Automatic deviation correcting method for workpiece clamping of grinding and polishing robot
An automatic deviation correction and robot technology, which is applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., can solve the problems of short processing time, time-consuming, and no correction method for grinding and polishing robot workpieces. The effect of improving product processing quality and reducing defective rate
Active Publication Date: 2017-02-22
FUJIAN UNIV OF TECH
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Problems solved by technology
Robot grinding of plumbing and sanitary workpieces is characterized by short processing time and a wide variety of products. Usually, the machine grinding time of a plumbing and sanitary product is about 1 minute. If the operator uses a handheld device to manually detect the deflection value, it is very time-consuming and impossible to achieve. The deflection detection of each workpiece during processing, so the manual detection method cannot meet the requirements of mass robot processing at all
[0004] According to the query of domestic literature and patent information, there is no report on the correction method for grinding and polishing robot workpieces
Method used
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[0052] Take plumbing and sanitary workpieces as an example, such as figure 1 As shown, it is a frame diagram of a plumbing and sanitary polishing robot workpiece clamping automatic deviation correction system, including five parts, and the results generated by each part are used as the object of data processing in the next part.
[0053] The first part is the collected comparison standard data required for deflection calculation. For each batch of workpieces, the operator uses the robot teaching box to operate the mechanical arm to pick up a workpiece, and uses the relevant measuring instruments to adjust the posture of the workpiece so that the workpiece The position meets the grinding accuracy requirements, and then the teaching robot moves the current point of the workpiece to the detection area of the detection device, and then teaches the robot arm movement, and measures the displacement value obtained by contacting the displacement sensor probe on the three planes of XY...
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The invention provides an automatic deviation correcting method for workpiece clamping of a grinding and polishing robot. The method includes firstly selecting a standard part via a manual demonstration way of an operator for each batch of workpieces to be ground, and measuring the position data of the standard part via a detector, transmitting commands via a control computer to enable the robot to automatically clamp the workpieces to be corrected, and measuring the position data of the workpieces to be corrected via the detector; calculating deviation based on the position data of the standard part and the workpieces to be corrected by the control computer to obtain displacement and angle deflection of the workpieces to be corrected relative to the standard part, and transmitting to the robot controller; adjusting the coordinates of the workpieces to be corrected by the robot controller according to the displacement and angle deflection, controlling manipulators to grind and polish as the adjusted coordinate positions, and completing online deviation correction of workpieces. The automatic deviation correcting method can complete online deviation correction of workpieces, the processing quality of products is greatly improved, and the defective rate is decreased.
Description
technical field [0001] The invention relates to the application field of industrial robots, in particular to an automatic deviation correction method for workpiece clamping of a grinding and polishing robot, which is mainly used in the production process of plumbing and sanitary ware. Background technique [0002] Grinding and polishing robot is one of many types of modern industrial robots. It is used to replace traditional manual grinding and polishing of workpieces. It is mainly used for surface grinding of workpieces, deburring of edges and corners, grinding of welds, deburring of inner holes Thread mouth processing and other work. The grinding and polishing robot system is generally composed of a teaching box, a control cabinet, a robot body, a pressure sensor, a grinding head assembly, etc., and can realize continuous trajectory control and point control under the control of a computer. Its application fields include bathroom hardware industry, IT Industry, auto parts...
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Inventor 聂明星周爱君蒋新华彭晋民聂作先邵明谢文明黄诗浩林抒毅
Owner FUJIAN UNIV OF TECH