Design And Research On Constant Force Control Device For Robot Grinding

In recent years,with the rapid development of China's green energy industry,the demand for wind turbine blades is increasing,while there are disadvantages in the domestic processing of blades based on manual grinding,such as low processing efficiency,unstable quality and harsh environment.Replacing labor with robots can significantly improve the above problems,and has the advantages of cost control and flexible operation.The constant contact force between the grinding tool and the wind turbine blade is the key to ensure the uniformity and consistency of the blade surface in grinding.Due to the manufacturing and processing errors of the blades and the positioning error of the clamping,the actual machining trajectory and the theoretical machining trajectory may be deviated,which can result in fluctuations of the grinding contact force.In severe cases,the grinding wheel and the blade may be detached,or cause the grinding contact force to be excessive because of over-contact,which can damage the blade and affect the efficiency and quality of the grinding.In order to automatically adapt to the processing trajectory,control the grinding contact force to be constant,and ensure the quality of the wind turbine blade grinding,this paper studies constant control device of the grinding contact force.The main contents include: According to the characteristics of robot wind turbine blade grinding,the structural scheme of constant force control device was analyzed and determined,and the system model of the device was also analyzed;The control hardware circuit was designed,stm32 as the controller and the control circuit such as electric proportional valve and reversing valve,and the communication interface circuit,considering the industrial site environment to improve the anti-jamming measures of the hardware were designed;About the control software program,including of real-time gravity compensation of the grinding tool,contact force output control,contact force feedback detection,network communication design,etc.Finally,the development of the device test prototype and the test system interactive interface were completed,and an experimental platform to complete the calibration of the relevant parameters of the device was built.Under the influence of multiple factors,the accuracy and stability of the output force of the test device were tested.The experimental results were in line with the expected goals.