CN114750023A

CN114750023A - Method for deburring casting moving linearly at tail end of robot hand

Info

Publication number: CN114750023A
Application number: CN202210481026.7A
Authority: CN
Inventors: 郭阿赛; 李鹏举; 刘孝辉
Original assignee: Syntec Technology Suzhou Co Ltd
Current assignee: Syntec Technology Suzhou Co Ltd
Priority date: 2022-05-05
Filing date: 2022-05-05
Publication date: 2022-07-15

Abstract

The invention discloses a deburring method for a linear motion casting at the tail end of a robot hand. The method comprises the following steps: 1) installing a robot hand and connecting the robot hand with a system; 2) inputting the movement direction of each shaft and the distance of each extending arm on a system parameter setting interface; 3) controlling the robot hand to axially move to a specific position, and starting an execution action command on a system execution interface; 4) and generating and recording the rotating axial coordinate of the corresponding position into a form column. The method for deburring the linear motion casting at the tail end of the manipulator provides a technology of converting the configuration of a rotary manipulator into Cartesian rectangular coordinate system motion control, generates corresponding programming software based on an ARM control system, simplifies the mechanical configuration of a complex rotating shaft into simple Cartesian coordinate system linear motion, enables the mechanical structure to be in seamless butt joint with the process setting, greatly facilitates the processing process setting of the casting and also facilitates the motion control of the manipulator.

Description

Method for deburring casting moving linearly at tail end of robot hand

Technical Field

The invention relates to the field of casting machining, in particular to a deburring method for a casting moving linearly at the tail end of a manipulator.

Background

Generally, after casting, burrs and excess material are often present at the connection of the casting mold, and these burrs need to be removed by a removing process. However, since the structure of the cavity and the ridge of the cast product are complicated, a robot with multiple degrees of freedom is generally required to perform clamping, polishing and deburring.

At present, the existing deburring process can be based on the parameter setting of grinding and feeding amount in a Cartesian rectangular plane coordinate system, a robot hand generally consists of a rotary motion joint axial direction and a linear arm expanding mechanism, and therefore a mechanism driven by a rotating shaft is needed to be converted into a mechanism for loading a product in the Cartesian coordinate system to perform linear end motion machining. This conversion method is not only complicated, but it is generally difficult for the operator to apply it skillfully.

Disclosure of Invention

In order to solve the problems, the invention provides a deburring method for a casting with linear motion at the tail end of a robot hand.

According to one aspect of the invention, a method for deburring a linear motion casting at the tail end of a robot arm is provided, and comprises the following steps:

1) installing a robot hand and connecting the robot hand with a system;

2) inputting the motion direction of each shaft and the distance of each arm on a system parameter setting interface;

3) Controlling the robot hand to move axially to a specific position, and starting an action execution command on a system execution interface;

4) and generating and recording the rotating axial coordinate of the corresponding position into a form column.

The method for deburring the linear motion casting at the tail end of the manipulator provides a technology of converting the configuration of a rotary manipulator into Cartesian rectangular coordinate system motion control, generates corresponding programming software based on an ARM control system, simplifies the mechanical configuration of a complex rotating shaft into simple Cartesian coordinate system linear motion, enables the mechanical structure to be in seamless butt joint with the process setting, greatly facilitates the processing process setting of the casting and also facilitates the motion control of the manipulator.

In some embodiments, in step 1), the robot hand is mounted with an X-axis, a Z-axis, a-axis, Y-axis, and B-axis. Thus, specific names of the axes are described, wherein the X axis is the axial direction of a first rotary joint of the robot, the Z axis is the axial direction of a second rotary joint of the robot, the A axis is the axial direction of a third rotary joint of the robot, the Y axis is the axial direction of a linear up-and-down motion of the robot, and the B axis is the axial direction of a rotary joint independent of the robot.

In some embodiments, in step 2), the directions of movement of the X-axis, Z-axis, a-axis, and B-axis are set according to a left-hand rule or a right-hand rule. Thus, the X, Z, a and B axes of motion are described as selectable directions of motion at the time of setting, and before selection, an "unselected" option also appears.

In some embodiments, in step 2), the moving direction of the Y axis is set to be positive according to the upward direction or positive according to the downward direction. Thus, the direction of movement of the Y-axis is described as selectable at the time of setting, and before selection, an "unselected" option also appears.

In some embodiments, in step 2), each of the arm spreading distances is an arm spreading distance from the X-axis to the Z-axis and an arm spreading distance from the Z-axis to the a-axis. Thus, specific contents of the set respective arm extension distances are described.

In some embodiments, in step 3), the action command includes "G00 idle travel", "G01 straight line", "arc midpoint", "arc end point", "delay time", "wait", and "output". Thus, the anisotropic content of the action command is described.

In some embodiments, in step 4), the entries in the table column include a line number, an action command, and action content. Thus, the contents of the items in the form column are described.

In some embodiments, the motion content includes coordinates and velocities of the X-axis, Y-axis, Z-axis, and a-axis motion. Thus, the specific contents of the item of the generated action contents in the table column are described.

Drawings

FIG. 1 is a schematic mechanical block diagram of a method for deburring castings by linear motion at the end of a robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of a system parameter setting interface of the method for deburring castings by linear motion at the end of the robot shown in FIG. 1;

FIG. 3 is a schematic interface diagram of a system implementation of the method of deburring castings by linear motion at the end of the robot shown in FIG. 1.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Fig. 1 shows a schematic mechanical structure of a method for deburring a casting by linear motion at the end of a robot according to an embodiment of the present invention, fig. 2 shows a structure of a system parameter setting interface of the method for deburring the casting by linear motion at the end of a robot in fig. 1, and fig. 3 shows a structure of a system execution interface of the method for deburring the casting by linear motion at the end of a robot in fig. 1. As shown in fig. 1-3, the method is used for cast sanding deburring robots. When the method is implemented, firstly, the robot hand needs to be installed on a processing station and connected with the system, and then the operation system interface can control the processing of the robot hand.

As shown in fig. 1, the robot has three selective joints, which can move up and down, and an independent rotation axis for driving the grinding wheel to rotate, where the first rotation joint axis of the robot is set as X axis, the second rotation joint axis is set as Z axis, the third rotation joint axis is set as a axis, the up-and-down movement linear axis is set as Y axis, and the independent rotation axis for driving the grinding wheel to rotate is set as B axis.

Then, the operation enters a system parameter setting interface, the movement directions of the axes, namely the X axis, the Z axis, the A axis, the Y axis and the B axis, and the distances of the related extending arms are input, and the mechanical model of the robot arm can be built into the system.

As shown in fig. 2, the movement directions of the X-axis, Z-axis, a-axis and B-axis which can be selectively set are according to the left-hand rule or the right-hand rule, and the movement directions of the Y-axis which can be selectively set are according to the upward rule or the downward rule. Where the direction of movement of each axis is displayed as "unselected" before the setting is entered when no setting is made.

The distance of each extending arm comprises the extending arm distance from the X-axis of the first rotary joint shaft to the Z-axis of the second rotary joint shaft and the extending arm distance from the Z-axis of the second rotary joint shaft to the A-axis of the third rotary joint shaft, and the data of the extending arm needs to be filled in the corresponding position of a system parameter setting interface, and the unit is mm.

In addition, data such as mechanical coordinates, absolute coordinates, and remaining distances of the respective axes are displayed on the system parameter setting interface.

And then, controlling the axial movement of the robot arm to a certain specific position or certain specific positions (the specific position can be appropriately selected according to the processing route, such as a line segment end point, a circular arc middle point and an end point, and the like), and starting to execute an action command on a system execution interface.

As shown in fig. 3, the action commands that can be selectively executed on the system execution interface mainly include several items, such as "G00 idle travel", "G01 straight line", "arc midpoint", "arc end point", "delay", "wait", and "output".

Finally, after the action command is executed, the rotation axial coordinates of the corresponding position are automatically generated and recorded into the form column, so that a plurality of point positions conforming to the Cartesian coordinate system are formed. The robot hand is thus able to perform a rectilinear coordinate movement between the points in such a way that X, Z moves in two directions, which are established according to the cross symbol in fig. 1.

The items in the table column include a line number, action commands, action contents and the like, each action command occupies one line, in each line, a column of the action commands displays the currently executed action command, and the action contents include the coordinates, the speed and the like of the isometric motions of the X axis, the Y axis, the Z axis and the A axis.

What has been described above are merely some of the embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention.

Claims

1. A deburring method for a linear motion casting at the tail end of a robot hand is characterized by comprising the following steps: comprises the following steps

1) Installing a robot hand and connecting the robot hand with a system;

2. The method for deburring robot end linear motion castings of claim 1, wherein: in step 1), the robot hand is mounted with X, Z, a, Y and B axes.

3. The method for deburring robot end linear motion castings of claim 2, wherein: in step 2), the movement directions of the X-axis, Z-axis, a-axis and B-axis are set according to the left-hand rule or the right-hand rule.

4. The method for deburring robot end linear motion castings of claim 2, wherein: in step 2), the moving direction of the Y axis is set to be positive in terms of upward or positive in terms of downward.

5. The method for deburring robot hand end linear motion castings according to claim 2, wherein: in step 2), the arm extending distance is the arm extending distance from the axis of the X-axis to the axis of the Z-axis and the arm extending distance from the axis of the Z-axis to the axis of the A-axis.

6. The method for deburring robot hand end linear motion castings according to claim 1, wherein: in step 3), the action command includes "G00 idle travel", "G01 straight line", "arc middle point", "arc end point", "delay time", "wait", and "output".

7. The method for deburring robot hand end linear motion castings according to claim 1, wherein: in step 4), the entries in the table column include a line number, an action command, and action content.

8. The method for deburring robot hand end linear motion castings of claim 7, wherein: the motion content includes coordinates and velocities of the X-axis, Y-axis, Z-axis, and a-axis motion.