@機(jī)器人柔性打磨系統(tǒng)
Robotic flexible polishing/sanding system
簡(jiǎn)介：打磨系統(tǒng)采用自適應(yīng)接觸力控制方式，運(yùn)用優(yōu)化控制算法來驅(qū)動(dòng)磨頭運(yùn)動(dòng)，柔
性工件易損自動(dòng)補(bǔ)償，利用激光傳感器識(shí)別來料焊縫高度，實(shí)現(xiàn)打磨均勻、可控，安
全性好，投資回報(bào)率快。
Introduction: The polishing/sanding system adopts the adaptive contact force control method, uses the
optimized control algorithm to drive the polishing/sanding head movement, automatic compensation
system could protect softworkpiece from damage, and the laser sensor is used to identify the welding seam
height, so that the polishing/sanding is uniform, controllable and safe. The return on investment is fast.
解決問題：傳統(tǒng)的人工打磨生產(chǎn)線效率低，打磨質(zhì)量與工人手法密切相連，產(chǎn)品打磨效果一致性差，現(xiàn)場(chǎng)粉塵大，危害工人身體健康。
Solved problems: The traditional manual polishing/sanding is inefficient; the quality is closely related to
Ithe worker's practices, poor consistency of product sanding/polishing results, and dusty environment.
技術(shù)創(chuàng)新:
1、自適應(yīng)接觸力控制方式，運(yùn)用“優(yōu)化控制算法"優(yōu)化打磨軌跡，并驅(qū)動(dòng)磨頭運(yùn)動(dòng)，保證打磨拋光效果一致性，避免打穿或者打磨不到位;
2、用視覺系統(tǒng),激光傳感器，識(shí)別來料異常，精準(zhǔn)引導(dǎo)定位打磨區(qū)域3、實(shí)時(shí)檢測(cè)磨輪、拋光輪磨損情況，實(shí)現(xiàn)自動(dòng)補(bǔ)償。
Technological innovation:
1.The adaptive contact force control method uses the "optimized control algorithm" to optimize the
sanding/polishing track and drive the sanding/polishing head movement so that to ensure the consistency
of polishing/sanding results and avoid penetrating or sanding less;
2.Use the vision system, laser sensor to identify abnormal materials and accurately guide and locate the
sanding/polishing area;
3.Real-time detection of sanding wheel, polishing wheel to achieve automatic compensation.
