CN111070045A - Anti-collision and force overshoot detection system and method for blade grinding and polishing - Google Patents

Anti-collision and force overshoot detection system and method for blade grinding and polishing Download PDF

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CN111070045A
CN111070045A CN201911264386.6A CN201911264386A CN111070045A CN 111070045 A CN111070045 A CN 111070045A CN 201911264386 A CN201911264386 A CN 201911264386A CN 111070045 A CN111070045 A CN 111070045A
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force
grinding
blade
robot
signal
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CN111070045B (en
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赵欢
李振
刘�东
丁汉
谢钱龙
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
    • B24B49/165—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load for grinding tyres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • B24B19/14—Single-purpose machines or devices for particular grinding operations not covered by any other main group for grinding turbine blades, propeller blades or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G01L5/0076—Force sensors associated with manufacturing machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
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Abstract

The invention discloses an anti-collision and force overshoot detection system and method for blade grinding and polishing. The system comprises a robot grinding and polishing unit, a blade clamping and polishing device and a control unit, wherein the robot grinding and polishing unit comprises a robot and a grinding and polishing mechanism, and the robot clamping blade and the grinding and polishing mechanism are gradually transited from a non-contact state to a contact state; the force control measuring device comprises a six-dimensional force sensor and a force control measuring head, and the force control measuring head is used for measuring a contact force signal between the blade and the grinding and polishing mechanism in real time; the force control optimization module is used for carrying out filtering processing, gravity compensation and impedance calculation on the contact force signal to obtain a force or moment signal in a state of different contact with the blade and the grinding and polishing mechanism; and the control module is used for controlling the pose and the feeding parameters of the robot according to the force or moment signals, so that the contact force is adaptively adjusted according to the contact state between the blade and the grinding and polishing mechanism. The invention can effectively detect the collision and force overshoot of the blade grinding and polishing processing, and has high detection precision.

Description

Anti-collision and force overshoot detection system and method for blade grinding and polishing
Technical Field
The invention belongs to the technical field of robot machining detection, and particularly relates to an anti-collision and force overshoot detection system and method for blade grinding and polishing machining.
Background
The blade plays an important role in a plurality of occasions in the industrial field, and the grinding and polishing processing of the blade is a key process for various blades. With the advancement of technology and the development of times, the traditional manual polishing process faces many challenges, such as the problems of bad working environment, loud noise and harming human body. The blade grinding and polishing process by the industrial robot instead of the traditional manual work gradually becomes the current development trend and research hotspot, and the blade grinding and polishing process by the robot can improve the processing quality and the production efficiency of the blade grinding and polishing and can reduce the labor intensity and the health damage of the manual work.
When the industrial robot grinds and polishes the blade, the robot passes through a transition process state and is transited from a non-contact state to a contact state with a workpiece. Due to inertia and time delay of the industrial robot, collision and impact between the robot and the blade are caused with high probability, so that the actual contact force between the robot and the blade is overlarge. If the impact force of the robot on the blade cannot be solved, the robot, the blade and the grinding tool are damaged. In addition, in the transition process of contact with the grinding and polishing blade, the contact force control is difficult due to the non-zero approaching speed and the discontinuous dynamic characteristic, and the surface processing quality of the blade and the stability of the whole grinding and polishing system can be influenced by excessive force oscillation, so that the research on the anti-collision and force overshoot application of the grinding and polishing of the blade has very important practical significance.
Typically, when the blade and abrading tool move from free space to confined space, a non-zero approach velocity will impact the rigid blade, causing a strong oscillation of the contact force. Therefore, achieving a smooth transition of sanding is critical to the sanding process. At present, the research on collision dynamics and control strategies is less, particularly in the field of accurate force control, the transition state is a process from a free state to a stable state, the strong vibration of the contact force can influence the implementation of a follow-up force control strategy, the service life of a grinding tool is seriously influenced, and the control system becomes unstable.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a system and a method for detecting the anti-collision and force overshoot of the grinding and polishing processing of the blade.
In order to achieve the above object, according to an aspect of the present invention, there is provided a blade grinding and polishing processing anti-collision and force overshoot detection system, including:
the robot grinding and polishing unit comprises a robot and a grinding and polishing mechanism, wherein the robot clamping blade and the grinding and polishing mechanism are gradually transited from a non-contact state to a contact state;
the force control measuring device comprises a six-dimensional force sensor arranged at the tail end of the robot and a force control probe arranged at the tail end of the six-dimensional force sensor, and the force control probe and the six-dimensional force sensor are used for measuring contact force signals between the blade and the grinding and polishing mechanism in real time;
the force control optimization unit is used for carrying out filtering processing, gravity compensation and impedance calculation on the contact force signal to obtain a force or moment signal in different contact states with the blade and the grinding and polishing mechanism; and the above-mentioned materials are mixed and stirred,
and the control unit is used for controlling the pose and feeding parameters of the robot according to the force or moment signals, so that the contact force is adaptively adjusted according to the contact state between the blade and the grinding and polishing mechanism, and the collision or overshoot of the blade is prevented.
Furthermore, the force control measuring device comprises a bracket, a flange, a spring and a force control measuring head fastening nut;
the force control probe is connected with the six-dimensional force sensor through the spring, the force control measuring head fastening nut and the bracket;
the six-dimensional force sensor is connected with the tail end of the robot through the flange.
Further, the force control optimization unit includes:
a filtering processing module; the touch force signal is used for filtering the touch force signal;
a gravity compensation module; the gravity compensation module is used for carrying out gravity compensation on the contact force signal after the filtering processing; and the number of the first and second groups,
an impedance calculation module; and the device is used for performing impedance optimization calculation on the contact force signal after gravity compensation to obtain force or moment signals of the blade and the grinding and polishing mechanism in different contact states.
Further, the control unit includes:
the signal amplification module is used for amplifying the force or moment signal;
the computer is used for processing the amplified force or moment signal to obtain a robot control command; and the number of the first and second groups,
a controller; and the control device is used for controlling the pose and the feeding parameters of the robot according to the control instruction.
Furthermore, the control unit comprises a servo drive and a servo motor, and the servo drive is used for controlling the servo motor to act according to a control command of the controller.
According to another aspect of the invention, a method for detecting collision prevention and force overshoot in blade grinding and polishing machining is provided, which comprises the following steps:
s100: the robot clamping blade and the grinding and polishing mechanism are gradually transited from a non-contact state to a contact state, and a force or moment signal borne by a force control probe at the tail end of the robot is measured in real time;
s200: filtering the force or moment signal to remove a high-frequency noise signal in the force or moment signal;
s300: performing gravity compensation on the filtered force or moment signal;
s400: carrying out impedance control optimization on the force or torque signal after gravity compensation to obtain a force or torque signal under the coordinate of the force control probe;
s500: and controlling the pose and feed parameters of the robot according to force or moment signals under the coordinate of the force control probe, so that the contact force is self-adaptively adjusted according to the contact state between the blade and the grinding and polishing mechanism, and the collision or overshoot of the blade is prevented.
Further, step S100 further includes:
force transformation matrix by robot
Figure BDA0002312432560000041
Signal of force/moment of sensor coordinate system SSConversion of Γ into a signal in the force-control probe coordinate system { T }TΓ：
Figure BDA0002312432560000042
Wherein:TΓ＝[fTxfTyfTztTxtTytTz]T，SΓ＝[fSxfSyfSztSxtSytSz]T， fTx，fTyand fTzForce signal, T, representing force control head coordinate system { T }Tx，tTyAnd tTzMoment signal representing force control head coordinate system { T }, and corresponding fSx，fSyAnd fSzForce signal, t, representing the sensor coordinate system SSx，tSyAnd tSzA moment signal representing the force sensor coordinate system S.
Further, in step S200, the force or torque signal is filtered by a digital low-pass filter, where the transfer function of the digital low-pass filter is:
Figure BDA0002312432560000043
wherein: n is the order of the filter, ω is the frequency, ωcIs the cut-off frequency.
Further, in step S300, the gravity compensation includes: self gravity of force control measuring device in polar coordinate system { B } through coordinate transformationBFGConversion into the sensor coordinate System SSFG：
Figure BDA0002312432560000044
Wherein:
Figure BDA0002312432560000045
and respectively represent a rotation transformation matrix from the robot base coordinate system { B } to the robot end coordinate system { E } and a rotation transformation matrix from the robot end coordinate system { E } to the sensor coordinate system { S }.
Further, in step S400, the impedance control optimization includes accelerating convergence of the robot position by increasing the damping coefficient in the contact space, and reducing the impact of the environment on the robot.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
1. the detection system provided by the invention realizes three-dimensional measurement of the complex curved surface of the blade, provides a theoretical analysis method for anti-collision and force impact, accelerates the convergence of the tail end position of the robot in the measurement process, and reduces the effectiveness of the environment on the impact force of the robot.
2. According to the detection system, the six-dimensional force sensor is adopted to collect the contact force borne by the force control measuring head, and the obtained force/moment signals are subjected to operations such as filtering processing, gravity compensation calculation, impedance calculation and the like, so that accurate force/moment signals can be obtained, and the measurement accuracy is improved.
3. The detection system provided by the invention designs the blade grinding and polishing processing anti-collision and force overshoot detection system with the mutual matching of the mechanical arm of the industrial robot and the force control measuring device, researches and designs the structure and the arrangement mode of the force control measuring device, and adds the force control part in the detection process, so that the measured data is more real and reliable.
4. According to the detection system, the force control measuring head of the force control measuring device is used for detecting the collision condition of the blade grinding and polishing processing overshoot, analysis processing can be carried out on the detected data, the convergence of the position of the robot is accelerated in the grinding and polishing processing transition process, the impact of the environment is reduced, the subsequent force control of the grinding and polishing processing can be more accurate, and the transition from the free state to the stable state is effectively realized.
Drawings
Fig. 1 is a control schematic diagram of a blade grinding and polishing processing anti-collision and force overshoot detection system constructed in the embodiment of the invention;
FIG. 2 is a schematic structural diagram of a force control measurement apparatus constructed in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of an industrial robot arm according to an embodiment of the present disclosure;
FIG. 4 is a force control and optimization diagram in an embodiment of the present invention;
FIG. 5 is a schematic view of a blade of the burnishing and polishing type in an embodiment of the present invention;
FIG. 6 is a schematic diagram of the force control principle in an embodiment of the present invention.
In all the figures, the same reference numerals denote the same features, in particular: 21-flange, 22-six-dimensional force sensor, 23-bracket, 24-force control measuring head fastening nut, 25-spring, 26-force control measuring head, 33-industrial robot, 32-robot mechanical arm and 31-robot controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, an embodiment of the present invention provides an anti-collision and force overshoot detection system for blade grinding and polishing, including an industrial robot arm and a force control measuring device; the mechanical arm of the industrial robot is used for driving the power control measuring device to realize three-dimensional motion in a working space, and motion in the three directions of XYZ is realized. The force control measuring device is in the same direction with the Z axis of the mechanical arm of the industrial robot and is used for detecting the collision condition and the force overshoot condition in the overshoot of the blade grinding and polishing machining, and analyzing the detection result to be used as the reference of the subsequent grinding and polishing machining. The force control measuring device and the Z axis of the mechanical arm 32 of the industrial robot are in the same direction and are mainly used for keeping constant force contact with the surface of the blade to be detected during a force tracking experiment, and the actual contact force between the force control measuring head and the surface of the blade to be detected is fed back through the six-dimensional force sensor 22 for further analysis and improvement.
As shown in fig. 2, the force control measuring device provided in the embodiment of the present invention mainly includes a flange 21, a six-dimensional force sensor 22, a bracket 23, a force control probe fastening nut 24, a spring 25, and a force control probe 26. The flange 21 is mounted at the end of an industrial robot arm 32, one end of the six-dimensional force sensor 22 is mounted on the flange 21, the other end is connected with a bracket 23, and a force control probe 26 for contacting with a workpiece such as a blade is mounted on the bracket 23. When a complex curved surface such as a blade is measured, the six-dimensional force sensor 22 collects the contact force between the force control measuring head 26 and a workpiece to be polished and polished, and feeds back the collected force/moment signal to the control system, the control system adopts an improved PID control algorithm for detection, and the control principle of the control system is shown in FIG. 4. According to the force/moment information in the transition process collected by the six-dimensional force sensor 22 in the overshoot from the state of the force control measuring head 26 of the force control measuring device to the contact of the force control measuring head and the blade to the blade, whether the collision and the force overshoot exist in the transition process is judged and detected. The actual contact force is calculated from the measurement of the six-dimensional force sensor 22 during the transition, the detected actual contact force is then compared with the set desired contact force, and corresponding corrections are made during the polishing process based on the results of the comparative analysis. When the actual contact force is larger than the expected target contact force, the force control measuring head is far away from the workpiece to be processed, and the control quantity of the force control measuring head is a negative value to compensate; when the actual contact force is smaller than the expected target contact force, the control quantity is positive, the force control measuring head of the force control measuring device advances, the PID of the control system is used for adjusting, the actual contact force in the transition process is converged to the expected target contact force, and the smooth transition process of polishing is smoothly realized. During the measurement and detection process, the expected target contact force is set according to the actual grinding and polishing processing environment and the actual requirement.
The invention provides a method for optimizing measurement data of a blade grinding and polishing anti-collision and force overshoot detection system, which comprises the following specific steps:
s1: the detection system needs to detect the acting force between the robot and the environment by using a six-dimensional force sensor installed at the tail end of the mechanical arm, namely, the detection system detects and controls the tail end of the force control measuring head to be acted by the acting force, so that a force/moment signal detected by the sensor needs to be converted into a force/moment signal under a force control measuring head coordinate system. Force transformation matrix by robotics
Figure BDA0002312432560000071
Signal of force/moment of sensor coordinate system SSConversion of Γ into a signal in the force control probe coordinate system { T }TΓ：
Figure BDA0002312432560000072
Wherein:TΓ＝[fTxfTyfTztTxtTytTz]T，SΓ＝[fSxfSyfSztSxtSytSz]T， fTx，fTyand fTzForce signal, T, representing force control head coordinate system { T }Tx，tTyAnd tTzMoment signal representing force control probe coordinate system { T }Number, f corresponding theretoSx，fSyAnd fSzForce signal, t, representing the sensor coordinate system SSx，tSyAnd tSzA moment signal representing a force sensor coordinate system { S };
Figure BDA0002312432560000076
is a force transformation matrix from the sensor coordinate system { S } to the force control head coordinate system { T }:
Figure BDA0002312432560000073
wherein:
Figure BDA0002312432560000074
andTp is respectively a rotation component and a translation component of the transformation matrix, and because the six-dimensional force sensor only carries out translation motion and does not carry out rotation motion in the detection process, the coordinate transformation matrix can be further simplified as follows:
Figure BDA0002312432560000075
wherein d isx，dyAnd dzThe offset amounts from the sensor coordinate system { S } to the force control head coordinate system { T };
as a further preference, a more precise force/torque conversion relationship can be obtained by a derivation calculation:
Figure BDA0002312432560000081
s2: the six-dimensional force sensor is easily interfered by environmental factors, limited by self factors, vibrated by a mechanical arm of the industrial robot and the like in the detection process, so that the influence of noise in a force signal of the six-dimensional force sensor is directly caused, the measured force/moment is inaccurate, certain errors exist, the control system is further unstable, the mechanical arm of the robot deviates from a normal position, and therefore in order to improve the accuracy of the acquired force/moment information, filtering optimization processing needs to be carried out on the force signal obtained by the force sensor. Most of noise signals are distributed in a high-frequency part, and the signals are concentrated in a low-frequency part, so that a digital low-pass filter is selected to filter force signals acquired by the six-dimensional force sensor;
the designed low-pass filter adopts a Butterworth function as a transfer function of the filter, only the requirement of amplitude-frequency characteristics is considered, and the amplitude-frequency characteristics are as follows:
Figure BDA0002312432560000082
where n is the order of the filter, ωcIs the cut-off frequency;
the accuracy of the force/moment information after filtering is further improved, the filtered signal is smoother, and no distortion phenomenon exists;
s3 measured value F of six-dimensional force sensor is obtained by mounting the six-dimensional force sensor on the end flange of the robot mechanical armSIncluding the self-weight F of the force-controlled measuring deviceGActing force F applied by external environment to force control measuring deviceEAnd an inertial force FI. However, gravity has a great influence on the data acquired by the six-dimensional force sensor, so that gravity compensation operation is performed on the data acquired by the six-dimensional force sensor. Because the gravity of the force control measuring device is always vertical downwards and is opposite to the Z-axis direction of the base coordinate system, the gravity in the base coordinate system { B } is converted into the gravity in the sensor coordinate system { S } through corresponding coordinate conversion:
Figure BDA0002312432560000091
wherein:
Figure BDA0002312432560000092
respectively representing a rotation transformation matrix from a robot base coordinate system { B } to a robot end coordinate system { E } and a rotation transformation matrix from the robot end coordinate system { E } to a sensor coordinate system { S };
as a further preferred, the influence of gravity of the force control measuring device is eliminated, and the following can be further optimized:
Figure BDA0002312432560000093
wherein:SFE、SFS、SFGrespectively representing the force acted by the tail end of the robot, the measured value of the six-dimensional force sensor and the gravity of the force control measuring device under a force sensor coordinate system { S };
preferably, the force control measuring device requires that the contact force of the contact end is kept constant when the contact end is in contact with the environment, and the six-dimensional force sensor collects the measured force/moment information and performs corresponding coordinate transformation under the sensor coordinate system { S }:
Figure BDA0002312432560000094
wherein:BFErepresenting the acting force exerted on the force control measuring device by the external environment under the robot base coordinate system B,
Figure BDA0002312432560000095
a rotation transformation matrix from a sensor coordinate system { S } to a robot base coordinate system { B };
s4 is further preferable, after the steps related to S1, S2 and S3 are completed, the obtained data information is subjected to impedance control calculation for further optimization. After the impedance control calculation, more accurate f can be obtainedTx、fTy、fTz、tTx、tTyAnd tTzNumerical values. Will be optimized fTx、fTy、 fTz、tTx、tTyAnd tTzThe data and information of the process are transmitted to a controller of a control system, the controller controls a servo motor of a corresponding servo driving system to complete corresponding action according to the received data, and the data and the information of the process are transmitted to a computerAnd the machine is used for conveniently realizing the man-machine interaction in the detection process.
Determining an initial position of an industrial robot, setting a control condition as that the robot does not bear external force and moves along a Z-axis of a base coordinate system to a balance position of the robot under the action of an impedance control strategy, taking a smaller rigidity parameter in order to avoid larger impact force caused by contact of a mechanical arm of the industrial robot and a six-dimensional force sensor, adjusting the motion magnification of the robot, estimating a rigidity matrix, an inertia parameter matrix and a damping parameter matrix, setting corresponding parameters, and observing the convergence condition and the stress condition of the position of the industrial robot when the industrial robot contacts workpieces with different rigidities;
when the stiffness of the environment of the end contacted by the industrial robot is lower, the more easily the end position of the industrial robot converges and the more easily the contact force reaches a steady state. When the rigidity of the environment of the contacted end is particularly high, the end of the industrial robot may not stay on the surface of the contacted environment, but continuously contact and leave, so that the industrial robot collides in the overshoot of the contacted environment, and is subjected to a large impact force, and is difficult to reach a stable state.
The robot system moves from an initial position to a balance point under the condition of no stress, when the speed of the robot system in contact with the environment is v, the rigidity of the external environment is keThen, combining m, d, and k of the detection system, taking an instant when the detection system is in contact with the environment as an initial zero point t equal to 0, and a corresponding contact velocity v, then a differential equation of the detection system may be listed:
Figure BDA0002312432560000101
Figure BDA0002312432560000102
x is less than or equal to l (t); wherein l is the distance between the balance point of the detection system and the final point of the movement. The initial conditions of the differential equation are x (0) — l and
Figure BDA0002312432560000103
according to the established differential equation
Figure BDA0002312432560000104
Two characteristics that can be obtained from the differential equation are
Figure BDA0002312432560000105
When the environment contacted by the detection system has higher rigidity, d can be known2-4(k+ke) m is less than 0, the solution of the second order differential equation can be solved as follows:
Figure BDA0002312432560000106
wherein:
Figure BDA0002312432560000107
and
Figure BDA0002312432560000108
α, the value of α determines the convergence rate of the whole detection system, the oscillation of the system attenuates more quickly and converges more quickly, β determines the frequency of the oscillation of the robot, and β is larger when the rigidity of the environment is larger, so that the oscillation of the system is more serious;
according to the theoretical analysis, when the environment with high contact rigidity of the system is detected, if the transition process needs to be accelerated to make the speed of the industrial robot converge, the absolute value of α needs to be increased and the absolute value of β needs to be reduced.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. The utility model provides a blade grinds and throws processing anticollision and power overshoot detecting system which characterized in that includes:
the robot grinding and polishing unit comprises a robot and a grinding and polishing mechanism, wherein the robot clamping blade and the grinding and polishing mechanism are gradually transited from a non-contact state to a contact state;
the force control measuring device comprises a six-dimensional force sensor arranged at the tail end of the robot and a force control measuring head arranged at the tail end of the six-dimensional force sensor, and the force control measuring head and the six-dimensional force sensor are used for measuring contact force signals between the blade and the grinding and polishing mechanism in real time;
the force control optimization unit is used for carrying out filtering processing, gravity compensation and impedance calculation on the contact force signal to obtain a force or moment signal in a state of different contact with the blade and the grinding and polishing mechanism; and the number of the first and second groups,
and the control unit is used for controlling the pose and the feeding parameters of the robot according to the force or moment signals, so that the contact force is adaptively adjusted according to the contact state between the blade and the grinding and polishing mechanism, and the collision or overshoot of the blade is prevented.
2. The system for detecting the collision resistance and the force overshoot of the blade grinding and polishing machining according to claim 1, wherein the force control measuring device comprises a bracket, a flange, a spring and a force control measuring head fastening nut;
the force control measuring head is connected with the six-dimensional force sensor through the spring, the force control measuring head fastening nut and the bracket;
the six-dimensional force sensor is connected with the tail end of the robot through the flange.
3. The system for detecting collision prevention and force overshoot during blade grinding and polishing according to claim 1, wherein the force control optimization unit comprises:
a filtering processing module; the touch force signal is used for filtering the touch force signal;
a gravity compensation module; the gravity compensation module is used for carrying out gravity compensation on the contact force signal after the filtering processing; and the number of the first and second groups,
an impedance calculation module; and the device is used for performing impedance optimization calculation on the contact force signal after gravity compensation to obtain force or moment signals of the blade and the grinding and polishing mechanism in different contact states.
4. The system for detecting collision prevention and force overshoot in blade grinding and polishing machining according to any one of claims 1-3, wherein the control unit comprises:
the signal amplification module is used for amplifying the force or moment signal;
the computer is used for processing the amplified force or moment signal to obtain a robot control instruction; and the number of the first and second groups,
a controller; and the control device is used for controlling the pose and the feeding parameters of the robot according to the control instruction.
5. The system for detecting the collision prevention and the force overshoot for the blade grinding and polishing process as claimed in claim 4, wherein the control unit comprises a servo drive and a servo motor, and the servo drive is used for controlling the servo motor to act according to the control command of the controller.
6. The anti-collision and force overshoot detection method for the grinding and polishing processing of the blade is characterized by comprising the following steps of:
s100: the robot clamping blade and the grinding and polishing mechanism are gradually transited from a non-contact state to a contact state, and a force or moment signal borne by a force control probe at the tail end of the robot is measured in real time;
s200: filtering the force or moment signal to remove a high-frequency noise signal in the force or moment signal;
s300: performing gravity compensation on the filtered force or moment signal;
s400: carrying out impedance control optimization on the force or torque signal after gravity compensation to obtain an accurate force or torque signal under the coordinate of the force control measuring head;
s500: and controlling the pose and the feeding parameters of the robot according to a force or moment signal under the coordinate of the force control measuring head, so that the self-adaptive adjustment of the contact force is realized according to the contact state between the blade and the grinding and polishing mechanism, and the collision or overshoot of the blade is prevented.
7. The method for detecting the collision prevention and the force overshoot of the blade grinding and polishing process according to claim 6, wherein the step S100 further comprises:
force transformation matrix by robot
Figure FDA0002312432550000021
Signal of force/moment of sensor coordinate system SSConversion of Γ into a signal in the force control probe coordinate system { T }TΓ：
Figure FDA0002312432550000031
Wherein:TΓ＝[fTxfTyfTztTxtTytTz]T，SΓ＝[fSxfSyfSztSxtSytSz]T，fTx，fTyand fTzForce signal, T, representing force control head coordinate system { T }Tx，tTyAnd tTzMoment signal representing force control head coordinate system { T }, and corresponding fSx，fSyAnd fSzForce signal, t, representing the sensor coordinate system SSx，tSyAnd tSzA moment signal representing the force sensor coordinate system S.
8. The method for detecting the anti-collision and force overshoot during the blade grinding and polishing process according to claim 6, wherein in step S200, the force or torque signal is filtered by a digital low pass filter, and the transfer function of the digital low pass filter is as follows:
Figure FDA0002312432550000032
wherein: n is the order of the filter, ω is the frequency, ωcIs the cut-off frequency.
9. The method for detecting collision prevention and force overshoot during blade grinding and polishing according to claim 6, wherein in step S300, the gravity compensation comprises: self gravity of force control measuring device in polar coordinate system { B } through coordinate transformationBFGConversion into the sensor coordinate System SSFG：
Figure FDA0002312432550000033
Wherein:
Figure FDA0002312432550000034
and a rotation transformation matrix from the robot base coordinate system { B } to the robot end coordinate system { E } and a rotation transformation matrix from the robot end coordinate system { E } to the sensor coordinate system { S } are respectively expressed.
10. The method for detecting anti-collision and force overshoot during blade grinding and polishing process according to claim 6, wherein in step S400, the impedance control optimization comprises accelerating convergence of the robot position by increasing the damping coefficient in the contact space, so as to reduce the impact of the environment on the robot.
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