Grinding robots are mainly used for high-precision grinding and polishing in electronic industry, mobile phone shell, automobile parts, industrial parts, medical devices, civil products and other industries. When enterprises carry out robot polishing, they often have the following advantages:
1. Stabilize and improve grinding quality and product smoothness to ensure their consistency;
2. Improve productivity, which can be produced 24 hours a day;
3. Improve the working conditions of workers, who can work in harmful environment for a long time;
4. Reduce the requirements for workers' operation technology;
5. Shorten the cycle of product upgrading and reduce the corresponding equipment investment;
As the saying goes, there is specialization in the industry, and robot polishing still depends on professional polishing robots. Professional grinding robot is mainly composed of industrial robot body, flexible force-controlled grinding tools, hand claws and other peripheral equipment. Through system integration, the main control cabinet is connected with the hardware and software of robots and peripheral equipment to realize various grinding functions.
There are two main ways of robot polishing: one is to hold the force-controlled polishing tool through the robot end effector and actively contact the workpiece, so the workpiece is relatively fixed, so this polishing robot can be called the tool active polishing robot; The force control system of the flexible force control abrasive tool can compensate the gravity of the end tool according to the work needs, and accurately output the contact force parallel to the axial direction of the mechanical arm. At the same time, the device can also expand and contract adaptively according to the contour characteristics of the contact surface, which solves the automation problem between the sensitive feature technology of the contact surface and the rapid contact movement. The robot system controls the grinding path, and the force control system outputs flexible constant force, which not only makes every part of the substrate surface be processed in place, but also has high consistency and higher grinding efficiency. The force control accuracy of the flexible force control polishing tool is amazing 1N, which is a very small force. If you gently touch the table with your fingers, you need at least 2-3N force, which is much higher than that of a human hand. If the robot does not use the flexible force to control the polishing system, but directly grasps the polishing tool for polishing, the polishing yield is very low because it cannot control the polishing force and float flexibly. Moreover, the positioning accuracy and debugging process of the robot are very high, and debugging is very troublesome. The flexible force control polishing system of Lianying Technology can automatically control the flexibility in less than 0.0 1 second by sensing the key information such as strength, position and posture in real time, so as to ensure the constant polishing force.
The other is that the robot end effector holds the workpiece, and the workpiece is in close contact with the flexible force-controlled abrasive belt machine, so the equipment is relatively fixed, so this grinding robot is also called the workpiece active grinding robot. Like the force-controlled flexible polishing tool, the flexible force-controlled abrasive belt machine also has the technology of force/position mixed control compensation and precise force position control, which can ensure the accuracy and stability of contact force, and can automatically compensate the abrasion of abrasive belt consumables according to the process. The grinding wheel and consumables are very convenient to disassemble and replace, and the later maintenance cost is also very low.