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Disc type grinding head-workpiece contact interface angle deviation estimation and compensation method

A contact interface and grinding head technology, which is applied to the parts of grinding machine tools, the control of workpiece feed movement, grinding machines, etc., can solve the problems of expensive testing equipment, complicated operation and calculation process, etc. Surface quality, practical value of practical engineering theory, simple effect of clamping error

Active Publication Date: 2022-01-07
WUHAN UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a disc grinding head-workpiece contact interface angle deviation estimation and compensation method to solve the ubiquitous defects of the current method that the operation and calculation process are complicated and the detection equipment is expensive

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  • Disc type grinding head-workpiece contact interface angle deviation estimation and compensation method
  • Disc type grinding head-workpiece contact interface angle deviation estimation and compensation method
  • Disc type grinding head-workpiece contact interface angle deviation estimation and compensation method

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Embodiment Construction

[0030] Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the present invention.

[0031] Such as figure 2 As shown, the hardware equipment used in the disc grinding head-workpiece contact interface angle deviation estimation and compensation method in the embodiment of the present invention includes a six-dimensional force sensor, a disc grinding head and a robot for grinding. The end of the robot passes the first method The blue plate is equipped with a six-dimensional force sensor. The six-dimensional force sensor is connected to the upper position through the data acquisition system through the signal line. The robot has a control system for grinding and processing. For example, a six-axis industrial robot can be used. The other end of the six-dimensional force sensor It i...

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Abstract

The invention discloses a disc type grinding head-workpiece contact interface angle deviation estimation and compensation method. The method comprises the steps of disc type grinding head-workpiece contact interface angle deviation estimation model establishment, error estimation and error compensation. According to the method, a disc type grinding head-workpiece contact interface angle deviation estimation model is established as the basis according to the geometric stress relation when a disc type grinding head makes initial contact with a workpiece, and an elastic contact force sensing and robot technology is adopted as an estimation and compensation means, so that rapid estimation and compensation of errors are achieved. The method solves the problems that an existing method is large in data size, complex in calculation, expensive in detection equipment and delayed in error compensation, the clamping error of the disc type grinding head can be simply and rapidly estimated and compensated, and therefore accurate positioning of the disc type grinding head at the tail end of a robot is achieved.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a method for estimating and compensating the angular deviation of a disc grinding head at the end of a robot-workpiece contact interface based on force control sensing technology. Background technique [0002] Robot grinding and polishing technology is an important means to improve the efficient and high-quality processing of large and complex components in aerospace, rail transit and other fields. At present, it is generally believed that the difficulty of reducing the machining geometric error is the main problem restricting the application of robot grinding and polishing technology in large and complex components. The error sources mainly include the processing system pose error, the robot joint kinematics error, and the positioning error under the end load of the robot. , where the influence of the processing system pose error is particularly prominent. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/16B24B27/00B24B49/00G06F30/17
CPCB25J11/0065B25J9/1633B25J9/1605G06F30/17B24B27/00B24B49/00G06F2119/14
Inventor 朱大虎冯晓志刘红帝
Owner WUHAN UNIV OF TECH
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