软实力与硬实力:机器人智能打磨的两大引擎

来源:中国机器人网    关键词:机器人, 自动化,    发布时间:2019-07-18

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在刚刚过去的2019中国机器人集成应用大会上,中国机器人网邀请了多位来自行业内不同领域的嘉宾作为企业代表来就主题会议内容做了分享。为更好地将会议内容让更多的人知道,传播会议精神,我们将会议内容做了梳理。从17日起,我们将每天分享一篇会议相关内容,即是嘉宾当天分享内容。
 
今日主题:《软实力与硬实力:机器人智能打磨的两大引擎》
 
分享嘉宾:安徽配天机器人技术有限公司(后文简称:配天)高级产品经理赵明明
 

 
赵先生就配天所开展的工作谈配天对机器人智能打磨的认识。配天一直认为机器人本体本身不是一个完整的产品,因为机器人本体配合基础的运动控制只能完成一些简单的搬运工作,在一些特定的行业和应用场景,机器人本体必须配合相应的供应软件、算法以及周边的一些硬件设施,才能完成相应的工作,机器人打磨也不例外。
 
打磨抛光在各个领域都是最基础的一道工序,据不完全统计,传统的打磨抛光在有些行业已占成本的30%,赵先生认为其主要原因是人工成本高。那么,为什么人工成本会这么高呢?实际上,这与其工作环境是脱离不了关系的。打磨环境下,粉尘污染已经严重威胁到工人的身体健康了,而作为当下时代劳动力主力军的80和90后,大多是不愿意从事这类工作的,这另一方面也造成了打磨行业人才缺口较大。而用机器人代替人工,进行智能打磨,不仅能解决工作环境问题,还能解决人才缺失问题,且约一到两年时间就能回收机器成本。所以,无论是从环境、效率、质量来看,大多数行业更推崇使用机器人来实现自动化生产。
 
伙伴产业研究院数据表示,近两年机器人打磨抛光市场数据呈持续增长趋势,虽说增长率有所下降,但仍保持在20-30%左右。而机器人打磨主要应用领域在铸件去毛刺去毛刺、3C电子产品外壳打磨、焊缝打磨、木材制品打磨、卫浴五金产品打磨这五方面,赵先生就这五方面分别做了详细的解说。

 
铸件去毛刺去毛刺
 
机器人工作分为接触性和非接触性两类。非接触性作业如喷涂和弧焊,这类机器人对轨迹位置控制精度的要求不高,但对于接触式作业,比如装配、打磨,如果还是按照传统的位置控制的话,就会出现偏差,导致容易导致过磨削或欠磨削。由此,我们不得不提到柔顺控制,柔顺控制也分为主动型和被动型,铸件去毛刺常用被动型柔顺控制。在机器人末端会添加一个柔顺机构,当末端执行器与工件发生接触时,末端柔顺执行器能够调整机器的运动轨迹,从而实现力控。如常用的弹簧(橡皮)浮动和气浮动力控打磨头,当接触力过大时,打磨头会远离工件的方向进行偏移运动,当接触力过小时,打磨头会靠近工件方向运动,从而实现衡力打磨。而闭环控制器+浮动顺随补偿器和伺服电主轴的出现又将这种柔顺控制升级了,更好的实现了轨迹位置补偿和加工速度控制。
 
3C电子产品外壳打磨
 
这个行业的显著性特点就是,打磨轨迹丰富多样,如:横摆、圆弧摆、八字摆,而每个打磨轨迹又有数千个打磨点。如果按照传统的示教方式,是非常耗时且效果不好,所以配天在此基础上开发了曲线插补的功能。通过辅助编程设定螺旋线的起点终点位置、旋向、螺距、运动速度或时间、平滑距离等参数,操作人员即能轻松完成产品外壳打磨调试,采用螺旋线插补功能可以节省40%以上的示教编程时间。
 

 
前面讲了被动型柔顺控制,这里要说一下主动型柔顺控制。主动型柔顺控制的实现是在机器末端添加一个六维力度传感器,当末端执行器与工件发生接触时,六维力度传感器会检测到力的信息并将信息反馈给机器人,机器人会根据信息对末端执行器进行位置或速度的调整。配天在3C电子产品外壳打磨领域也有许多项目,如:笔记本外壳打磨、电子产品配件打磨、风力叶片打磨、滤波器盖板打磨。
 
焊缝打磨
 
焊缝打磨包括:平面焊缝余高打磨、曲面焊缝余高打磨、不规则焊缝打磨。对于前两种情况,激光测距仪实时反馈方焊缝的余高以及左右的距离信息,通过内部算法实时计算,调整打磨工具高度与打磨位置,自适应补偿工件本体、焊接过程以及工装所导致的误差,就能实现柔性打磨加工作业。但对于不规则焊缝打磨,除了要定位位置和检测余高之外,还需要准确识别,因此要采用3D视觉检测系统,3D镜头+算法的测量模式,对工件焊缝3D扫描数据进行分析,实现焊缝的识别、准确定位和测量,对焊缝进行智能打磨。
 
木材制品打磨
 
木材制品打磨有其行业标准:AQ4228-2012木材加工系统粉尘防爆安全规范,规定了工业生产中木材及木制品、人造板、木粉的加工处理系统中产生的木质及其他纤维质材料的粉尘的防爆安全要求。所以,用于这方面的机器人需为防爆机器人,若没有防爆系统,那必须给机器人穿上防爆外衣,这样可以很大程度上降低粉尘爆燃的风险。

卫浴五金产品打磨
 
打磨机器人在这个行业的应用,大多数情况下要配合自动砂带打磨抛光系统。因为这个行业的产品大多是不规则的,类似水龙头、门把手等工件,外形曲面、曲线比较复杂,因此多方面配合完成。第一是离线编程仿真软件及在线调试;第二是柔顺控制,通过砂带机进行磨削,要求能够快速响应磨削应力的变化,保证力控具有一定精度;第三是自动位置/磨损补偿功能,这可以跟踪检测砂带的磨损情况,适时调整打磨轨迹,保证打磨质量,通过压力补偿、速度补偿来实现。
 
除了机器人打磨这五个主要应用领域,对于机器人运动控制,所有人都关心同样两个问题,那就是速度和精度。那么如何做到高速和高精呢?配天在这方面又做了什么努力?赵先生给出了如下回答。
 

 
在速度上,第一,配天采用速度前瞻加工,提前预判何时加减速,这可以将效率提升到30%以上;第二,配天运用O型速度规划(Optimized Velocity Planning),根据机器人轴空间的运动学、动力学约束以及笛卡尔空间运动学约束,计算出主导轴速度、加速度、加加速度的上限,保证运动平稳(加速度连续)的前提下,发挥出机器人的最大性能。
 
在精度上,像传统的绝对定位精度,配天通过DH补偿、重力补偿、多点标定、误差补偿算法,将绝对定位精度提升到± 0.1mm以内。另外就是绝对路径保持,因为在整个运动过程中,路径跟踪精度也是需要保持的。以往经验来看,当机器人在低速运行时,是能很好的按照规定路线运行的,但在高速时就会存在偏差,这就好比弯道超车。配天通过改进路径算法,摆脱了这个困扰,实现了路径与速度无关,任何速度下机器人行走的路径都相同,防止低速示教后高速运行时路径变化导致碰撞。
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