复杂型面洁具机器人磨削抛光系统

Robotic grinding and polishing system for complex surface workpiece

为了实现复杂型面工件的柔性加工,研制了一套机器人柔性加工系统,完成了具有复杂型面水龙头的自动化磨削抛光过程。设计了具有力控制功能及接触轮在线调整功能的磨削单元,可以实现在线误差实时补偿及自动更换机器人TCP(Tool Center Point);设计了具有力控制功能及轮径在线检测与补偿功能的抛光单元,不仅能够实时补偿机器人系统各种误差,而且当抛光轮半径变化很大时,仍能够保证工件与抛光轮接触;采用机器人离线编程技术,设计了离线编程软件,提高了机器人编程效率及精度;采用三维激光扫描技术,能够自动实现工件校准及在线装卡误差检测与补偿,保证产品加工一致性。该系统技术先进且简单实用,能够满足产品生产要求。

In order to allow the flexible machining of the complex surface workpieces,a set of robot flexible manufacturing system was developed to achieve the automatic grinding and polishing process of the faucet with complex surface.A grinding unit with force control function and contact wheel online error real time adjustment was designed,allowing online error real time compensation and automatic exchange robot TCP（Tool Center Point）;a polishing unit with force control function and wheel radius online detection and compensation function was designed,it can not only compensate various kinds of errors of the robot system,but also keep the contact between contact workpiece and polishing wheel even when the polishing wheel radius changes a lot;by applying the robot off-line programming technology,the off-line programming package was developed,improving the programming efficiency and accuracy of the robot;the 3D laser scanning technology was introduced,causing it possible to automatically realize workpice alignment,online clamping error detection and compensation,and assuring the conformity in product manufacturing.This system technology is advanced and simple to use,and meets the production requirement of the products.