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Six-axis robot self-adaptive deburring machining mechanism and control method thereof

A six-axis robot and processing mechanism technology, which is applied in the control of workpiece feed movement, metal processing equipment, manipulators, etc., can solve the problems of low deburring processing efficiency, inability to feed the tool in time, and processing posture deviation. , to achieve the effect of avoiding repeated tool setting, maximizing utilization and reducing replacement time

Active Publication Date: 2021-07-23
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS +1
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Problems solved by technology

[0005]The present invention solves the problem that the existing robot deburring equipment has a processing posture offset, and the brush cannot be fed in time after the brush is worn, resulting in low deburring processing efficiency and low processing efficiency. To solve the problem of poor quality, a six-axis robot adaptive deburring mechanism and its control method are proposed

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  • Six-axis robot self-adaptive deburring machining mechanism and control method thereof
  • Six-axis robot self-adaptive deburring machining mechanism and control method thereof
  • Six-axis robot self-adaptive deburring machining mechanism and control method thereof

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Embodiment Construction

[0029] The six-axis robot adaptive deburring mechanism and its control method of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0030] Such as Figures 1 to 4 As shown, a six-axis robot adaptive deburring processing mechanism includes a force sensor base 3, a three-dimensional force sensor 4, a sensor lintel 5 and a base plate 6, and a positioning standard rod is vertically fixed in the middle of the front side of the base plate 6 10 (when installing the brushes, provide a reference for the positioning of the four brushes to ensure that they are on the same working plane), a number of brush motor units 8 are evenly fixed on the base plate 6, and the front side of the brush motor units 8 passes through the joint Shaft device is connected with bowl type stainless steel wire brush 9. The three-dimensional force sensor 4 is fixed on the force sensor base 3 , the sensor bridge 5 is in the sh...

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Abstract

The invention relates to a six-axis robot self-adaptive deburring machining mechanism and a control method thereof. A brush motor set connects bowl-shaped stainless steel wire brushes through couplings to form machining units, the four machining units are evenly fixed to a base plate through two clamping plates, the base plate is connected with a three-dimensional force sensor fixed on a sensor base through a sensor lintel, and the sensor base is fixed at the tail end of a six-axis robot through a corner and a flange plate. In the machining process, self-adaptive machining of a robot pose actual machining plane is adjusted by obtaining electrical data and three-dimensional pressure values of all motors, the machining range is large, the structure is compact, positioning is accurate, and automatic compensation of brush disc consumption and self-adaptive machining of the machining plane can be achieved.

Description

technical field [0001] The invention belongs to the technical field of plane processing, and in particular relates to a six-axis robot self-adaptive deburring processing mechanism and a control method thereof. Background technique [0002] At present, for the burrs generated after processing, methods such as manual deburring, brush deburring of machining centers, and special robot deburring are mainly used. Especially for the flanging burrs on the edge of the processed surface after milling, the method of manual deburring is highly dependent on the experience of the workers, the processing efficiency is low, the deburring effect is poor, the processing cost is high, and it is not suitable for batch processing tasks. Machining center brushes have very limited cleaning capabilities and often fail to meet quality standards. Compared with the first two deburring methods, robots have high deburring efficiency, stable removal effect, high production flexibility, and low long-term...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B24B9/00B24B27/00B24B49/16B24B41/00B24B55/00B24B45/00B25J11/00
CPCB24B9/00B24B27/0084B24B49/16B24B27/0076B24B41/007B24B55/00B24B45/003B25J11/0065
Inventor 张霖康瑞浩李明田威张新龙王东卢红印
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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