Moving double-robot cooperative grinding device and method based on online thickness detection

A dual-robot, mobile technology, applied in the direction of grinding machines, manipulators, grinding workpiece supports, etc., can solve problems such as complex structures, inability to process openness, poor workpieces, etc., and achieve the effect of improving positioning and processing accuracy

Active Publication Date: 2019-04-16
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the structure is complex, and it is impossible to process workpieces with poor openness, and it is impossible to determine the force and grinding force of the grinding process.

Method used

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  • Moving double-robot cooperative grinding device and method based on online thickness detection
  • Moving double-robot cooperative grinding device and method based on online thickness detection
  • Moving double-robot cooperative grinding device and method based on online thickness detection

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Embodiment Construction

[0038] The present invention will be further described below in conjunction with accompanying drawing.

[0039] The invention provides a mobile dual-robot collaborative grinding device based on online thickness detection, the structure is as follows figure 1 As shown, it includes a free-moving platform 1, an industrial robot 5, a rotary tool 6 and a laser tracker 8, wherein the target ball 7 is installed on the rotary tool 6, and two free-moving platforms 1 and a laser tracker 8 are distributed on the rotary tool 6. All around, each free-moving platform 1 is equipped with an end effector through an industrial robot 5; the end-effector on one of the free-moving platforms 1 is a floating constant force grinding electric spindle 4, and the other free-moving platform 1 is equipped with a dual Eye vision 2 and electromagnetic thickness gauge 3.

[0040] The free-moving platform 1 is equipped with a visual recognition device around the bottom, and realizes high-precision positionin...

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Abstract

The invention provides a moving double-robot cooperative grinding device and method based on online thickness detection. In order to meet the intelligent development trend of the world and raise the automation level of traditional machining, and with regard to the problems of multiple machining stations, complex working procedures, the need of repeated loading and unloading, low machining accuracy, low efficiency and the like of traditional grinding machining for medium and large parts, the invention discloses a machining system composed of double robots, a free movement platform, a free moving platform, a floating constant-force grinding electric spindle, binocular vision, an electromagnetic thickness meter, a laser tracker, a rotary fixture and other key equipment, and discloses an integrated grinding method combining double-robot cooperative control, three-dimensional measurement, offline programming, process database, and online detection and machining.

Description

technical field [0001] The invention relates to the field of automatic grinding, in particular to a mobile dual-robot cooperative grinding device and method based on online thickness detection. Background technique [0002] With the rapid development of China's aerospace industry, aerospace manufacturing technology has put forward new requirements for higher precision, higher efficiency, higher flexibility, and higher adaptability to the processing characteristics of small batches, multiple varieties, and medium and large processing parts. , the traditional grinding and polishing model can no longer meet the existing development needs. The development of emerging robot technology enables robots to be used as a high-quality and high-efficiency platform, equipped with subsystems such as end effectors, flexible tooling, and detection and perception. Through multi-robot collaboration, various flexible robot automation systems are formed. The processing system can be designed ac...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B24B49/12B24B49/02B24B49/16B24B41/06B24B27/00B25J11/00
CPCB24B27/0076B24B27/0084B24B41/06B24B49/02B24B49/12B24B49/165B25J11/0065
Inventor 王品章田威廖文和张霖崔海华曾致贤薛其伟
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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