and the path can be planned in advance for the milling process to achieve a good milling effect. However, when the rigidity of the structure to be milled is low or it is difficult to fix it completely, the milled structure will be deformed or displaced due to the action of the milling force during the milling process, and the milling result will be destroyed. [0004] To sum up, in order to achieve automatic milling for easily deform...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B23Q17/00B23Q17/09B23Q15/00B25J19/02B25J9/16B25J11/00
CPCB23Q15/00B23Q17/00B23Q17/09B23Q17/0971B25J9/16B25J9/1679B25J11/00B25J11/0055B25J19/02
Inventor 代煜贾宾张建勋陈通
Owner NANKAI UNIV
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