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A five-degree-of-freedom hybrid robot mold polishing system and method

A robot with a degree of freedom, which is applied in the direction of surface polishing machine tools, grinding/polishing equipment, manipulators, etc., can solve the problem of inability to process the mold surface, and it is difficult to accurately determine the position and orientation data of robot polishing equipment and the trajectory of tool positions, etc. problems, to achieve the effect of improving the poor quality of the polished surface, improving the quality and precision of the polished surface, and ensuring the processing efficiency

Active Publication Date: 2021-06-08
TIANJIN UNIV
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Problems solved by technology

Since most of the molds are complex free-form surfaces, it is difficult to accurately determine the pose data and tool position trajectory of robot polishing tools such as polishing discs or polishing wheels, resulting in the inability to process a better mold surface

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  • A five-degree-of-freedom hybrid robot mold polishing system and method

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Embodiment Construction

[0037] In order to further understand the invention content, characteristics and effects of the present invention, the following embodiments are enumerated hereby, and detailed descriptions are as follows in conjunction with the accompanying drawings:

[0038] See Figure 1 to Figure 3 , a five-degree-of-freedom hybrid robot mold polishing method, the method comprises the following steps:

[0039]Step 1, use 3D CAD software to establish a 3D model of mold 2, and establish a workpiece coordinate system based on the 3D CAD model drawing of mold 2; the 3D drawing software of mold 2 can be established by Por / E, MasterCAM, UG, CAXA manufacturing engineers and other 3D drawing software Model, set a polishing path parallel to the X-axis of the workpiece coordinate system in the three-dimensional model diagram, and then directly derive the position coordinates of each tool contact in the polishing path under the workpiece coordinate system by the three-dimensional drawing software.

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Abstract

The invention discloses a five-degree-of-freedom hybrid robot mold polishing method, the method is: based on the three-dimensional CAD model diagram of the mold, the position coordinates of the knife contact are derived, and S ij is the j-th knife contact on the i-th trajectory line segment, and the knife contact {S ij , S ij+1 , S i‑1j}, {S ij , S i‑1j , S ij‑1}, {S ij , S ij‑1 , S i+1j}, {S ij , S i+1j , S ij+1} to form four adjacent triangles, and obtain the unit normal vector of each triangle. Let the midpoint of the vector be H 1 , let the midpoint be H 2 , let the midpoint of the vector be O, let S ij The unit normal vector of is n ij Approximately, the pose data of the knife contact is thus obtained. The invention also discloses a five-degree-of-freedom hybrid robot mold polishing system. The invention can accurately determine the posture data and the tool position track of the robot polishing appliance.

Description

technical field [0001] The invention relates to a mold polishing system and method, in particular to a five-degree-of-freedom hybrid robot mold polishing system and method. Background technique [0002] Polishing is a common mechanical finishing, and its important purpose is to achieve the required surface roughness. Polishing can not only increase the smoothness of the polished surface, but also improve the surface quality and improve the local stress concentration. [0003] Most of the mold surfaces are complex free-form surfaces. Therefore, in the current mold polishing, most enterprises are still in the stage of manual polishing by workers, so there are disadvantages such as low processing efficiency, low mold processing accuracy, and difficulty in ensuring the consistency of surface quality. The quality of processing is very dependent on the experience and skills of skilled workers, and it is difficult to meet the technical requirements. The robot polishing can replac...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B24B29/02B24B41/04B24B51/00B25J9/00B25J9/16B25J11/00
CPCB24B29/02B24B41/04B24B51/00B25J9/0072B25J9/1664B25J9/1679B25J11/0065
Inventor 肖聚亮张通黄田刘海涛孙誉博
Owner TIANJIN UNIV
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