The invention relates to an intelligent force control robot grinding system The intelligent force control robot grinding system comprises a computer, an industrial camera, a robot, a robot controller, a calibration and compensation system, a safety protection unit, a force sensor and an automatic knife changing system The computer is connected with the industrial camera The robot controller is connected with the computer, the robot, the calibration and compensation system, the safety protection unit, the force sensor and the automatic knife changing system A method comprises the steps that the computer receives workpiece scanning data collected by the industrial camera, generates a knife path and converts the knife path into the robot posture and the tail end path; calibration and compensation are carried out; the robot controller controls all joints to move while the robot posture and the tail end path are adjusted Hardware of a high-precision force control grinding system is achieved, the path self-calibration and online compensation technology is adopted, and the machining of a complex hook face with the high requirements for machining precision and surface smoothness can be finished

Intelligent force control robot grinding system and method

The invention discloses a high-accuracy cutter deviation online measuring device which comprises a clamping mechanism fixedly installed on a main shaft head of a machine tool A laser displacement measurement device is installed on the clamping mechanism, a data acquisition processing device for receiving and processing signals sent by the laser displacement measurement device are connected onto the laser displacement measurement device, and the laser displacement measurement device comprises more than two laser measuring heads The laser measuring heads are installed on the clamping mechanism, and a laser transmitter and a laser receiver are arranged on each laser measuring head The cutter deviation in the cutting process is measured by means of the laser displacement measurement device, the signal acquisition frequency is high, and the measurement accuracy is high The deviation of a cutter in the X-axis direction and Y-axis direction can be measured simultaneously by means of at least two laser measuring heads, a geometric relationship equation is established to perform error compensation, the external disturbing influence is small, and the measurement accuracy is high

High-accuracy cutter deviation online measuring device and method

The invention provides a performance test device and a method of a general servo mechanism based on universal serial bus (USB) and belongs to the performance test field of a missile servo mechanism. The problems of large size and high cost of a current test system of weapons and equipments with a VXI bus module are solved. Control logic to two ways AD conversion chip and a way DA conversion chip is achieved inside a field programmable gate array (FPGA), and work of AD conversion chip and DA conversion chip can be completed at the same time through external trigger and software trigger. Excitation signals and response signals of the servo mechanism are collected at the same time through two groups of scanning AD, and thus test to static performance parameter of the servo mechanism can be achieved, and accurate test to dynamic response characteristic can also be achieved. Time interval FIFO and data FIFO are adopted inside the FPGA, so automatic control of DA waveform parameter is achieved. The performance test device and the method are suitable for the general servo mechanism.

Performance test device and method of general servo mechanism based on universal serial bus (USB)

The invention relates to a field of video tracking and discloses a binocular vision based dynamic object movement track identifying method. According to the invention, a binocular vision system includes two cameras mounted horizontally and in parallel and a computer connected to the cameras. The method includes steps of collecting image data of a dynamic object and transmitting the image data to the computer; using a background differencing method for processing the image data so as to acquire outline in each frame of the image data; acquiring two-dimensional coordinates of the dynamic objectthrough identification performed according to characteristics of the dynamic object; acquiring three-dimensional coordinates of the dynamic object through binocular vision matching calculation and a trigonometric survey principle; compiling movement track capturing software for acquiring the movement track of the object. Two-dimensional characteristic identification is performed on objects havinghigh movement speed, small boundary dimensions and unconspicuous two-dimensional shape characteristics by adopting an outline filtering algorithm and three-dimensional coordinate calculation is performed by utilizing results of binocular vision matching, so that movement track of the dynamic object is obtained and the detection and tracking efficiency is high.

Binocular vision based dynamic object movement track identifying method

The invention provides a method, device, terminal and system for target tracking trajectory accuracy measurement. The method includes determining the actual tracking trajectory position information of the target; comparing the actual tracking trajectory position information with the preset tracking trajectory position information, determining the deviation between the actual tracking trajectory position information and the preset tracking trajectory position information, wherein the preset tracking trajectory position information is the position information on the preset tracking trajectory; and determining the tracking accuracy of the target according to the deviation. The determination of the target position is realized by the vision technology, and the accuracy of the target tracking trajectory is determined through the deviation and accuracy rules. The related rules are simple, the used equipment is good in economic performance, under the condition of low cost, the accuracy of the target tracking trajectory is determined in a simple and convenient way, the rule is simple, the equipment is low in consumption, and the service life of the equipment is improved.

Method, device, terminal and system for target tracking trajectory accuracy measurement

The invention relates to a method and a device for measuring the movement locus of an automatic knife-changing mechanical arm and belongs to the field of space movement locus tracking and measurement of an automatic knife-changing mechanical arm at a processing center. The method is a non-contact type three-dimensional online measurement method based on two-dimensional PSDs (Phase Sensory Detectors); light sources as measured targets are installed on a measured ATC (Air Traffic Control) mechanical arm and are projected onto two-dimensional induction screens of two PSD cameras composed of two position sensitive detectors respectively through a lens to form light spots; the two PSD cameras respectively output two-dimensional coordinate values under the excitation of the light spots; after passing through a signal processor, a voltage value corresponding to a coordinate position is outputted; and a computer collects and saves a corresponding signal through a voltage acquisition card. The method is quick in response speed and satisfies the real-time online measurement requirements. Through the movement locus of the mechanical arm, the positioning accuracy, the movement stability and other movement states in the knife changing process can be judged to provide a quantitative method for the reliability detection of a knife library.

Method and device for measuring movement locus of automatic tool changing mechanical arm

The invention provides a power tool rest comprehensive performance test method, belonging to the field of tool rest comprehensive performance test of a numerically-controlled machine tool and particularly relating to a power tool rest comprehensive performance test device which takes a sensor as a sensing element and a detection method which performs data acquisition and processing by means of labview. The method comprises the following steps: performing measurement by using a temperature sensor, a temperature transmitter, a vibration sensor, a raster micrometric displacement sensor, an encoder, a universal capture card and an industrial personal computer, acquiring temperature, vibration, micrometric displacement of Y axis during the working process of a tool rest and angular velocity value each time a cutter replaces a tool by using a series of sensors, converting the values into electric signals, sending the electric signals to the industrial personal computer by virtue of a series of transmission ways, and drawing the data into a curve chart or generating a data table by the industrial personal computer by virtue of software. The power tool rest comprehensive performance test method is simple and has the advantages of high sensitivity, direct result, high measurement accuracy and high practical application value.

Power tool rest comprehensive performance test method

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Method and device for measuring movement locus of automatic tool changing mechanical arm

Power tool rest comprehensive performance test method