Polishing robot system with movement locus self-learning function and control method

Abstract

The invention discloses a polishing robot system with a movement locus self-learning function. The polishing robot system comprises a worktable, a laser displacement sensor, a fixed mount, a moving track, an upper computer and a polishing robot, wherein the moving track is mounted on the fixed mount; the laser displacement sensor is mounted on the moving track; the worktable is used for bearing acasting to be scanned; the laser displacement sensor and the polishing robot are connected with the upper computer; and the laser displacement sensor is located above the casting. The polishing robotutilizes the laser displacement sensor to scan the whole casting right above to obtain border images of the casting and relative coordinates of the casting to the worktable, and moves with reference to a movement locus constructed by a 3D digital model, so that the teaching time is greatly shortened, technical demands on teaching personnel are greatly lowered, the precision reaches 0.5-1.0 mm, theplacement position of the casting does not need to be unchanged, the effects of quick mounting and clamping and accurate positioning are achieved, and time saving and high efficiency are realized.

Description

technical field [0001] The invention relates to motion planning technology, in particular to a grinding robot system and control method for self-learning motion trajectory. Background technique [0002] At present, the working mode of industrial robots on the market is to plan the motion trajectory through the teaching pendant, and then guide the robot to work according to the planned path. In terms of specific operations, professionally trained engineers need to perform teaching programming through the teaching device, and then let the robot perform grinding work according to the teaching content, or first guide the robot to move through the teaching device, and finally let the robot reproduce the previous teaching content. [0003] The working method of this grinding robot has the following disadvantages: 1. The teaching process is cumbersome and time-consuming. If the production process changes, the above teaching procedure must be repeated, and the use efficiency of the ...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies of the prior art, one of the objectives of the present invention is to provide a grinding robot system with self-learning motion trajectory, which can solve the problem that the grinding robot has high technical requirements for operators

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