CN207724306U

CN207724306U - A kind of robot polishing Force control system

Info

Publication number: CN207724306U
Application number: CN201721794281.8U
Authority: CN
Inventors: 刘志恒
Original assignee: Wuhu Hit Robot Technology Research Institute Co Ltd
Current assignee: Wuhu Hit Robot Technology Research Institute Co Ltd
Priority date: 2017-12-20
Filing date: 2017-12-20
Publication date: 2018-08-14
Anticipated expiration: 2027-12-20

Abstract

The utility model discloses a kind of robot polishing Force control system, system is equipped with the robot cell for object of polishing, its real-time posture information is sent to robot controller by the robot cell, the robot cell is equipped with the force snesor of acquisition polishing dynamics, the force snesor exports the real-time supreme position machine controller of force information, the robot cell exports real-time pose information to supervisory controller, the supervisory controller corrects pose signal to robot controller according to real-time force information and the output of real-time pose information, the robot controller changes current movement locus according to pose signal driving device people's unit is corrected.The utility model has the advantage of in robot bruting process, Force control system adjusts polishing track in real time, process power can be kept constant, workpiece surface processing quality is higher, works well.

Description

A kind of robot polishing Force control system

Technical field

The utility model is related to the motion control fields of industrial robot, and the expansible motion control for using lathe is led Domain.

Background technology

The rapid development of robot technology so that a large amount of robot is applied in industrial production, with sensory perceptual system Appearance, this kind of conventional fabrication processes of manual polishing are also gradually replacing by robot automatically grinding；

Robot polishes in process, and the deviation of end-of-arm tooling and workpiece generates contact force, and larger contact force is easily right Robot and workpiece cause to damage, and the size of contact force affects the precision of processing, and then influences the quality of processing, only by Mission requirements are not achieved in robot location's control system.In addition, power control function is added in industrial robot not yet, can only carry out Position controls and speed control, and is all made of the controller of enclosed construction, causes the secondary development of final control system difficult, difficult To meet production requirement.

Utility model content

Technical problem to be solved in the utility model, which is that realization is a kind of, facilitating secondary development, can beat industrial robot The system that mill power is controlled.

To achieve the goals above, the technical solution adopted in the utility model is：A kind of robot polishing Force control system, System is equipped with the robot cell for object of polishing, its real-time posture information is sent to robot control by the robot cell Device processed, the robot cell are equipped with the force snesor of acquisition polishing dynamics, and the force snesor exports real-time force information extremely Supervisory controller, the robot cell export real-time pose information to supervisory controller, the supervisory controller root Force information and the output of real-time pose information correct pose signal to robot controller when factually, the robot controller according to It corrects pose signal driving device people's unit and changes current movement locus.

Between the force snesor is mounted on milling tools and robot cell for fixing the mounting portion of milling tools, The force snesor acquisition milling tools is applied to the normal force being polished on object.

It is communicated using socket between the supervisory controller and robot controller, the supervisory controller and power It is communicated using EtherCAT between sensor.

The utility model has the advantage of in robot bruting process, Force control system adjusts polishing track in real time, can protect It is constant to hold process power, workpiece surface processing quality is higher, works well.

Description of the drawings

The content of every width attached drawing expression in the utility model specification is briefly described below：

Fig. 1 is robot polishing Force control system block diagram；

Fig. 2 is to be corrected in bruting process, compensate lines figure；

Fig. 3 is robot polishing force control method flow chart.

Specific implementation mode

Force control system is polished using embedded controller as supervisory controller by robot, and Integrated Simulation is in PC machine On, writing for entire software systems can be carried out.As shown in Figure 1, supervisory controller connects force snesor, real-time force letter is received Breath, correction amount is calculated through force control method；Robot controller sends real-time pose as slave computer to supervisory controller Information, and receive modified posture information and change current movement locus, control robot carries out the constant polishing processing of normal force. It is communicated using socket between supervisory controller and robot controller, is used between supervisory controller and force snesor EtherCAT is communicated.

The process as shown in Fig. 2, robot polishes, the processing quality of workpiece surface depend on the track with polishing, polishing It is a continuous Grinding Process, is the uninterrupted processing procedure to workpiece surface, therefore needs to polishing track into action State is planned.Initial track is obtained by robot demonstrator online programming, pending polishing processing initial point is obtained, to each A point carries out the adjustment of control strategy successively, obtains the displacement for needing normal bias, and then obtains coordinate modification amount, controls machine People moves to revised point, which is more accurate trajectory location points；The compensation rate for seeking subsequent point, to next initial click-through Row position compensation, control robot reach the point after next compensation, according to the normal direction force information of feedback, then carry out control strategy The point is accurately corrected in operation, and so on, until polishing terminates.

In robot polishing system, the polishing trajectory planning of single-point cycle is proposed, as shown in Figure 3.Norma l deviation is set Force threshold h, detection error power error, the condition as cycle polishing.Force information is acquired in real time and is handled, and Norma l deviation power is obtained △ F, judge whether △ F are more than given accuracy value, if it is, illustrate that normal force precision is inadequate, need to the point again into Row position correction, calculating position correction amount pass to robot controller and run to and repair a little, and acquire new force information and handle To new Norma l deviation power △ F, precision judgement is carried out；If it is not, then jumping out cycle, the positional precision of the adjusting point is higher, will The offset of the adjusting point and initial point carries out normal direction position compensation, then right as the compensation rate of subsequent point to next initial point The initial point of compensation carries out position and recycles makeover process.Terminal position precision, and accuracy value can guarantee using this control program Size oneself can be adjusted, and control algolithm is succinctly effective

The adjustment mode of posture can be increased, in real time only to the adjustment of terminal position to the adjustment process for track of polishing The processing of end milling tools posture vertical surface is adjusted, complex-curved polishing is applied to.

The utility model is exemplarily described above in conjunction with attached drawing, it is clear that the utility model specific implementation not by The limitation of aforesaid way, as long as using the methodology of the utility model and various unsubstantialities that technical solution carries out change Into, or it is not improved the design of the utility model and technical solution are directly applied into other occasions, in the utility model Protection domain within.

Claims

The Force control system 1. a kind of robot polishes, system are equipped with the robot cell for object of polishing, the robot list Its real-time posture information is sent to robot controller by member, it is characterised in that：The robot cell is equipped with acquisition and polishes The force snesor of dynamics, the force snesor export the real-time supreme position machine controller of force information, and the robot cell exports real When posture information to supervisory controller, the supervisory controller is corrected according to real-time force information and the output of real-time pose information For pose signal to robot controller, the robot controller is current according to the modification of pose signal driving device people's unit is corrected Movement locus.
The Force control system 2. robot according to claim 1 polishes, it is characterised in that：The force snesor is mounted on and beats Grinder have and robot cell it is upper for fixing the mounting portion of milling tools between, the force snesor acquisition milling tools application Normal force on being polished object.
The Force control system 3. robot according to claim 1 or 2 polishes, it is characterised in that：The supervisory controller It is communicated using socket between robot controller, it is logical using EtherCAT between the supervisory controller and force snesor News.