Dragging teaching method based on force control robot polishing and implementation device thereof

Abstract

The invention relates to a dragging teaching method based on force control robot polishing and an implementation device thereof in the technical field of force control robot automatic polishing. The dragging teaching method based on force control robot polishing comprises the following steps: a work-piece to be polished is fixed on a polishing table, and a system is started; a debugger holds a dragging handle by hand and makes polishing tools at the tail end of the robot be contact with the polishing area of the work-piece to be polished in sequence, and a force control system automatically records the position coordinate information of each polishing point; the motion mode of each polishing point is set in sequence, so that the robot moves among different polishing points in a specified mode, and a robot moving instruction is automatically generated; and the polishing points at a designated positions are taken and set as process polishing points, polishing process setting is performedon each process polishing point in sequence, and the robot moving instruction is automatically generated. According to the invention, selection of the polishing teaching points is more free, the number of the polishing teaching points is smaller, establishment of a robot polishing path is simpler and more flexible, and a large amount of teaching time is saved; and due to the fact that the polishing process can be automatically generated, the polishing stability is improved, and the polishing quality is greatly improved.

Description

technical field [0001] The present invention relates to a drag teaching device in the technical field of force-controlled robot automatic grinding, in particular to a drag-and-drag teaching method with a six-dimensional force sensor based on force-controlled robot grinding and its implementing device . Background technique [0002] With the wide application of robots in various manufacturing fields, more and more intelligent force-controlled robots are applied to various grinding occasions, such as deburring and grinding of cavity castings of automobile engines, and welding seam grinding of tank mixers , Surface grinding of ship turbine blades, computer shell grinding, etc., there are many irregular shapes, complex shapes, workpieces with poor processing consistency, and the requirements for grinding accuracy are relatively high, and the grinding process is complicated, so robot debugging engineers are needed It can be completed efficiently and with high precision only with...

AI Technical Summary

Problems solved by technology

[0003] At present, when most robot engineers teach the grinding process, they plan the grinding path and grinding process through robot teach pendant, online programming, visual system assistance, etc. In the face of complex paths and processes, a workpiece There may be hundreds or even thousands of grinding teaching points, which requires a lot of time to teach each point and plan and optimize the grinding parameters, resulting in high debugging costs and difficult to ensure the accuracy of grinding

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