CN120663221A - Polishing robot system and control method thereof - Google Patents

Abstract

The present invention relates to a polishing robot system and a control method thereof, the system comprising: a polishing robot, a force control component, an electrical cabinet and a control component. The force control component comprises a force control connecting flange and a force-position compensator, the force-position compensator being connected to the polishing robot via the force control connecting flange for controlling the polishing force; the electrical cabinet being connected to the polishing robot; and the control component being connected to the electrical cabinet for controlling the polishing robot to perform the polishing operation. The above-mentioned polishing robot system solves the problem of force control when the polishing robot system and the workpiece to be polished have an effective first contact surface, thereby improving the product quality of processes such as polishing; effectively solving the automation problem between the contact surface sensitive feature process and the rapid contact movement, thereby improving the accuracy and stability of the polishing process; saving site space, and eliminating the need for manual dragging of the polishing robot for trajectory simulation, thereby significantly improving safety performance.

Description

Polishing robot system and control method thereof

Technical Field

The invention relates to the technical field of industrial automation equipment, in particular to a polishing robot system and a control method thereof.

Background

In the manufacturing industry, polishing of parts is a key process, and the quality of the parts directly influences the performance and appearance of products. The manual polishing mode has high labor intensity, the polishing quality is greatly affected by human factors, and the consistency is difficult to ensure, so that industrial automation equipment is generated. However, the traditional automatic polishing equipment has the problems of complex equipment structure, poor flexibility, low polishing quality, insufficient adaptability to parts with different shapes and the like.

Disclosure of Invention

Based on the above, it is necessary to provide a polishing robot system and a control method thereof for solving the problems of low polishing quality, insufficient adaptability, and the like.

In a first aspect, the present application provides a sanding robot system comprising:

A polishing robot;

The force control assembly comprises a force control connecting flange and a force position compensator, wherein the force position compensator is connected with the polishing robot through the force control connecting flange and is used for controlling polishing force;

the electric cabinet is connected with the polishing robot;

And the control assembly is connected with the electrical cabinet and used for controlling the polishing robot to execute polishing operation.

In one embodiment, the force level compensator comprises a gravity compensation module, the gravity compensation module is used for acquiring gravity compensation data, and the force level compensator can control the contact force of the polishing robot and the workpiece to be polished in real time according to the gravity compensation data.

In one embodiment, the force position compensator comprises a profile characteristic acquisition module, wherein the profile characteristic acquisition module is used for acquiring profile characteristic data of a workpiece to be polished, and the force position compensator can stretch and retract according to the profile characteristic data and control polishing force in real time.

In one embodiment, a grinding robot includes:

The mechanical arm is connected with the force control connecting flange;

The cable is used for connecting the mechanical arm and the electric cabinet;

The pipeline package is positioned outside the mechanical arm and used for wrapping the cable;

and the robot base is movably connected with the mechanical arm.

In one embodiment, the grinding robot further comprises:

and the polishing tool is connected with the force position compensator.

In one embodiment, the control assembly comprises:

The input module is connected with the electrical cabinet and used for outputting polishing parameters to the polishing robot;

the display module is arranged on the electrical cabinet and used for outputting the running state of the polishing robot system;

and the alarm module is arranged on the electrical cabinet and is used for giving out fault alarms to the polishing robot system.

In one embodiment, the polishing parameters include a manipulation mode, a polishing force, a polishing speed, a polishing path, and a polishing time.

In one embodiment, the input module includes:

The demonstrator is connected with the electrical cabinet and used for point position configuration of polishing operation and motion control of the polishing robot;

And the reservation button box is connected with the electrical cabinet and used for scram of the polishing robot and reservation of polishing operation.

In one embodiment, the display module includes a manual instruction acquisition module, where the manual instruction acquisition module is configured to acquire a manual instruction to control the polishing robot to perform polishing operation in real time.

In a second aspect, the present application also provides a control method of a polishing robot system, including the steps of:

activating a polishing robot system by an electrical cabinet;

the control assembly conveys polishing parameters to the force control assembly and the polishing robot;

The polishing robot performs polishing operation according to the polishing parameters, and the force control assembly controls polishing force of the polishing robot according to the polishing parameters;

The control assembly monitors and alarms faults.

According to the polishing robot system, the force control assembly is used for carrying out gravity compensation according to the working requirement and accurately outputting the contact force parallel to the axial direction of the mechanical arm, so that the problem of force control when the polishing robot system is in contact with the contact surface of a workpiece to be polished for the first time is solved, the product quality of polishing and other processes is improved, meanwhile, the polishing robot system can carry out self-adaptive expansion and contraction according to the profile characteristics of the contact surface of the workpiece to be polished, the automatic problem between the contact surface sensitive characteristic process and quick contact movement is effectively solved, the precision and stability of the polishing process are improved, in addition, the polishing robot system integrates polishing equipment and an electrical cabinet, the field space is saved, the manual dragging of a polishing robot is not needed for carrying out track simulation, and the safety performance is remarkably improved.

Drawings

FIG. 1 is a schematic view of a polishing robot system according to an embodiment of the present application;

FIG. 2 is a flow chart of a control method of the polishing robot system according to an embodiment;

FIG. 3 is a flow chart illustrating a process for selecting an operation mode and completing a polishing parameter configuration step by the control assembly according to one embodiment;

FIG. 4 is a flowchart illustrating steps performed by controlling a polishing machine via a force control assembly according to a polishing parameter configuration in an embodiment;

FIG. 5 is a flow chart of the fault monitoring and alerting steps performed by the control assembly in one embodiment.

Reference numerals:

10. The polishing device comprises a polishing robot, 110, a mechanical arm, 120, a pipeline package, 130, a robot base, 20, a force control assembly, 210, a force control connecting flange, 220, a force position compensator, 230, a polishing tool, 30, an electrical cabinet, 40, a control assembly, 410, a demonstrator, 420, a reservation button box, 430, a touch screen, 440 and a tri-color lamp.

Detailed Description

In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the invention, whereby the invention is not limited to the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected through an intervening medium, or in communication between two elements or in an interaction relationship between two elements, unless otherwise explicitly specified. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

The traditional polishing operation mainly depends on manual or semi-automatic equipment, and has the problems that polishing force control is unstable, constant contact force is difficult to ensure by manual operation, so that the surface quality of a workpiece is inconsistent, the degree of automation is low, a common robot can only execute a preset track and cannot adapt to the size deviation of a complex curved surface or the workpiece, the system integration is insufficient, and modules such as a robot, a force control device, electric control and the like are separated, so that the equipment is huge in volume and complicated in debugging.

The traditional automatic polishing equipment has the advantages that the type of a workpiece to be polished is single, polishing contact force is difficult to control, a polishing robot only can polish one surface of the workpiece when polishing the workpiece, the polishing surface is required to be manually converted, consumable materials are required to be manually replaced, and the problems of large occupied area, difficult wiring, low safety performance and the like are also caused. In addition, the problem of force control during first polishing of the polishing robot also exists, and the first contact force is difficult to control.

Based thereon, in one exemplary embodiment, as shown in FIG. 1, the present application provides a sanding robot system including a sanding robot 10, a force control assembly 20, an electrical cabinet 30, and a control assembly 40.

Alternatively, the polishing robot 10 may be configured with the multi-joint mechanical arm 110, which has high repeated positioning accuracy, and is suitable for polishing complex tracks, and may be adapted to a variety of polishing tools 230 (e.g., grinding wheels, polishing wheels, pneumatic polishing heads, etc.).

The force control assembly 20 includes a force control coupling flange 210 and a force position compensator 220, the force position compensator 220 being coupled to the grinding robot 10 via the force control coupling flange 210 for controlling the grinding force.

Optionally, the force control connection flange 210 is used to connect the grinding robot 10 and the force level compensator 220, and has a high rigidity structure to transmit accurate torque. The force position compensator 220 can be a constant force flexible flange, based on the pneumatic principle, can integrate the sensing, control and executing system in a high degree in architecture, can perform gravity compensation on the end polishing tool 230 according to working requirements and accurately output the contact force parallel to the axial direction of the mechanical arm 110, and meanwhile, the device can adaptively stretch and retract according to the profile characteristics of the contact surface.

The electric cabinet 30 is connected to the polishing robot 10.

Optionally, the electrical cabinet 30 supplies power and air to the polishing robot system, and can integrate a robot controller, a power control system power supply, an Input/Output (IO) module and a safety circuit, support rapid expansion (such as adding a tool changing device, a dust removing system and the like) by adopting a modularized design, and build a fault diagnosis unit which can monitor the system state in real time and alarm (such as overload, abnormal communication and the like).

The control assembly 40 is connected to the electrical cabinet 30 for controlling the grinding robot 10 to perform a grinding operation.

Optionally, the control component 40 is a core control unit of the polishing robot system, and is connected with the electrical cabinet 30 through an industrial bus or a hard wire signal, so as to realize cooperative control over the polishing robot 10, the force control component 20 and peripheral devices.

Illustratively, the control assembly 40 may employ a high-performance industrial PLC (Programmable Logic Controller ) or a dedicated motion controller, and has multiple control modes with built-in multi-axis linkage algorithm, and is capable of analyzing a polishing path input by a user, such as a CAD model for importing or manually guiding a robot to record key points through the demonstrator 410, generating a robot motion command, and synchronously adjusting pressure parameters of the force control assembly 20, and monitoring system states (e.g., motor current, force sensor feedback) in real time to trigger an abnormal protection mechanism.

According to the polishing robot system, the force control assembly 20 performs gravity compensation according to the working requirement and precisely outputs the contact force parallel to the axial direction of the mechanical arm 110, so that the problem of force control when the polishing robot system touches an effective first contact surface of a workpiece to be polished is solved, the product quality of polishing and other processes is improved, meanwhile, the polishing robot system can adaptively stretch and retract according to the contour characteristics of the contact surface of the workpiece to be polished through the force control assembly 20, the automation problem between the contact surface sensitive characteristic process and quick contact movement is effectively solved, the precision and stability of the polishing process are improved, in addition, the polishing robot system integrates polishing equipment and an electrical cabinet 30, the field space is saved, manual dragging of the polishing robot 10 is not needed for track simulation, and the safety performance is remarkably improved.

In an exemplary embodiment, the force level compensator 220 includes a gravity compensation module for acquiring gravity compensation data, and the force level compensator 220 is capable of controlling the contact force of the grinding robot 10 with the workpiece to be ground in real time based on the gravity compensation data.

Illustratively, the force position compensator 220 realizes the gravity compensation function through a hardware structure and a control algorithm, the force position compensator 220 can be provided with a multi-axis force sensor, the multi-axis force sensor is arranged between the end flange of the mechanical arm and the polishing tool, the measuring range of the force sensor covers multi-directional stress conditions, and a temperature compensation circuit is built in to ensure that the measuring precision is not influenced by the ambient temperature. The force position compensator 220 can be provided with a high-precision encoder, acquires angle data of each joint in real time, calculates the space posture of a tool coordinate system through forward kinematics, establishes a gravity influence mathematical model and calculates theoretical gravity components under different postures. The force level compensator 220 may be equipped with a dynamic compensation controller that separates out the gravitational component using an adaptive filtering algorithm, outputs a compensation torque through a control loop, and automatically adjusts the compensation parameters based on tool quality characteristics.

Illustratively, the force level compensator 220 may employ a combination of pneumatic servo control and mechanical damping, the core functions of which include gravity compensation, elimination of the influence of the dead weight of the end mill tool 230 on the contact force, accurate axial force control, dynamic adjustment of the contact force parallel to the axial direction of the robotic arm 110, profile adaptation, real-time telescoping according to the workpiece surface shape, maintaining a constant normal pressure. The force position compensator 220 is internally provided with a high-precision cylinder, regulates air pressure through a proportional valve and outputs axial contact force. The end of the piston rod is integrated with a force sensor, and feeding back the contact force data in real time. In the first contact stage, the cylinder is pre-charged with low pressure gas to cause the grinding tool 230 to approach the workpiece slowly in a flexible state, and in the steady grinding stage, the controller dynamically adjusts the air pressure based on the feedback from the force sensor to maintain a set grinding force. A mechanical spring damper is arranged in the hydraulic brake device to serve as secondary buffering, and mechanical braking is automatically triggered when force overrun is detected.

In an exemplary embodiment, the force level compensator 220 includes a profile feature acquisition module, where the profile feature acquisition module is configured to acquire profile feature data of a workpiece to be polished, and the force level compensator 220 can stretch and retract according to the profile feature data, so as to control polishing force in real time.

Illustratively, the force level compensator 220 may employ a high response linear motor to drive a telescoping shaft, an integrated laser displacement sensor array, and reconstruct the surface profile by a point cloud processing algorithm. And synchronously acquiring force sensor data and contour scanning data, and establishing a complete contact state model.

For example, in the polishing operation of the conventional robot, the impact force is easily overlarge due to rigid collision when the workpiece is contacted for the first time, that is, the instantaneous force peak value is overlarge, the surface of the workpiece is easily scratched or the tool is easily cracked, and the vibration of the mechanical arm 110 affects the subsequent track precision and other problems. The force position compensator 220 can also adopt a multidimensional force sensor and a servo motor to drive, detect and adjust polishing contact force in real time, has a self-adaptive telescopic function, can automatically adjust polishing depth according to the surface profile of a workpiece, and supports a constant force mode (such as setting 10N constant pressure) and a dynamic mode (such as automatically adjusting along with the change of a curved surface).

In one exemplary embodiment, as shown in FIG. 1, the sharpening robot 10 includes a robotic arm 110, a piping package 120, a robot base 130, and cables.

A mechanical arm 110 connected to the force control connection flange 210;

A cable for connecting the mechanical arm 110 and the electrical cabinet 30;

A pipeline package 120, located outside the mechanical arm 110, for wrapping the cable;

The robot base 130 is movably connected with the mechanical arm 110.

For example, the mechanical arm 110 may be designed with multiple axes connected in series, and each joint is driven by a high-precision harmonic reducer to ensure the precision of repeated positioning. The arm body can be made of high-strength alloy and carbon fiber composite material, and both light weight and rigidity are achieved. The robotic arm 110 may be adapted to the force control assembly 20 to mount the sanding tool 230. The robotic arm 110 may also be of a hollow design, allowing cables to pass from inside the joint, reducing the risk of external interference.

The pipeline package 120 wraps the polishing robot cable (such as a motor power line, an encoder signal line, a gas circuit pipe and the like), a sectional sleeve structure can be adopted, all the sections are connected through universal joints, no winding is ensured when the mechanical arm 110 moves in the full range, the starting end of the pipeline package 120 is fixed on an electrical interface of the robot base 130, and the tail end extends to the position of the force control assembly 20. The key bending part of the pipeline package 120 can be additionally provided with a soft buffer sheath, so that fatigue fracture of the cable caused by long-term movement is avoided.

The robot base 130 may be made of cast iron, and a shock pad is built in to reduce the impact force transmitted to the ground by the polishing operation. An extended mounting surface can be reserved on the robot base 130, and a guide rail or a positioner of the mechanical arm 110 can be added. The robot base 130 may also be provided with a waterproof aviation plug (power/communication/IO interface) on the side to quickly interface with the electrical cabinet 30.

In the above embodiment, the cable damage probability is reduced through the wiring design of the pipeline package 120, the stable operation of the polishing robot system is ensured, and the flexible and accurate adjustment of the polishing posture is realized through the multi-axis mechanical arm 110, so that the polishing quality is ensured, and the polishing robot system is adapted to various polishing tools 230.

In one exemplary embodiment, as shown in fig. 1, the grinding robot 10 further includes:

A grinding tool 230 is connected to the force level compensator 220.

Illustratively, the grinding tool 230 may be rigidly connected to the end of the force bit compensator 220 via a standardized quick change interface, and may be fitted with grinding wheels (for rough grinding), polishing wheels (finishing), wire brushes (deburring), etc. The sanding tool 230 is provided with a seal on the mounting end surface to prevent abrasive dust from entering the interior of the force control assembly 20.

In one exemplary embodiment, the control assembly 40 includes:

The input module is connected with the electrical cabinet 30 and is used for outputting polishing parameters to the polishing robot 10, wherein the polishing robot 10 can execute polishing work according to the polishing parameters;

the display module is arranged on the electrical cabinet 30 and is used for outputting the running state of the polishing robot 10 system;

and the alarm module is arranged on the electrical cabinet 30 and is used for giving out fault alarms of the polishing robot 10 system.

Illustratively, the display module includes a touch screen 430. The alarm module includes a tri-colored light 440.

The touch screen 430 is disposed on the electrical cabinet 30, and is used for outputting the operation state of the polishing robot system.

A tri-color lamp 440 is provided on the top of the electric cabinet 30 for fault warning of the polishing robot system.

Illustratively, the touch screen 430 is integrated with the door panel of the electrical cabinet 30, and is used as a visual monitoring interface to monitor information such as the angle of each joint of the mechanical arm 110, the position of the tool coordinate system, the pressure feedback of the force control assembly 20, and the tool wear progress bar in real time. The tri-color lamp 440 is installed at the top high visible position of the electrical cabinet 30, and green indicates that the system is operating normally and the robot is in an automatic operation state, and the alarm information is displayed in a grading manner, such as "force sensor overrun" -yellow early warning ", and" servo overheat, fault stop "-red scram.

In one exemplary embodiment, as shown in FIG. 1, the input modules include a teach pendant 410 and a reservation button box 420.

The demonstrator 410 is connected to the electrical cabinet 30, and is used for point location configuration of polishing work and motion control of the polishing robot 10.

A reservation button box 420, connected to the electrical cabinet 30, for scrutinizing the polishing robot 10 and reserving polishing jobs.

Illustratively, the demonstrator 410 is a core operation terminal of the polishing robot system, and is connected to the electrical cabinet 30 through an industrial bus, and has the following functions:

The point position teaching comprises the steps of manually guiding the mechanical arm 110 to move to a key position (such as a workpiece edge and a tool changing point) by an operator, recording coordinates through teaching keys, supporting smooth optimization of a track (such as circular interpolation and speed transition) to avoid vibration caused by path mutation, setting parameters including polishing force, feeding speed, tool compensation quantity and other technological parameters, providing a force control curve preview function, simulating contact force change in real time, switching modes, namely, manually guiding the mechanical arm 110 to move to the key position and saving the parameters, wherein the manual mode is used for debugging and emergency intervention, the neutral position unlocking of a three-gear switch is needed, the remote mode is used for executing a preset program to support external signal triggering and starting, and the teaching mode is used for manually guiding the mechanical arm 110 to move to the key position.

Illustratively, the reservation button box 420 is a physical operation panel, and is connected to the electrical cabinet 30 by hard wiring to safely PLC for controlling the external shaft operation and the standby/working state (office work identification) of the polishing robot 10. The appointment button box 420 may also be used for equipment scram and workpiece appointment. And when the machine works, pressing the buttons of the station A and the station B for 3 seconds in the same time. The standby state means that the robot stops moving, the force control assembly 20 keeps low-voltage standby, and the working state means that the polishing program is activated, and the tri-color lamp 440 is switched to the green running indication. The manipulator 110 can automatically move to a target position by calling a preset gesture (such as a horizontal grinding position and a vertical side milling position), and can realize multi-angle cooperative operation by matching with external shaft control (such as rotation of a positioner).

In one exemplary embodiment, the display module includes a manual instruction acquisition module for acquiring manual instructions to control the sanding robot 10 in real time to perform a sanding operation.

Illustratively, the touch screen 430 is also used to manually control the sanding robot 10 for sanding operations. The touch screen 430 may also control the milling apparatus in a manual mode, providing a virtual joystick interface supporting single axis motion of the robotic arm 110 or linear movement in a tool coordinate system through touch slide control. In the automatic mode, if an anomaly (e.g., a workpiece offset) is detected, the touch screen 430 automatically pops up a manual intervention window, allowing the operator to fine tune the tool position.

In the above embodiment, through the functional complementation and redundancy control of the demonstrator 410, the reservation button box 420 and the touch screen 430, the operation flexibility is significantly improved, the safety performance is enhanced, and the operation efficiency is improved. The demonstrator 410 and the touch screen 430 can independently complete path setting and parameter adjustment, support dual-channel control, avoid production line stagnation caused by single equipment failure, and cover full-scene requirements by a manual control function. Meanwhile, the touch screen 430 integrates monitoring and control functions, reduces equipment switching time, and improves polishing work efficiency.

In an exemplary embodiment, as shown in fig. 2, the present application further provides a control method of a polishing robot system, including the steps of:

At step 202, the electrical cabinet 30 activates the sanding robot system.

Illustratively, step 202 is a system activation step, in which the power switch on the side of the electrical cabinet 30 is rotated to power the polishing robot 10, the force control assembly 20, and the control assembly 40, the system automatically detects the communication status of each module (e.g., the servo of the robot is ready, the calibration of the force sensor is zero), and if an abnormality is detected, the touch screen 430 displays "system initialization failure" and locks the operation.

In step 204, the control assembly 40 delivers the sanding parameters to the force control assembly 20 and the sanding robot 10.

Illustratively, step 204 is mode selection and parameter configuration, and the operation modes include a manual mode, a remote mode, and a background control system, wherein the manual mode is used for point teaching or emergency intervention by unlocking the mechanical arm 110 through a three-gear switch of the demonstrator 410, the automatic mode is used for receiving an external command signal to start a preset program, and the remote mode is used for allowing the background control system to directly send a motion command. The polishing parameter configuration comprises polishing force, feeding speed, tool compensation amount, polishing force, polishing speed, polishing path and the like, and meanwhile, parameter set storage is supported, and a preset process template can be called by one key.

In step 206, the polishing robot 10 performs polishing operation according to the polishing parameters, and the force control assembly 20 controls the polishing force of the polishing robot 10 according to the polishing parameters.

Illustratively, in the contact stage, the polishing robot 10 is controlled to approach the workpiece at a low speed by the force control assembly 20, the force control assembly 20 is pre-charged with low-pressure gas to realize flexible contact, and the polishing robot can be temporarily suspended after the first touch, and the force ring is waited for stability. In the steady polishing stage, the force control assembly 20 controls the mechanical arm to move along the track, and controls the force position compensator 220 to dynamically adjust the air pressure, maintain the set contact force, and adaptively stretch and retract according to the surface profile to adjust the tool displacement in real time.

At step 208, the control assembly 40 performs fault monitoring and alerting.

Illustratively, key parameters (motor current, force sensor data, tool life, etc.) are displayed by touch screen 430 in control assembly 40, and tri-colored lights 440 are updated in state (green-run, yellow-warning, red-fault).

In the above embodiment, the first contact zero impact is realized through aerodynamic control, the surface damage of the workpiece is avoided, the self-adaptive profile tracking remarkably improves the polishing quality of the complex curved surface, the double control channels of the touch screen 430 and the demonstrator 410 reduce the dependence on single equipment, and the multiple fault detection mechanism (self-checking and real-time monitoring of the electrical cabinet 30) ensures the missing-free alarm.

In one exemplary embodiment, as shown in FIG. 3, the modes of operation include a manual mode, a remote mode, and a teaching mode, and the control assembly 40 delivering the sanding parameters to the force control assembly 20 and the sanding robot 10 includes the steps of:

in step 302, the teach pendant 410 selects a manual mode and the appointment button box 420 controls the grinding robot 10 to enter a servo state.

Illustratively, the manual mode is used for equipment debugging, emergency intervention, simple point teaching and other job scenarios. The remote mode is used to automate control scenarios. The teaching mode is used for complex track programming and process parameter optimization. After the system is activated, a manual mode is selected by the teach pendant 410, and the servo buttons are adjusted to cause the screen of the touch screen 430 to display a servo ready state.

In step 304, the control component 40 controls the polishing robot 10 to start if the first preset starting condition or the second preset starting condition is met.

In an exemplary embodiment, the first preset starting condition is that the three-gear switch is located at a middle position, and the robot band-type brake clicks a sound to indicate that the starting is completed. And when the second preset starting condition is in a remote mode or a teaching mode, a starting signal sent by a background is received, and when the band-type brake of the robot clicks a sound to indicate that the starting is completed.

At step 306, the demonstrator 410 performs a sanding parameter configuration and peripheral configuration task.

Illustratively, prior to the sanding operation, sanding process parameters and peripheral device configurations, such as sanding force, sanding speed, sanding path, etc., are set by the teach pendant 410. Through the reservation key in the reservation button box 420, the control system enters a working mode, the mechanical arm 110 is driven by each shaft according to the set polishing motion track to achieve the polishing gesture, and meanwhile, the force position compensator 220 is controlled to perform gravity compensation on the end tool according to working requirements and accurately output contact force parallel to the axial direction of the mechanical arm 110, so that the polishing tool 230 can always accurately act on the surfaces of parts, and polishing quality is ensured.

In the embodiment, through the three-layer architecture design of the mode classification, the condition judgment and the parameter management, the intelligent management and the safety control of the operation mode are realized, and the use convenience is obviously improved while the reliability of the system is ensured.

In one exemplary embodiment, the polishing parameters include polishing force, polishing speed and polishing path, and the peripheral equipment comprises an automatic consumable changing library, a safety grating and a clamping jaw clamp.

In one exemplary embodiment, as shown in FIG. 4, controlling the sanding robot 10 via the force control assembly 20 to perform a sanding operation according to a sanding parameter configuration includes the steps of:

at step 402, the appointment button box 420 controls the sanding robot 10 to enter a working mode.

Illustratively, the control system enters a work-ready state by operating the reservation button box 420. The robot servo system is switched from a standby state to a working state, the equipment state indicator lamp is switched from standby display to operation display, and the operation interface automatically jumps to the operation monitoring page.

In step 404, the force control assembly 20 controls the mechanical arm 110 to achieve the polishing posture according to the polishing parameter configuration.

Illustratively, according to preset polishing process parameters, the control system guides the mechanical arm 110 to move to a working position, wherein the main controller coordinates the movement of each joint to ensure that the joint stably reaches a target position, the tool center point is automatically aligned with the normal direction of the workpiece surface, and the system monitors the movement state in real time and automatically adjusts when abnormal.

In step 406, the force level compensator 220 obtains gravity compensation data.

Illustratively, the force level compensator 220 collects and processes force data in real time, the high-precision sensor continuously monitors force in all directions, the system automatically calculates the amount of gravity compensation in the current posture, and the compensation parameters are dynamically adjusted according to the tool type and the installation angle.

In step 408, the force level compensator 220 controls the extension and retraction of the mechanical arm 110 and the polishing force of the polishing robot 10 according to the gravity compensation data.

The method is characterized in that the method comprises the steps of realizing closed-loop control based on real-time force feedback according to gravity compensation data, adopting a flexible control strategy at the initial contact stage, avoiding automatic adjustment of acting force when constant-pressure output is kept to meet profile change in the steady-state polishing stage, and starting a protection mechanism immediately under abnormal conditions.

In the embodiment, the components are tightly matched to realize intelligent polishing, so that real-time interaction of motion control and force sense feedback is realized, the technological parameters are automatically matched with the current operation requirement, abnormal conditions are subjected to multilevel early warning and processing, and the whole operating state is visually monitored. According to the method, a high-quality self-adaptive polishing effect is realized on the premise of ensuring operation safety through a flow control strategy, so that the precision machining requirement is met, and good engineering applicability is achieved.

In one exemplary embodiment, as shown in FIG. 5, the control assembly 40 for fault monitoring and alerting comprises the steps of:

in step 502, in case of malfunction of the sanding robot system, the tri-color lamp 440 emits red light and sounds an alarm.

Illustratively, when an abnormal situation occurs in the running process of the polishing robot system, the system immediately starts a multi-stage alarm mechanism, namely, the three-color lamp 440 is switched to a red alarm state, a high-frequency flicker mode is adopted to enhance the visual alarm effect, the integrated buzzer sends out intermittent alarm sound, the sound pressure level reaches the clearly identifiable degree, and an alarm signal is directly transmitted through hard wires, so that the system can be triggered even if the control system fails.

At step 504, the touch screen 430 displays the cause of the failure.

Illustratively, the system determines the fault source through a multiple detection mechanism, the real-time data acquisition module records the system parameters at a certain time (such as 30 s) before the fault occurs, identifies the fault parameters, and displays the fault cause through the touch screen 430, thereby not only ensuring the timely response of the fault, but also providing perfect subsequent processing support, and remarkably improving the reliability and maintenance efficiency of the equipment.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (10)

1. A polishing robot system, comprising a polishing robot and a polishing system, characterized by comprising the following steps:

A polishing robot;

The force control assembly comprises a force control connecting flange and a force position compensator, wherein the force position compensator is connected with the polishing robot through the force control connecting flange and is used for controlling polishing force;

The electric cabinet is connected with the polishing robot;

And the control assembly is connected with the electrical cabinet and used for controlling the polishing robot to execute polishing operation.

2. A sanding robot system as defined in claim 1, wherein the force level compensator includes a gravity compensation module for acquiring gravity compensation data, the force level compensator being capable of controlling the contact force of the sanding robot with the workpiece to be sanded in real time in accordance with the gravity compensation data.

3. The grinding robot system according to claim 1, wherein the force level compensator comprises a profile feature acquisition module, the profile feature acquisition module is used for acquiring profile feature data of a workpiece to be ground, and the force level compensator can stretch and retract according to the profile feature data, so that grinding force can be controlled in real time.

4. The grinding robot system of claim 1, wherein the grinding robot comprises:

the mechanical arm is connected with the force control connecting flange;

the cable is used for connecting the mechanical arm and the electrical cabinet;

The pipeline package is positioned outside the mechanical arm and used for wrapping the cable;

and the robot base is movably connected with the mechanical arm.

5. The grinding robot system of claim 4, wherein the grinding robot further comprises:

and the polishing tool is connected with the force position compensator.

6. The grinding robot system of claim 1, wherein the control assembly comprises:

The input module is connected with the electrical cabinet and used for outputting polishing parameters to the polishing robot, and the polishing robot can execute polishing work according to the polishing parameters;

The display module is arranged on the electric cabinet and used for outputting the running state of the polishing robot system;

and the alarm module is arranged on the electric cabinet and used for giving out fault alarms to the polishing robot system.

7. The grinding robot system of claim 6, wherein the grinding parameters include a manipulation mode, a grinding force, a grinding speed, a grinding path, a grinding time.

8. The grinding robot system of claim 6, wherein the input module comprises:

The demonstrator is connected with the electrical cabinet and is used for point position configuration of polishing operation and motion control of the polishing robot;

and the reservation button box is connected with the electrical cabinet and is used for scram the polishing robot and reserved polishing operation.

9. The grinding robot system of claim 6, wherein the display module includes a manual instruction acquisition module for acquiring manual instructions to control the grinding robot in real time to perform a grinding operation.

10. A method of controlling a sanding robot system according to any one of claims 1-9, comprising the steps of:

activating the polishing robot system by an electrical cabinet;

the control assembly conveys polishing parameters to the force control assembly and the polishing robot;

The polishing robot executes polishing operation according to the polishing parameters, and the force control assembly controls polishing force of the polishing robot according to the polishing parameters;

The control assembly monitors and alarms faults.