Robot abrasive belt grinding method and system combining active and passive force control

• Main Authors: YANG ZEYUAN, LIU QI, YAN SIJIE, XU XIAOHU, ZHANG HAIYANG
• Format: Patent
• Language: Chinese; English
• Published: 13.12.2019
• Subjects: DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS; GRINDING; MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; PERFORMING OPERATIONS; POLISHING; TRANSPORTING

The invention discloses a robot abrasive belt grinding method combining active and passive force control. The method comprises the steps of S100, calibrating a robot, an active force sensor and a passive force sensor; S200, enabling the robot to clamp a workpiece to make flexible contact with an abrasive belt, and grinding the workpiece; S300, enabling the active force sensor to collect a contactforce signal of a workpiece in real time, carrying out real-time gravity compensation to obtain an active contact force signal, and enabling a one-dimensional force sensor to real-time collect a passive force signal of a contact wheel; S400, on the basis of the Kalman filtering method, carrying out information fusing on the active contact force signal and the passive force signal to obtain a feedback force signal; and S500, enabling the robot and an abrasive belt grinding and polishing machine to compare the feedback force and the preset contact force. The invention further discloses a grinding system. According to th