Automatic lapping and polishing system for complex surface of compliant control-based robot and machining method

Abstract

The invention relates to an automatic lapping and polishing system for a complex surface of a compliant control-based robot and a machining method. The automatic lapping and polishing system comprises an industrial robot, a worktable, a force sensor, a flexible lapping and polishing cutter, a signal conversion amplifier, a computer and a robot controller; the method comprises the following steps: performing machining trace planning before lapping and polishing a complex surface workpiece to obtain cutter contact point trace of the lapping and polishing cutter to obtain a surface machining cutter location point trace; converting the surface machining cutter location point trace into a code format program file which can be identified by the robot controller, and inputting the code format program file into the robot controller; positioning and clamping the workpiece to complete coordinate labeling and unification of a process system; and driving the robot to move according to a machining trace planning program file to drive the lapping and polishing cutter arranged on an end executor of the robot to perform contact machining on a machined surface. According to the automatic lapping and polishing system and the machining method disclosed by the invention, manual operation at a finish machining stage of the complex surface workpiece, especially a large-sized complex surface workpiece, can be replaced; labor strength and machining cost are reduced; and quality stability and quality consistency of a machined molded surface are increased.

Description

technical field [0001] The invention relates to the technical field of processing and application of industrial robots, in particular to an automatic grinding and polishing system and processing method for complex curved surfaces of robots based on compliance control. Background technique [0002] In the process of machining complex curved surfaces, it is generally necessary to go through rough machining, semi-finishing and finishing machining first, and then perform high-precision (finishing) grinding and polishing to obtain a workpiece surface that meets the requirements. A few days ago, with the rapid development of high-end intelligent automation control technology, flexible processing based on CNC machine tools has basically realized the automatic processing of workpieces with complex curved surfaces, but the grinding and polishing processing mainly relies on manual operations by workers. The manual grinding and polishing processing time of complex curved surfaces accou...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies in the prior art that the lapping and polishing processing relies on the manual operation of workers, resulting in low production efficiency and unstable processing quality, and it is difficult to meet the requirements of modern processing and manufacturing with low cost, short cycle and high quality, the technical problem to be solved by the present invention is to provide A robotic complex surface automatic grinding and polishing system and processing method based on compliance control that can ensure the uniformity and consistency of the processing removal amount, improve processing efficiency and processing quality, and effectively reduce processing labor intensity and production costs

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