CN103009218A - Robot polishing device and polishing method thereof - Google Patents

Abstract

The invention discloses a robot polishing device, which comprises a robot, a sensor permanent seat, a force sensor, a fixed base, an electric polisher and a displacement sensor, wherein the electric polisher and the displacement sensor are installed on the fixed base; the fixed base is fixedly arranged on the panel of the force sensor; the force sensor is fixedly arranged on the sensor permanent seat; and the sensor permanent seat is fixedly arranged on the tail end of the robot. The invention also discloses a polishing method of the robot polishing device. The robot polishing device disclosed by the invention has the advantages of simple structure, easiness in control and strong generality and can be used for polishing complex curved surfaces, the production efficiency is improved, the cost is lowered, and the processing quality is improved.

Description

Robot sanding apparatus and polishing process thereof

Technical field

The present invention relates to the robot material processing field, be specifically related to a kind of robot sanding apparatus and polishing process thereof.

Background technology

At present, polishing industry automatization level is lower, and quite a few polishing is finished by hand by skilled workman.Manual grinding labour intensity is large, time-consuming, efficient is low, and the dust that polishing produces damages the healthy of people.The lathe grinding efficiency is high, but lathe polishing processing versatility is not strong, can expand very poorly, and the lathe of specialty is expensive.Robot polishing automaticity is high, and controllability is strong, be easy to expand, and highly versatile, and the price of robot is relatively cheap.Have several companies of robot to research and develop the milling robot system, but they are highly professional, only for several specific industrial goods, and system is very complicated.

Summary of the invention

The deficiency that the present invention exists in order to overcome above prior art provides a kind of robot sanding apparatus, and is simple in structure, be easy to control, highly versatile.

Another object of the present invention is to provide the polishing process of a kind of robot sanding apparatus, enhance productivity, reduce cost, improve crudy, can be used for complex-curved polishing.

Purpose of the present invention realizes by following technical scheme: this robot sanding apparatus, comprise robot, sensor holder, power sensor, firm banking, electric grinding machine and displacement transducer, described electric grinding machine and displacement transducer are installed on the firm banking, firm banking is fixed on the panel of power sensor, the power sensor is fixed on the sensor holder, and the sensor holder is fixed on the robot end.Sensor holder one end is fixed on the robot end, and the other end is held and the bed knife sensor, has protected the power sensor and has strengthened the stability that connects.

Described firm banking connects brace, and electric grinding machine is installed on the brace by 2 holding pieces, and displacement transducer is installed on the corner by 2 holding pieces, and corner is installed on the brace.

Described brace is the flat sided straight dihedral.

Described corner is two the right angle bendings in space.

The grinding head of described electric grinding machine is clamped on the body of electric grinding machine by dop.Tighten or unclamp dop, can change the grinding head of variety classes and model.

The axis direction of described electric grinding machine and displacement transducer is the Z-direction along the robot end, and the probe at displacement transducer top is than exceeding 1-5mm on the described Z-direction of the grinding head of electric grinding machine.

Described power sensor is six-dimension force sensor.

The polishing process of robot sanding apparatus may further comprise the steps:

1. according to theoretical profile model planning machining locus and a definite cutter point of processing;

2. make the robot end with less than the speed of 5cm/s near workpiece;

3. the probe when displacement transducer produces compression, makes the robot end that the even speed that is decelerated to is zero, stops to advance of Z-direction, can avoid like this electric grinding machine collision workpiece;

4. begin along machining locus processing, displacement transducer is front, and grinding head is rear, and the machining control of machining locus comprises C and E-C, and C is power control selection matrix, and E is unit matrix, and E-C is the Position Control selection matrix; Owing to only needing the contact force of the Z-direction of control end, C=diag[0 then, 0,1,0,0,0], the diagonal entry of diag representing matrix, other off diagonal elements are 0 entirely;

The measured value of six-dimension force sensor comprises power value, moment values, wherein, and the power value ^SF _MThe reaction force that comprises workpiece ^SF _G, equipment gravity ^SF _G, equipment inertia force ^SF _I, that is: ^SF _M= ^SF _H+ ^SF _G+ ^SF _I

S is the six-dimension force sensor coordinate system, and M represents measured value, and H is workpiece, and G is equipment, and I is inertia, and described equipment comprises: firm banking, brace, holding piece, corner, electric grinding machine, displacement transducer;

During the polishing of Robot machining locus, speed is constant speed, and acceleration is 0, equipment inertia force ^SF _IBe 0;

To equipment gravity ^SF _GCarry out force compensating, eliminate ^SF _GRight ^SF _MImpact; Equipment gravity ^SF _GIn basis coordinates system, can be expressed as

B is basis coordinates system, and " ' " represents matrix transpose;

If S with respect to the rotation transformation of B is

Robot coordinate system T with respect to the rotation transformation of S is

T with respect to the rotation transformation of B is The rotation transformation of R denotation coordination system;

In the polishing process, the operating force of grinding head is the reaction force of workpiece ^SF _HBe steady state value, namely eliminating ^SF _GImpact after, ^SF _MBe constant; Because

Record by experiment equipment gravity ^SF _GAnd ^SF _GCenter of gravity (l at S _x, l _y, l _z), l _x, l _y, l _zBe respectively the coordinate figure of x among the S, y, z direction, can try to achieve ^SF _GThe moment that forms at S is:

$\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]=\left[\begin{array}{ccc}0& -l_z& l_y\\ l_z& 0& -l_x\\ -l_y& l_x& 0\end{array}\right]\·{F_G^S}^{\′}$

M in the formula _x, m _y, m _zBe respectively the component of moment x, y, z direction in S;

Then workpiece comprises the anti-sextuple active force of power, moment ^SF _H6:

$F_{H6}^S=F_{M6}^S-{\left[\begin{array}{cccc}{F_G^S}^{\′}& m_x& m_y& m_z\end{array}\right]}^{\′}$

In the formula, subscript 6 expressions comprise the six-dimensional force of power, moment, ^SF _M6The six-dimensional force that records for six-dimension force sensor;

Be given value, according to displacement transducer the go ahead of the rest actual shift value that records and theoretical profile model, adopt Position Control along the machining locus tangential direction, adjust robot end's position and attitude, make position sensor, grinding head aim at machining locus, make grinding head all the time perpendicular to machining locus, adjust the flexible of robot end and make ^SF _M6Keep constant, so ^SF _H6Keep constant, realize the constant force polishing.

The present invention has advantages of as follows with respect to prior art:

This robot sanding apparatus can be changed dissimilar, big or small grinding head, to finish the different polishing tasks (grinding, polishing) that require; The power sensor can detect the force information that is subjected to of grinding head in real time, thereby make grinding head remain suitable polishing power, displacement transducer can detect the displacement of grinding head and workpiece in real time, thereby the adjustment instrument is near the speed of workpiece, avoid sharp impacts, also can adjust according to displacement transducer the position and attitude of grinding head during polishing, in conjunction with two sensors, can realize that grinding head is with optimal power (constant force), the polishing of optimal attitude.This apparatus structure is simple, be easy to control, and grinding efficiency is high.

Description of drawings

Fig. 1 is robot of the present invention sanding apparatus processing parts schematic diagram.

Fig. 2 is the stereogram of robot of the present invention sanding apparatus.

Fig. 3 is sensor holder schematic diagram.

Fig. 4 is the firm banking schematic diagram.

Fig. 5 is the brace schematic diagram.

Fig. 6 is the holding piece schematic diagram.

Fig. 7 is the corner schematic diagram.

Fig. 8 is the electric grinding machine schematic diagram.

Fig. 9 is the displacement transducer schematic diagram.

Figure 10 is the polishing process block diagram.

The specific embodiment

The invention will be further described below in conjunction with drawings and Examples.

Such as Fig. 1～robot sanding apparatus shown in Figure 9, comprise robot 1, sensor holder 2, power sensor 3, firm banking 4, electric grinding machine 5 and displacement transducer 6, electric grinding machine 5 and displacement transducer 6 are installed on the firm banking 4, firm banking 4 is fixed on the panel of power sensor 3, power sensor 3 is fixed on the sensor holder 2, and sensor holder 2 is fixed on robot 1 end.Sensor holder 2 one ends are fixed on robot 1 end, and the other end is held and bed knife sensor 3, have protected power sensor 3 and have strengthened the stability that connects.

Firm banking 4 connects brace 7, and electric grinding machine 5 is installed on the brace 7 by 2 holding pieces 8, and displacement transducer 6 is installed on the corner 9 by 2 holding pieces 8, and corner 9 is installed on the brace 7.As shown in Figure 5, brace 7 is the flat sided straight dihedral.As shown in Figure 7, corner 9 is two the right angle bendings in space.The grinding head 10 of electric grinding machine 5 is clamped on the body of electric grinding machine 5 by dop 11.Tighten or unclamp dop, can change the grinding head of variety classes and model.The axis direction of electric grinding machine 5 and displacement transducer 6 is along the Z-direction of robot 1 end, and exceeds 4mm on the grinding head 10 described Z-directions of the probe at displacement transducer 6 tops than electric grinding machine 5.

As shown in Figure 1, sensor holder 2 is installed on robot 1 end, again power sensor 3 is installed on the sensor holder 2, firm banking 4 is installed on the stressed panel of power sensor 3, then brace 7 is connected on the firm banking 4, one group of holding piece 8 is installed on the brace 7, loads onto electric grinding machine 5, unclamp dop 11, load onto the grinding head 10 that needs, tighten, again corner 9 is installed on the brace 7, load onto another group holding piece 8, load onto displacement transducer 6, the position of adjusted position displacement sensor 6 makes the probe at displacement transducer 6 tops exceed 4mm than grinding head 10 in the Z-direction of robot 1 end, has just finished the installation of sanding apparatus.The power sensor is six-dimension force sensor.

As shown in figure 10, the polishing process of robot sanding apparatus may further comprise the steps:

1. according to theoretical profile model planning machining locus and a definite cutter point of processing;

2. make the robot end with less than the speed of 5cm/s near workpiece;

3. the probe when displacement transducer produces compression, makes the robot end that the even speed that is decelerated to is zero, stops to advance of Z-direction, can avoid like this electric grinding machine collision workpiece;

4. begin along machining locus processing, displacement transducer is front, and grinding head is rear, and the machining control of machining locus comprises C and E-C, and C is power control selection matrix, and E is unit matrix, and E-C is the Position Control selection matrix; Owing to only needing the contact force of the Z-direction of control end, C=diag[0 then, 0,1,0,0,0], the diagonal entry of diag representing matrix, other off diagonal elements are 0 entirely;

The measured value of six-dimension force sensor comprises power value, moment values, wherein, and the power value ^SF _MThe reaction force that comprises workpiece ^SF _H, equipment gravity ^SF _G, equipment inertia force ^SF _I, that is:

^SF _M＝ ^SF _H+ ^SF _G+ ^SF _I

S is the six-dimension force sensor coordinate system, and M represents measured value, and H is workpiece, and G is equipment, and I is inertia, and described equipment comprises: firm banking, brace, holding piece, corner, electric grinding machine, displacement transducer;

During the polishing of Robot machining locus, speed is constant speed, and acceleration is 0, equipment inertia force ^SF _IBe 0;

To equipment gravity ^SF _GCarry out force compensating, eliminate ^SF _GRight ^SF _MImpact; Equipment gravity ^SF _GIn basis coordinates system, can be expressed as

B is basis coordinates system, and " ' " represents matrix transpose;

If S with respect to the rotation transformation of B is

Robot coordinate system T with respect to the rotation transformation of S is

T with respect to the rotation transformation of B is

The rotation transformation of R denotation coordination system;

In the polishing process, the operating force of grinding head is the reaction force of workpiece ^SF _HBe steady state value, namely eliminating ^SF _GImpact after, ^SF _NBe constant; Because

Record by experiment equipment gravity ^SF _GAnd ^SF _GCenter of gravity (l at S _x, l _y, l _z), l _x, l _y, l _zBe respectively the coordinate figure of x among the S, y, z direction, can try to achieve ^SF _GThe moment that forms at S is:

$\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]=\left[\begin{array}{ccc}0& -l_z& l_y\\ l_z& 0& -l_x\\ -l_y& l_x& 0\end{array}\right]\·{F_G^S}^{\′}$

M in the formula _x, m _y, m _zBe respectively the component of moment x, y, z direction in S;

Then workpiece comprises the anti-sextuple active force of power, moment ^SF _H6:

$F_{H6}^S=F_{M6}^S-{\left[\begin{array}{cccc}{F_G^S}^{\′}& m_x& m_y& m_z\end{array}\right]}^{\′}$

In the formula, subscript 6 expressions comprise the six-dimensional force of power, moment, ^SF _M6The six-dimensional force that records for six-dimension force sensor;

[ ^SF _G' m _xm _ym _z] ' be given value, according to displacement transducer the go ahead of the rest actual shift value that records and theoretical profile model, adopt Position Control along the machining locus tangential direction, adjust robot end's position and attitude, make position sensor, grinding head aim at machining locus, make grinding head all the time perpendicular to machining locus, adjust the flexible of robot end and make ^SF _M6Keep constant, so ^SF _H6Keep constant, realize the constant force polishing, improve crudy, can finish complex-curved polishing.

The above-mentioned specific embodiment is the preferred embodiments of the present invention, can not limit the present invention, and other any change or other equivalent substitute mode that does not deviate from technical scheme of the present invention and make is included within protection scope of the present invention.

Claims (8)

1. robot sanding apparatus, it is characterized in that: comprise robot, sensor holder, power sensor, firm banking, electric grinding machine and displacement transducer, described electric grinding machine and displacement transducer are installed on the firm banking, firm banking is fixed on the panel of power sensor, the power sensor is fixed on the sensor holder, and the sensor holder is fixed on the robot end.

2. robot according to claim 1 sanding apparatus, it is characterized in that: described firm banking connects brace, electric grinding machine is installed on the brace by 2 holding pieces, and displacement transducer is installed on the corner by 2 holding pieces, and corner is installed on the brace.

3. robot according to claim 2 sanding apparatus, it is characterized in that: described brace is the flat sided straight dihedral.

4. robot according to claim 2 sanding apparatus, it is characterized in that: described corner is two the right angles bendings in space.

5. robot according to claim 1 sanding apparatus, it is characterized in that: the grinding head of described electric grinding machine is clamped on the body of electric grinding machine by dop.

6. robot according to claim 5 sanding apparatus, it is characterized in that: the axis direction of described electric grinding machine and displacement transducer is the Z-direction along the robot end, and the probe at displacement transducer top is than exceeding 1-5mm on the described Z-direction of the grinding head of electric grinding machine.

7. robot according to claim 6 sanding apparatus, it is characterized in that: described power sensor is six-dimension force sensor.

8. the polishing process of robot according to claim 7 sanding apparatus is characterized in that: may further comprise the steps:

1. according to theoretical profile model planning machining locus and a definite cutter point of processing;

2. make the robot end with less than the speed of 5cm/s near workpiece;

3. the probe when displacement transducer produces compression, makes the robot end that the even speed that is decelerated to is zero, stops to advance of Z-direction;

4. begin along machining locus processing, displacement transducer is front, and grinding head is rear, and the machining control of machining locus comprises C and E-C, and C is power control selection matrix, and E is unit matrix, and E-C is the Position Control selection matrix; Owing to only needing the contact force of the Z-direction of control end, C=diag[0 then, 0,1,0,0,0], the diagonal entry of diag representing matrix, other off diagonal elements are 0 entirely;

The measured value of six-dimension force sensor comprises power value, moment values, wherein, and the power value ^SF _MThe reaction force that comprises workpiece ^SF _H, equipment gravity ^SF _G, equipment inertia force ^SF _I, that is:

^SF _M＝ ^SF _H+ ^SF _G+ ^SF _I

S is the six-dimension force sensor coordinate system, and M represents measured value, and H is workpiece, and G is equipment, and I is inertia, and described equipment comprises: firm banking, brace, holding piece, corner, electric grinding machine, displacement transducer;

During the polishing of Robot machining locus, speed is constant speed, and acceleration is 0, equipment inertia force ^SF _IBe 0;

To equipment gravity ^SF _GCarry out force compensating, eliminate ^SF _GRight ^SF _MImpact; Equipment gravity ^SF _GIn basis coordinates system, can be expressed as ^BF _G=[0 0-G] ', B are basis coordinates system, and " ' " represents matrix transpose;

If S with respect to the rotation transformation of B is

Robot coordinate system T with respect to the rotation transformation of S is T with respect to the rotation transformation of B is

The rotation transformation of R denotation coordination system;

In the polishing process, the operating force of grinding head is the reaction force of workpiece ^SF _HBe steady state value, namely eliminating ^SF _GImpact after, ^SF _MBe constant; Because

Record by experiment equipment gravity ^SF _GAnd ^SF _GCenter of gravity (l at S _x, l _y, l _z), l _x, l _y, l _zBe respectively the coordinate figure of x among the S, y, z direction, can try to achieve ^SF _GThe moment that forms at S is:

$\left[\begin{array}{c}{m}_x\\ m_y\\ m_z\end{array}\right]=\left[\begin{array}{ccc}0& -l_z& l_y\\ l_z& 0& -l_x\\ -l_y& l_x& 0\end{array}\right]\·{F_G^S}^{\′}$

M in the formula _x, m _y, m _zBe respectively the component of moment x, y, z direction in S; Then workpiece comprises the anti-sextuple active force of power, moment ^SF _H6:

$F_{H6}^S=F_{M6}^S-{\left[\begin{array}{cccc}{F_G^S}^{\′}& m_x& m_y& m_z\end{array}\right]}^{\′}$

In the formula, subscript 6 expressions comprise the six-dimensional force of power, moment, ^SF _M6The six-dimensional force that records for six-dimension force sensor;

Be given value, according to displacement transducer the go ahead of the rest actual shift value that records and theoretical profile model, adopt Position Control along the machining locus tangential direction, adjust robot end's position and attitude, make position sensor, grinding head aim at machining locus, make grinding head all the time perpendicular to machining locus, adjust the flexible of robot end and make ^SF _M6Keep constant, so ^SF _H6Keep constant, realize the constant force polishing.

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