Industrial robot for grinding and polishing propeller and grinding and polishing method

Abstract

The invention relates to an industrial robot for grinding and polishing a propeller. The industrial robot for grinding and polishing the propeller is characterized by comprising a main robot body, a propeller locating and clamping drive mechanism and a 3D laser coordinate locating device, wherein the propeller locating and clamping drive mechanism comprises a rotary working table which can be used for adjusting the horizontal position, a propeller fixture is arranged on the rotary working table, and a zero point coordinate locating ball is connected with a rotating center of the propeller fixture; the main robot body comprises a rotating part, a lower bearing plate and an upper bearing plate which are capable of lifting and dropping are arranged on the rotating part, and a robot arm and the 3D laser coordinate locating device are mounted on the upper bearing plate; the robot arm comprises a large arm capable of rotating vertically and a small arm which is mounted at the upper end of the large arm and capable of rotating vertically and revolving, a grinding head capable of rotating vertically and revolving is mounted at the end part of the small arm, and an electromagnetic valve and a pressure sensor are arranged at the upper end of the grinding head. According to the industrial robot for grinding and polishing the propeller, processing and locating accuracy can be improved, and precision and consistency of grinding and polishing of the surface of the propeller are remarkably improved.

Description

technical field [0001] The invention relates to a propeller grinding and polishing industrial robot and a grinding and polishing method, belonging to the technical field of mechanical manufacturing and processing. Background technique [0002] At present, propeller grinding and polishing is mainly manual mode, and patent CN 102120307 B proposes an industrial robot grinding system and method based on visual information. The system uses the video camera to collect the image of the workpiece, uses the computer to identify and locate the workpiece, and controls the robot claw to grab the workpiece through online planning of the movement track point of the robot claw from the current position to the grasping position, and then follows the preset grinding operation steps , control the rotation speed and steering of the abrasive belt, control the industrial robot to move the workpiece to the specified position and posture, and grind and polish the workpiece. [0003] The character...

AI Technical Summary

Problems solved by technology

[0003] The characteristic of this mode is that the movement of the parts is used to fit the position of the abrasive belt. It can only be used for grinding and polishing of flat and simple parts, and cannot accurately grind and polish complex parts, such as the curved surface of propeller parts.

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