First, the system structure and technical principle

(1) Hardware composition

The system is mainly composed of cooperative robot body, grinding tool, force sensor, vision sensor and fixture. The robot body mostly adopts 6-axis or 7-axis design, and the repetitive positioning accuracy can reach ±0.05mm, which can flexibly complete complex trajectory movements. There are various polishing tools, such as belt sander, grinding wheel and polishing wheel, which are suitable for different workpiece materials and process requirements. The force sensor is generally installed in the end effector of the robot, with an accuracy of ±0.1N, and can sense the grinding force in real time. The vision sensor has sub-millimeter accuracy and is used to identify the shape, position and defects of the workpiece. The fixture ensures the accurate positioning of the workpiece.

(II) Technical principles

Force control technology: the force sensor collects the grinding force data in real time and feeds it back to the control system. When the grinding force deviates from the preset value, the control system adjusts the rotational speed and torque of the robot joint motor according to the PID control algorithm, changes the feeding speed or posture of the grinding tool, and maintains a constant grinding force. For example, when grinding curved workpieces, the force can be automatically adjusted to avoid over-grinding or under-grinding.

Vision-guided technology: the vision sensor obtains the image of the workpiece, and the feature information, such as edge and outline, is extracted by image processing algorithm. According to this, the robot is guided to plan the grinding path to ensure that the grinding tool accurately acts on the workpiece to be machined. When grinding irregular workpieces in batches, the position of each workpiece can be quickly identified and the corresponding path can be automatically generated.

Motion control technology: the robot control system accurately controls the motion of each joint motor based on preset grinding process parameters, such as trajectory, speed and acceleration. Advanced interpolation algorithm is adopted to realize smooth trajectory movement and ensure stable and efficient grinding process. In complex contour grinding, high-speed and high-precision movement can be realized.

Second, the system advantages

(1) High quality stability

The system accurately polishes according to preset parameters, eliminating the randomness of manual operation. Force control and visual technology are combined to ensure the consistency of grinding quality. If the automobile parts are polished, the surface roughness deviation can be controlled in a very small range, which greatly improves the product quality stability.

(2) The production efficiency has been significantly improved.

The robot can work continuously for 24 hours, with high speed and no need to rest. Compared with manual work, the grinding efficiency is improved several times. In the grinding of 3C product shell, the grinding time of a single workpiece can be shortened from several minutes to tens of seconds, which meets the needs of mass production.

(3) Improvement of working environment and cost reduction

Free workers from dust and noise environment and reduce the risk of occupational diseases. In the long run, although the equipment procurement cost is high, it can reduce labor cost, improve production efficiency and reduce comprehensive cost. Such as furniture manufacturing enterprises, after adopting this system, the labor cost has dropped significantly.

(D) strong flexibility and adaptability

Through programming, the grinding process and path can be quickly switched to adapt to different shapes and sizes of workpieces. In the manufacturing of medical devices, it can meet the grinding requirements of various precision parts without frequent replacement of equipment.

Third, the application field

L automobile manufacturing

L 3C product manufacturing

L furniture manufacturing

L medical device manufacturing, etc.

Fourth, the development trend

(1) Intelligent upgrade

The artificial intelligence algorithm is introduced, so that the system can learn and optimize the polishing process independently. Through a large number of production data training, the optimal grinding scheme is automatically generated, and intelligent diagnosis and fault early warning are realized.

(2) Automation integration

Deep integration with automatic production line and warehousing logistics system to realize the whole process automation. Using AGV and automatic storage equipment, an efficient production logistics system is constructed.

(3) Networked remote management

With the help of Internet of Things technology, remote monitoring and management can be realized. Managers can check the running status and production data of equipment in real time, and technicians can remotely program, debug and troubleshoot, thus reducing maintenance costs.

Collaborative robot polishing system is promoting the intelligent and efficient development of manufacturing industry, and will play an important role in more fields in the future to help the transformation and upgrading of manufacturing industry.