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Robot polishing and grinding method, robot polishing and grinding device and robot polishing and grinding system

A technology of robots and controllers, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of limited response bandwidth of the force control system, slow polishing operation rhythm, and adjustment of bonding state, etc., to achieve high polishing operation efficiency , The teaching process is fast and the beat is fast

Pending Publication Date: 2021-04-16
蓝点触控(北京)科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the response bandwidth of the force control system is limited. In the case of a fast polishing cycle, the force control system cannot adjust the bonding state to the best in time, resulting in a slow polishing cycle

Method used

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  • Robot polishing and grinding method, robot polishing and grinding device and robot polishing and grinding system
  • Robot polishing and grinding method, robot polishing and grinding device and robot polishing and grinding system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] Such as figure 1 As shown, the robot polishing method includes the following steps:

[0036] A. The robot performs the first pre-polishing based on several teaching points in the force control mode, and records the polishing trajectory information during the first pre-polishing process.

[0037] B. The robot performs the second pre-polishing based on the polishing track information in the position mode.

[0038] C. Verify whether the polishing effect is feasible.

[0039] D. If the polishing effect is feasible, the robot performs polishing operations in position mode or force control mode according to the polishing track information and the first polishing speed corresponding to the second pre-polishing.

[0040] E. If the polishing effect is not feasible, correct the polishing speed of the second pre-polishing, and the robot will perform the second pre-polishing again based on the corrected polishing speed.

[0041] F. Verify whether the polishing effect is feasible...

Embodiment 2

[0061] Embodiment 2 of the present invention provides a robot polishing device. The robot polishing device includes a force control mode module, a position mode module and a speed control module.

[0062] The force control mode control module is used to enable the robot to perform the first pre-polishing and polishing operations based on several teaching points in the force control mode, and record the polishing trajectory information during the first pre-polishing process. The position mode module is used to make the robot perform the second pre-polishing and polishing operation based on the polishing track information in the position mode.

[0063] The speed regulation module is used for regulating and controlling the polishing speed. Take the polishing method of the robot in the first embodiment as an example. The speed control module can play a role in correcting the polishing speed of the second pre-polishing in step E, and the speed control module can also control the ...

Embodiment 3

[0081] Embodiment 3 of the present invention provides a storage medium, on which a computer program is stored, and the computer program is used to implement the robot polishing method provided in Embodiment 1 when executed by a controller.

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Abstract

The embodiment of the invention provides a polishing and grinding method of a robot. In the polishing and grinding method provided by the invention, the polishing and grinding operation can be carried out based on polishing and grinding track information when the robot carries out the polishing and grinding operation in a position mode, so that a polishing and grinding point position does not need to be continuously tentatively corrected, and the teaching process is simple and rapid. Besides, the robot can perform polishing and grinding operation based on the polishing and grinding track information when performing polishing and grinding operation in a force control mode, so that great correction and response to polishing and grinding force are not needed, and the polishing and grinding operation in the force control mode is fast in beat, high in efficiency and more accurate.

Description

technical field [0001] The invention relates to the field of robot polishing, in particular to a robot polishing method, a robot polishing device and a robot polishing system. Background technique [0002] With the gradual development of industrial automation, the grinding and polishing industry has also begun to undergo automation transformation, and more and more factories have begun to use robots to replace manual polishing operations. At present, there are mainly two mainstream robot polishing solutions: polishing in position mode and polishing in force control mode. [0003] The polishing in the position mode depends on the teaching fit between the polishing tool and the surface to be polished. If the fit is too tight, too loose or too crooked, the polishing effect will be poor. This requires the teaching personnel to Adjust each point to the appropriate position and posture. The most important thing is that there are no quantitative indicators for the tightness and s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/00B25J9/08B25J9/16B25J13/08
Inventor 刘吴月付伟宁
Owner 蓝点触控(北京)科技有限公司
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