| 摘要 |
<p>The present invention relates to a force controlled grinding robot system for sharpening blades of cutting tools, wherein each blade (101) has a length, a thickness and a height, the force controlled grinding robot system comprising a robot (1) having a memory programmable control, a manipulator (11) moveable in at least four of the six possible translatory and rotational degrees of spatial freedom, a gripper head (12), fixed to the manipulator, having a holding device (13) for holding a cutting tool (10), an edge grinding station (7) having at least one moving grinding surface (71) for receiving and grinding said blade (101). The force controlled grinding robot system is characterised in that a force sensor is adapted to sense the force between the manipulator and an object in at least one translatory degree of freedom and provide an output force signal indicating the magnitude of said force, said memory programmable control being adapted to receive said output force signal and control said force controlled grinding robot system dependent on said force signal. The invention further also relates to a method for sharpening blades and the use of a force controlled grinding robot system.</p> |
