Automobile hub grinding system and method based on cooperation of double industrial robots

Abstract

The invention relates to an automobile hub grinding system based on cooperation of double industrial robots and a method thereof.The system comprises a first mechanical arm and a second mechanical arm, the tail end of the first mechanical arm is connected with a hub to be ground through a first electric spindle, and the tail end of the second mechanical arm is connected with a machining tool through a second electric spindle; and the first mechanical arm and the second mechanical arm control the machining position of the hub, the working position of the machining tool and the machining force according to the set corresponding machining tracks and instructions correspondingly. Compared with the prior art, a double-industrial-robot cooperation mode is adopted for carrying out grinding machining operation on the hub, one industrial robot is used for clamping the hub and continuously changing the pose of the grinding track, and the other industrial robot is used for clamping a grinding machining tool to track the grinding track and carry out constant-force grinding control. The flexibility and stability of the grinding system can be effectively improved, and therefore the machining efficiency and the grinding precision are greatly improved.

Description

technical field [0001] The invention relates to the technical field of automobile wheel processing, in particular to an automobile wheel grinding system and method based on the cooperation of dual industrial robots. Background technique [0002] In the manufacturing process of automobile wheels, surface grinding and polishing is a very important process. The traditional method is to use CNC machine tools to grind the wheels. However, due to the complex shape of the wheels, the grinding track of the area to be polished is complicated and the working space is very large. Small and narrow, if CNC machine tools are used to grind some complex areas of the wheel hub, due to the limitation of the degree of freedom and operation of the equipment itself, there may be processing blind spots. Therefore, for the wheel hub grinding area with complex grinding trajectory and limited operating space, manual grinding is mostly used at present, which inevitably has the problems of low process...

AI Technical Summary

Problems solved by technology

[0002] In the manufacturing process of automobile wheels, surface grinding and polishing is a very important process. The traditional method is to use CNC machine tools to grind the wheels. However, due to the complex shape of the wheels, the grinding track of the area to be polished is complicated and the working space is very large. Small and narrow, if CNC machine tools are used to grind certain complex areas of the wheel hub, due to the limitation of the degree of freedom and operation of the equipment itself, there may be processing blind spots

Therefore, for the hub grinding area with complex grinding trajectory and limited operating space, manual grinding is mostly used at present, which inevitably has the problems of low processing efficiency and low processing accuracy, and cannot meet the application needs of modern smart factories.

[0003] For this reason, for the grinding operation in the area where the grinding space is limited and the grinding path is complicated in the wheel hub, the existing technology uses a single industrial robot to replace the manual for automatic grinding processing to improve the processing efficiency, but often due to constraints such as obstacle avoidance and singular joints, As a result, the required grinding posture is unreachable or the joints are stretched too much, which weakens the overall rigidity of the robot, resulting in reduced grinding accuracy and unable to meet production and processing requirements.

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