High point grinding method and equipment based on robot
A robot and high-end technology, applied in the direction of grinding/polishing equipment, metal processing equipment, grinding machine tool parts, etc., can solve the problem of affecting the grinding efficiency and quality of robots, restricting the promotion of large-scale components of robots, and limiting theoretical model programming methods, etc. problems, to achieve the effect of promoting, realizing intelligent control, and ensuring stability
Pending Publication Date: 2021-06-22
无锡中车时代智能装备研究院有限公司
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However, for the local high-point grinding of any area on the surface of a large component, the off-line trajectory planning is greatly limited due to its programming method for the theoretical model, resulting in the need to manually perform high-point grinding on the surface of the component after robot grinding, and The repeated calibration of the workpiece coordinate system will also affect the overall grinding efficiency and quality of the robot, which restricts the further promotion of robot grinding of large components
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[0027] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention. In addition, the technical features in each embodiment or a single embodiment provided by the present invention can be combined arbitrarily with each other to form a feasible technical solution. This combination is not restricted by the sequence of steps and / or structural composition mode, but it must be Based on the ability of those skilled in...
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The invention provides a high point grinding method and equipment based on a robot. The method comprises the following steps: carrying out spatial curved surface reconstruction on collected point cloud of a high point defect region; carrying out polishing track planning on the reconstructed space curved surface, and generating a robot control code; and controlling the robot to conduct high point grinding. According to the high point grinding method and equipment based on the robot, space curved surface reconstruction is conducted on the collected point cloud of the high point defect region, the grinding track is planned, a robot control code is generated to control the robot to conduct high point grinding, full-automatic grinding can be conducted on various large complex curved surface components, the stability of the grinding quality is guaranteed, intelligent control over the robot grinding procedure is achieved, and popularization of large components ground by the robot in the industry is facilitated.
Description
technical field [0001] Embodiments of the present invention relate to the technical field of industrial robot grinding control, in particular to a robot-based high-point grinding method and equipment. Background technique [0002] The offline trajectory planning technology based on the CAD model of the grinding component has been widely used in robot production and processing in various industries due to its high degree of automation and universality. However, for the local high-point grinding of the protrusions in any area of the large-scale component surface, the off-line trajectory planning is greatly limited due to its programming method for the theoretical model, resulting in the need to manually perform high-point grinding on the surface of the component after robot grinding, and The repeated calibration of the workpiece coordinate system will also affect the overall grinding efficiency and quality of the robot, which restricts the further promotion of grinding large...
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IPC IPC(8): B24B1/00B24B27/00B24B51/00
CPCB24B1/00B24B27/00B24B27/0092B24B51/00
Inventor 严思杰徐嘉星张海洋胡旭
Owner 无锡中车时代智能装备研究院有限公司