Offline programming and modifying method of six-axis grinding and polishing industrial robot

An industrial robot and off-line programming technology, applied in the field of polishing, can solve the problems of parts installation error, inability to determine the processing amount in the simulation process, abrasive belt error, etc., and achieve the effect of improving uniformity and simplifying the offline programming process

CN105269565AActive Publication Date: 2016-01-27FUJIAN CHANGJIANG IND
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2016-01-27

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Abstract

The invention discloses an offline programming and modifying method of a six-axis grinding and polishing industrial robot. The offline programming and modifying method particularly includes the steps of building a model, extracting workpiece machining path information, performing point data processing, generating a robot working motion joint angle, generating a robot working motion trail, performing robot grinding and polishing working motion simulation, generating a robot motion key parameter conversion module and a code, modifying the position of an abrasive belt, modifying the position, posture and singularity and modifying the grinding and polishing work environment. The offline programming and modifying method enables the offline programming process of the six-axis grinding and polishing industrial robot to be simplified, has practicability, can quickly generate programs applicable to the six-axis grinding and polishing industrial robot which grinds and polishes workpieces with complex surfaces, and improves the grinding and polishing uniformity.
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Description

technical field

[0001] The invention relates to the field of polishing, in particular to an off-line programming and correction method for a six-axis grinding and polishing industrial robot. Background technique

[0002] With the continuous development of industrial automation, people began to pay attention to the application of industrial robots. The development of robot technology is gradually replacing people in various production operations, freeing humans from heavy, repetitive and monotonous, harmful to health and dangerous production operations. . In the field of grinding and polishing, industrial robots are gradually being used for grinding and polishing. At present, the polishing of workpieces in industrial production is usually done manually. There are shortcomings such as unstable polishing quality, low precision, high labor costs, and low production efficiency. The work is monotonous and repetitive. , Polishing noise and dust seriously affect the health of worke...

Examples

Embodiment Construction

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

[0034] This embodiment is based on Solidworks, a three-dimensional software, to realize an off-line programming and correction method for a six-axis grinding and polishing industrial robot. Refer to figure 1 , including the following ten main steps:

[0035] 1. Build a model

[0036] The first part of model building is to establish a 3D model of the grinding and polishing system through the 3D software Solidworks. The 3D model of the grinding and polishing sy...