基于测量头技术的去毛刺机器人系统设计

Design of Chamfering Robot System Based on Probe Technology

为解决铝铸件生产线上去毛刺机器人加工时需要人工对顶尖定位的问题,提出了使用测量头搜索定位工件位姿的去毛刺加工系统,阐述了测量头检测定位的流程、工件位姿检测的数学模型、工件位姿修正等的实现方法,并经实验验证该系统可行有效。

Because the pinpoint position needs manually aligning,when the chamfering robot is used to burr in the aluminum casting production line,this paper puts forward a chamfering processing system in which the machine tool probes are used to detect the workpiece pose. At the same time,it describes the probe search-positioning process,mathematical model and detection algorithm of the workpiece pose,etc. Experiments show the chamfering robot system equipped with the machine tool probes meets the requirements of the workpieces pose detection.