CN207724306U - A kind of robot polishing Force control system - Google Patents
A kind of robot polishing Force control system Download PDFInfo
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- CN207724306U CN207724306U CN201721794281.8U CN201721794281U CN207724306U CN 207724306 U CN207724306 U CN 207724306U CN 201721794281 U CN201721794281 U CN 201721794281U CN 207724306 U CN207724306 U CN 207724306U
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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
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 (3)
- 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.
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CN201721794281.8U CN207724306U (en) | 2017-12-20 | 2017-12-20 | A kind of robot polishing Force control system |
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CN201721794281.8U CN207724306U (en) | 2017-12-20 | 2017-12-20 | A kind of robot polishing Force control system |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107838920A (en) * | 2017-12-20 | 2018-03-27 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot polishing Force control system and method |
CN108115690A (en) * | 2017-12-31 | 2018-06-05 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot adaptive control system and method |
CN109483532A (en) * | 2018-11-01 | 2019-03-19 | 东莞市中天自动化科技有限公司 | Lathe and its corase grinding robot control method |
CN110549332A (en) * | 2019-08-02 | 2019-12-10 | 武汉库柏特科技有限公司 | stepping control method and device, polishing robot and readable storage medium |
-
2017
- 2017-12-20 CN CN201721794281.8U patent/CN207724306U/en active Active
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107838920A (en) * | 2017-12-20 | 2018-03-27 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot polishing Force control system and method |
CN108115690A (en) * | 2017-12-31 | 2018-06-05 | 芜湖哈特机器人产业技术研究院有限公司 | A kind of robot adaptive control system and method |
CN109483532A (en) * | 2018-11-01 | 2019-03-19 | 东莞市中天自动化科技有限公司 | Lathe and its corase grinding robot control method |
CN110549332A (en) * | 2019-08-02 | 2019-12-10 | 武汉库柏特科技有限公司 | stepping control method and device, polishing robot and readable storage medium |
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