However, compared with other processes, grinding has higher requirements for robot contact force control, trajectory planning and other technologies, and the threshold for automation is relatively high.
In the face of this difficult "hard bone", after years of case practice and technology accumulation, the card saving robot has formed a mature flexible intelligent ability control grinding scheme. This paper will focus on four technical difficulties and three typical application scenarios to analyze the advantages of collaborative robot automatic grinding.
Four big problems, one by one
1, the surface shape is complex and changeable, how to plan the automatic grinding trajectory?
Multi-point teaching + self-research force control algorithm: the section robot can carry grinding tools to operate according to the self-defined teaching trajectory, and adjust the force in real time according to the changes of the product surface contour under the action of force control compensation, to meet the trajectory tracking and adaptive requirements of planes, edges, and even large curvature and complex surfaces.
2, the product quality requirements are high, how to fine polish to ensure product consistency?
With six-dimensional force sensor + constant force flexibility function: the sensor accuracy can reach 5 ‰ of the measurement range, and the section card robot can feedback, adjust and accurately ensure constant force grinding in real time, so that the grinding tool closely fits the product surface within the set contact force range, effectively resolving the problem of uneven grinding and excessive grinding of the workpiece, and improve product consistency.
3, there are many kinds of products, how to meet the diversified polishing needs?
Power range up to 800N, torque range up to 40Nm, overload capacity up to 5500N/160Nm, fearless grinding challenges.
The section card cooperative robot is small and flexible, fast deployment and debugging, and can quickly change production and line.
Support workpiece external fixed abrasive, abrasive external fixed workpiece two grinding methods, compatible with a variety of Ethernet and fieldbus communication methods, can quickly adapt to the grinding tools of major international manufacturers.
4, 0 basic operators, how to quickly start?
After short-term training, workers can quickly master JAKA graphical programming & drag and drop teaching function. JAKA Zu APP has built-in programming modules, workers can quickly set straight lines, arcs, multi-level nesting grinding paths by combining command modules, programming is as simple as building blocks. The manual control drag and drop instruction of the section card machine is very smooth, and the worker can manually drag and drop the robot to edit the point-to-point trajectory, which is simple and intuitive, and the debugging is flexible.
Multi-scenario scheme, interpretation of the value of "knowing"
1, automotive industry: rearview mirror cover closing line polishing
Automation difficulties:
Rearview mirror cover material is special, the grinding and polishing force control is uneven, easy to scratch the surface of the product, the high temperature generated by the grinding is easy to make the product deformation, the curved structure of the rearview mirror cover, the constant force grinding brings great challenges.
JAKA Benefits:
In view of the special shape and material of the rear view mirror cover, JAKA created a flexible adaptive solution for polishing and polishing the rear view mirror cover. Workers can save path points with drag and drop instruction, greatly reducing the difficulty of programming. Under the JAKA high-precision force control constant force motion control, the robot can achieve adaptive fine grinding of the product, the workpiece surface is smoother, the flow linearity is better, and the rearview mirror cover appearance process requirements are effectively met. At the same time, the scheme process can be flexibly adjusted according to the product type in the later stage, without re-designing the production line, reducing the deployment cost.
2, 3C electronics industry: mobile phone metal shell grinding material
Automation difficulties:
In the 3C market, metal shell is very common, because mobile phone shell products generally use low hardness materials, the force control requirements for polishing are high.
JAKA Benefits:
Through the integration of composite fixtures and floating grinding tools, with tooling fixtures, robots can replace manual grinding and polishing process, automatic cutting, improve product consistency, yield, reduce manual labor intensity, improve work experience.
3, general industry: furniture wood surface grinding
Automation difficulties:
It is difficult to fit the curved surface, and the wood debris generated in the grinding process is easy to interfere with the normal operation of the robot.
JAKA Benefits:
The SecA Pro series of collaborative robots have the highest IP68 protection rating in the industry and are not afraid of high dust work challenges. The joint card small assistant series force control version of the cooperative robot has a six-dimensional force control sensor. Through high-precision constant force control, it can realize the active adhesion of large curved surface, ensure the uniform grinding of the product surface, and improve product quality. Moreover, the grinding process is fast and stable, and the production efficiency is effectively improved. JAKA graphical programming & drag-and-drop teaching is easy to use, reducing debugging costs to achieve flexible production.
In addition to the automotive, 3C electronics and furniture and wood industries, the card saving robot also has a good performance in the polishing scene in the fields of hardware, ceramic products, semiconductors, medical equipment and other fields. Relying on core technologies and scene practical experience in trajectory planning and smoothing, end jitter suppression, etc., the card-saving robot constantly cracks the grinding automation problems of thousands of lines and industries, and helps the manufacturing production line release the automatic "grinding" force.
Source: Xinyang Daily
