A six-axis grinding and polishing industrial robot off-line programming and correction method

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.

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...

AI Technical Summary

Problems solved by technology

[0006] The invention provides an off-line programming and correction method for a six-axis grinding and polishing industrial robot to solve the problem that the existing off-line programming method for grinding and polishing cannot determine the processing amount during the simulation process, and the error generated during the installation of parts is not corrected, and the actual situation is not considered. Due to the situation, the bending program of the abrasive belt needs to be adjusted and the error caused by the deformation of the abrasive belt needs to be re-calibrated, and there are errors between the actual motion and the simulated motion trajectory.

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