CPOLISH

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.

CPolish video

Product Advantage

  • Intelligence and Perception

  • Simple and Flexible

  • Efficient and Precise

  • Modular Design

  • Efficient and Precise

Product Framework

    Six-Dimensional Force Sensor

    CPolish can optimize the grinding path in real time,based on the force-level hybrid control algorithm.
    The hardware part uses a six - dimensional force transduc.

    specification

    Fx,Fy — 200N

    Fz  — 200N

    Tx,Ty — 10Nm

    Tz — 6.5Nm

    Fast Trajectory Generation

    To simplify the design and debugging of grinding process,CPolish provides two fast trajectory generation functions: the model reconstruction based on 3D vision can realize the fast path design and the fast track generation technology of intelligent teaching.Data of posture and six - dimensional force sensor were collected synchronously during polishing. CPolish provides the simplest and friendliest pro

     
     

    Intelligent Force Control Software

    CPolish has the following characteristics of force control software:

    • Automatic Calibration of Force Sensor

    • Load Recognition and Gravity Compensation of Force Sensor

    • Temperature Compensation of Force Sensor

    • Bayesian Filtering

    • Constant Force Control

    • Variable Speed Control

    • Force-based Protection and Recovery

    • Force-based Monitoring

     

Grinding Task Flow

  • 1

    Set the Scene

    Set up the polishing scene, and locate the workpiece and clamp the tools.

  • 2

    Scanning Modeling

    Above the robot, it is equipped with a 3D structural light camera, which can collect the point cloud of the workpiece, reconstruct the modeling and get the loctation of the workpiece.

  • 3

    Process Design

    CPolish provides two grinding process design methods: intelligent teaching and 3D interface interaction. It can refine,emulate, and optimize grinding trajectory and force field.

  • 4

    Automatic Track Generation

    The trajectory is generated quickly according to the designed path, and the designed trajectory is verified by simulation to prevent collision and singular  posture.

  • 5

    Grinding Execution

    According to the grinding process set by the user, CPolish performs hybrid force-position control, flexibly adjusts the grinding trajectory of the robot, and monitoring the grinding process in real time.

Cases

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