Automatic Deviation Correction Method for Grinding and Polishing Robot Workpiece Clamping
An automatic deviation correction and robot technology, which is used in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problems of short processing time, time-consuming, and no deviation correction method for grinding and polishing robot workpieces. The effect of reducing the rate of defective products and improving the quality of product processing
Active Publication Date: 2019-09-20
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
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[0050] 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.
[0051] 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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An automatic correcting method for workpiece clamping of a grinding and polishing robot. For each batch of workpieces to be polished, an operator first selects a standard part in a manual demonstration manner, and then a detection apparatus measures position data of said standard part; a control computer sends an instruction to enable the robot to automatically clamp a workpiece to be corrected, and the detection apparatus measures the position data of the workpiece to be corrected; a control computer performs correcting calculation on the position data of both the standard part and the workpiece to be corrected, so as to obtain displacement and angle deflection values of the workpiece to be corrected relative to the standard part, and sending the same to a controller of the robot; according to the displacement and angle deflection values, the controller of the robot performs coordinate adjustment on the workpiece to be corrected, controls the robot arm to perform a grinding and polishing operation at an adjusted coordinate position, thus completing online correction processing of the workpiece. The function of online automatic correction of workpieces may be achieved, thereby largely improving the quality of product machining, and reducing the defective rate.
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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IPC IPC(8): B25J9/18B25J11/00
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