Intelligent grinding system of industrial robot and grinding method

Abstract

The invention discloses an intelligent grinding system of an industrial robot. The intelligent grinding system comprises an industrial robot performing module, a posture change module, a laser scanning and detecting module, a visual inspection module, a moment of force control module, a grinding module and a data processing module, wherein the visual inspection module is matched with the industrial robot performing module to sample and photograph; the moment of force control module is matched with the grinding module for grinding and processing a workpiece; the laser scanning and detecting module is used for scanning workpiece allowance; and the data processing module and the industrial robot performing module perform data interaction to accomplish a whole set of automatic grinding process. The intelligent grinding system adopts novel various detecting systems, is uniform in grinding, and realizes fully-automatic grinding of curves and curved surfaces.

Description

technical field [0001] The invention discloses a grinding device, in particular to an industrial robot intelligent grinding system and a grinding method. Background technique [0002] At present, in the field of welding manufacturing, welding manufacturing has been gradually replaced by multi-axis robots, and automatic welding production has been gradually realized. Usually, after the workpiece is welded, it is necessary to grind and polish the welded part of the workpiece to ensure the quality of the weld seam after welding. However, the existing grinding of curves and curved surface welds is mainly done manually by workers, and there are disadvantages such as high difficulty in teaching, offline programming cannot generate different grinding trajectories and speeds according to different grinding amounts, and a low degree of automation. , And, the mode of manual grinding weld seam can only rely on the work experience of the worker to judge the precision of grinding, makes...

AI Technical Summary

Problems solved by technology

However, the existing grinding of curves and curved surface welds is mainly done manually by workers, and there are disadvantages such as high difficulty in teaching, offline programming cannot generate different grinding trajectories and speeds according to different grinding amounts, and a low degree of automation. , and the way of manually grinding the weld can only rely on the workers' work experience to judge the accuracy of the grinding, so that the grinding quality and accuracy of the weld cannot be effectively guaranteed

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