The Chinese Academy of Sciences website reported on January 6, 2008: Recently, Shenyang Xinsong Robot Co., Ltd. completed the research and development of the "grinding and polishing robot system" with independent intellectual property rights. The system can be widely used in cockpit transparent parts and molds. And processing and repairing operations of various parts such as blades have broad application prospects.
The polishing special robot system consists of a five-axis frame machining robot mechanical body, a high-precision servo turntable, a robot control system, and a thickness detection system. It can perform high-quality, high-precision grinding and polishing on workpieces of different external dimensions, and can realize thickness. Detection and detection of load forces and moments at the wrist of the robot to protect the workpiece and improve polishing quality.
In the past year, the researchers have solved the flexible online space free-form surface thickness detection technology, high-precision robot control technology, laser structure light detection system, and realize the free-form surface visual measurement based on robot high precision through hard work. Technical problems such as system, high-precision planning and trajectory control of robots, and research on error compensation technology for large-scale machining robots. After testing, the technical specifications of the robot system fully meet the requirements and requirements of the technical agreement.
According to the researcher, the grinding and polishing robot system has achieved many breakthroughs in technology. Due to the advanced vision measurement and positioning technology and high-precision wrist force sensing technology, the system can complete the transparent shell of the curved surface according to the shape of different parts. 3D digital-analog reconstruction, and ensure that the surface reconstruction accuracy is consistent with the repeatability of the motion mechanism; in order to improve the reliability of the whole system, the researchers use a multi-CPU processor structure in the grinding and polishing robot system; the system also has a teaching box Teaching and offline programming two programming methods, as well as point-to-point or continuous track control; can display real-time display of coordinate values, joint values, measured values; calculate display attitude values, error values.
In the actual operation process, the grinding and polishing robot system first determines the processing method and strategy, the processing instruction, and then starts the grinding and polishing operations by measuring the workpiece, reconstructing the surface and calculating the vector and thickness. The use of intelligent sensor technology to protect the production safety of processed parts; the realization of a combination of various processing methods, including interactive processing, automatic processing, the development of online detection, processing process simulation and robot system monitoring, management, diagnosis and maintenance functions . The intelligent processing software of the robot system has reached the level of commercial application software, which can be maintained and upgraded, with user-defined setting functions and convenient and flexible human-machine interface; it can adapt to different processing parts, online measurement and intelligent processing, etc. Features.
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