The invention provides an automatic polishing system and an automatic polishing apparatus, which can adjust the polishing degree according to the surface state of the body of a moving body. An automatic polishing system (10) is provided with: an articulated robot (13); a grinding machine (11) comprising a main shaft (1111) rotating around a shaft and a grinding tool (112) fixed at the front end of the main shaft (1111); a sensor (12) that is provided between the articulated robot (13) and the grinder (11) and that detects a normal force (z-axis component Fz) acting on the grinder (11) from the surface (P) to be ground and a torque (z-axis component Mz) acting around the axis of the main shaft (1111); and a control unit (15) that controls the articulated robot (13) on the basis of the normal force (z-axis component Fz) and the torque (z-axis component Mz).
本发明提供一种自动研磨系统和自动研磨装置,能够与移动体的体身的表面状态相应地调整研磨的程度。自动研磨系统(10)具备:多关节型机器人(13);研磨机(11),其包括绕轴旋转的主轴(1111)和固定于主轴(1111)的前端的研磨具(112);传感器(12),其设置于多关节型机器人(13)与研磨机(11)之间,检测从被研磨面(P)作用于研磨机(11)的法向力(z轴分量Fz)以及主轴(1111)的绕轴作用的力矩(z轴分量Mz);以及控制部(15),其根据法向力(z轴分量Fz)和力矩(z轴分量Mz)来控制多关节型机器人(13)。
Automatic grinding system and automatic grinding device
自动研磨系统和自动研磨装置
2022-05-06
Patent
Electronic Resource
Chinese
IPC: | B24B MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING , Maschinen, Einrichtungen oder Verfahren zum Schleifen oder Polieren / B25J Manipulatoren , MANIPULATORS / B60S SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR , Warten, Reinigen, Instandsetzen, Unterstützen, Anheben oder Rangieren von Fahrzeugen, soweit nicht anderweitig vorgesehen |
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