Because of the advantages of industrial robots including accuracy, reliability, and flexibility, more and more manufacturing enterprises are trying to use industrial robots to grind, polish, and deburr workpieces. However, it takes long to program and it is difficult to debug an accurate and complex grinding trajectory for industrial robots. However, it is still a difficult task to specify the polishing trajectory in terms of path, speed and force profiles, etc, it requires high consistency of workpieces, and high accuracy of calibration of the workstation. Traditional off-line programming solutions can solve the complex problem of trajectory programming, but they require good workpiece consistency and accurate workstation calibration, which makes it still very difficult to install, debug and use industrial robots in the grinding process.
CPolish is a self-developed polishing system integrating machine vision and force control by COBOT. Based on the 3D camera, this system can quickly scan and model the polished workpiece and calculate the coordinates of the workpiece in the 3D space. Then, based on the model reconstructed by vision, the system can quickly generate the path and realize the rapid design of the grinding process path through various ways such as intelligent teaching drag trajectory design. The introduction of force control in the grinding process also greatly improves the quality of the workpiece grinding, machining efficiency and equipment safety.
CPolish can adjust the majority of robotic grinding process of complex workpieces in 4 hours, such as propellers, wind turbine blades,turbine blade and so on.