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A 3+4 configuration dual-arm collaborative robot processing system and method

A robot processing and robot technology, applied in the direction of metal processing equipment, manipulators, manufacturing tools, etc., can solve the problems of insufficient overall rigidity and processing accuracy, shortening, etc., and achieve the effect of improving system rigidity and processing accuracy, improving efficiency, and shortening length

Active Publication Date: 2021-11-02
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

[0011] Aiming at the above defects or improvement needs of the prior art, the present invention provides a 3+4 configuration double-arm collaborative robot processing system and method, the purpose of which is to combine three-rotation-one-translation workpiece clamping arms and three-rotation tools The clamping arm forms a 3+4 configuration dual-arm collaborative robot, thereby shortening the length of the kinematic chain, improving system stiffness, ensuring machining accuracy, and solving the technical problems of insufficient overall stiffness and machining accuracy in the prior art

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  • A 3+4 configuration dual-arm collaborative robot processing system and method
  • A 3+4 configuration dual-arm collaborative robot processing system and method
  • A 3+4 configuration dual-arm collaborative robot processing system and method

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[0102] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0103] Such as Figure 1~4 As shown, a 3+4 configuration double-arm collaborative robot processing system in a preferred embodiment of the present invention, taking the grinding and polishing of workpiece 6 as an example, includes: three-coordinate measuring equipment 1, workpiece clamping arm linear slide rail 2, Base 3 , processing tool 4 , grinding and polishing device clamping arm 5 , robot...

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Abstract

The invention belongs to the field of intelligent manufacturing, and relates to a 3+4 configuration double-arm collaborative robot processing system, comprising: a linear slide rail of a workpiece clamping arm is arranged horizontally, and the workpiece clamping arm includes three mutually perpendicular rotary shafts, one of which is The rotating shaft is arranged vertically; the tool holding arm includes a vertical rotating shaft and two horizontal rotating shafts; the end of the workpiece holding arm is used to install the workpiece; the end of the tool holding arm is equipped with processing tools for processing the workpiece; robot control The device is used to control the 4-degree-of-freedom movement of the workpiece holding arm to perform three rotations and one translation, and to control the tool holding arm to perform 3-degree-of-freedom rotation, so as to realize 3+4 dual-arm cooperative processing. The invention consists of a three-rotation-one-translation workpiece clamping arm and a three-rotation tool clamping arm to form a 3+4 configuration double-arm collaborative robot, thereby shortening the length of the kinematic chain, improving the rigidity of the system, ensuring the machining accuracy, and solving the overall problem of the prior art The technical problem of insufficient rigidity and machining accuracy.

Description

technical field [0001] The invention belongs to the field of intelligent manufacturing, and more specifically relates to a 3+4 configuration dual-arm collaborative robot processing system and method. Background technique [0002] Blade processing and polishing are mainly used to remove knife lines on the blade surface, improve the blade surface gloss, modify the profile, etc. The processing effect directly affects the aerodynamic performance, operating efficiency and service life of the blade. [0003] At present, manual / six-axis CNC grinding and polishing is the main grinding and polishing method for complex blades. Manual grinding and polishing is the most widely used (approximately more than 90%), but there are problems such as low processing efficiency and precision, poor surface consistency, difficulty in ensuring processing requirements, environmental pollution, and hazards to workers' health. [0004] Compared with manual grinding and polishing, six-axis CNC grinding...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/02B25J9/16B25J11/00B07C5/34B07C5/36B24B19/00B24B41/06B24B47/22B24B49/02
CPCB07C5/34B07C5/362B24B19/00B24B41/06B24B47/22B24B49/02B25J9/023B25J9/1602B25J9/1664B25J11/005
Inventor 黄思杨建中欧道江张成磊朱万强
Owner HUAZHONG UNIV OF SCI & TECH
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