Hardware equipment session: how robots can break through the underlying technical barriers The guests participating in this dialogue are: Song Gaosheng, Technical Director of Mitsubishi Electric Semiconductor Greater China, Ji Shuting, Deputy Dean of the Intelligent Transmission Technology Research Institute of Zhitong University, Gui Xinfei, Deputy General Manager of Benrun Harmonic, Tang Weiwei, Senior Director of Bitmain, Miao Yuqun, general manager of Daru Technology. The underlying technology is often the place where the barriers are concentrated, which has caused the gap between domestic and foreign brand industrial robots. The opening of the underlying technology plays a vital role in the improvement of robot performance indicators. Song Gaosheng believes that the servo drive is the core component of the robot, and the power semiconductors hidden in it play a key role in the performance of the servo drive. In the iterative upgrade of power semiconductor pro

In the industrial manufacturing field, because of stricter standard of industrial products art and harder to attract labor, it has become essential for the automation upgrading, especially in grinding polishing field, its trend is more obvious. However, in actual process, automation upgrading does not only mean in the equipment, but also should form know-how perfect solution for the whole industry, then can we energize factory to realize upgrading. Anyone who has been long in grinding polishing field all know that its producing art requirements are complicate, abrasive material, particle size, workpiece surface size discrepancy, touch area size, pressing magnitude, grinding angle, beat etc. factors all are possible to make effects to grinding effect and efficiency, which make it hard to realize manufacturing automation. Therefore, more factories are still using traditional manual grinding method. In a situation in which competitionness could be different with 1 percent producing efficiency improving, these factories are similarly desperate to improve efficiency and yield with the help of automation. But the fact is that they can not find the solution to help realize art effect, they have to stand and accept manual grinding hurts and risks. From this point, it has appeared obvious unmatched condition in grinding polishing field supplying end and demanding end. Grinding polishing requires higher for flexible control, operating speed and stability in the process

In 22th Shanghai industrial expo, Daru technology (Suzhou) Co.,ltd joins it as an unique supplier in automatic flexible grinding polishing field. Our product attracts many visitors and many of them can not wait to make an appointment with us. The scene proves it again that our product are very promising and innovative, it must discover more and wider market and can be used in more and more fields.

Acrylic products is a kind of development early important thermoplastic, has now been widely used in daily life. Size larger acrylic products polishing processing, the need to use the sanding constant force actuator to realize the large plane grinding, polishing and surface polishing constant force actuator with six axis industrial robot to realize the flexible polishing, remove fine lines and the speck on the acrylic, improve acrylic surface finish, reducing fog degree, realize the acrylic mirror luster.Pundit, science and technology in order to fully satisfy need realize the automation of grinding unit robot flexible grinding, through the total system communication robot and polishing machine and other peripheral equipment to achieve better coordination, the desired effect of the flexible polishing processing.

Carbon fiber has high strength, corrosion resistance, the advantages of light quality, high modulus carbon fiber helmet in the process of production, surface and tick off seam grain grinding has been using artificial or non-professional machinery, the production efficiency is low, grinding quality, machining grind the time-consuming defect. Using pundit, science and technology of force control system can realize flexible grinding grain jointing, improve surface finish and flatness, ensure the quality of grinding and stability.

Auto parts manufacturing industry, the rack and the handle to exterior trim, have higher request for surface treatment, and there are more radian, urgently needs to solve the problem of automatic flexible polishing.Car rack polishing solution, the use of force control system realizes the rack surface sanding and industrial robot, the force control system and industrial robot real-time communications, to assure the consistence of part of the rack are surface polishing effect, according to the requirements of the polishing process, the force control system can choose pneumatic and electric grinding equipment, fully meet the needs of grinding, polishing, deburring roughing and finish machining, the desired flexible polishing processing effect.In the car door handle grinding production, we recommend the use of robot polishing, advantages are the following: shorten grinding time, improve efficiency; Lower labor costs, simplify grind the difficulty. Using polishing constant force actuator for soft automatic grinding has been used in many application scenarios, make the products more standard.

Flexible polishing technology elements flexible polishing technology to achieve the purpose of the utility model lies in the flaw and the insufficiency of existing technology, provide a kind of simple structure, reasonable design, convenient to use a casting automatic grinding high rigid robot, able to adapt to large castings machining and machine type of high rigid, serial manipulator joints castings in the process of grinding, high flexibility, realize many varieties of flexible polishing robot compared with artificial remove casting machining burrs advantage? Flexible polishing robot compared with artificial remove casting machining burrs advantage? 1. The first is the cost, the traditional manual grinding working environment is extremely bad, at present there have been problems such as the shortage, and intelligent robot polishing can resolve cost greatly, improve workers' working environment. 2.Processing quality, the traditional manual processing repeatability is poor, and the flexible polishing workers experience level will be a new generation of "star industrial" flexible polishing will become a new generation of "industry star" scientific and technological progress constantly bring new changes to human society, to a new generation of information technology for the industrial revolution has come, industrial automation manufacturers are using revolutionary production technology to create more economic benefits. Industrial casting industry needs intelligent technology to fundamentally change the status quo of traditional industries rely on artificial.

AeIn flexible float polishing grinding groove, surface and irregular shape burr, floating mechanism and abrasive machining burrs to follow to, can be 360 degrees in the axial and radial floating and floating force can be adjusted, like hand glides across the workpiece burr on the flexible deburring, can avoid to cause the damage of the grinding tool and the workpiece, absorb the workpiece and so on various aspects error simplify the programming of the robot deburring floating body can pass grinding manipulator automatically change, multistep process, And also can be used from the economic perspective thread or other way to connect with robots, at the same time on the CNC machine tools or custom can also be convenient to use the floating mechanism, and it can automatically change grinding operations.Pundit, science and technology team, in the floating deburring and grinding automation has accumulated rich experience, can according to customer's technological requirements of different types of artifacts and recommend can meet the technical requirements and economical products, as well as in the customer about the choice of grinding tool and whether you need to join the force control system or floating spindle unit, the overall process and scheme of planning to give professional advice, at the same time there are so many use cases data such as video in this not do detailed introduction.At the same time we sold in robot force control system, deburring polishing floating power head, floating grinding head, floating deburring polishing, robot floating spindle, etc.

Consistency: automatic polishing is a monotonous repetitive work, the robot can be continuous and stable operation.Improve the quality of robot can continuous operation not fatigue, very suitable for the job needs.Staff safety: related operation is of safety, robots reduce the safety risk.Environmental friendly: polishing operation field of dust environment is extremely bad, the robot can work safely in the dust environment.Reduce waste: automated robot polishing system can easily provide uniform need to ensure that products, completely out of polishing consistency and sex.Reduce the cycle time: polishing robot programming to apply suitable amount of pressure, just in the right direction, thus faster and more efficient than manual application performance.That is about the special polishing robot force control system is introduced.Pundit, focus on science and technology scheme of polishing solution, have a deep grinding process experience, rich project cases, and test programs, is committed to helping enterprises are easier to implement automatic grinding and polishing.

Automatic grinding and polishing the present difficulties mainly include: hardware products, plastic, wooden products, welding products, because the material or process characteristics, there are uncertainties caused by tolerance batch products still exist distortion tolerance, so each product because of various reasons there are all kinds of small or large differences, abrasion of abrasive belt and other abrasive also exist, make the automatic grinding and polishing more difficult.Industrial robot grinding and polishing solution at present stage according to the program execution path, when encountering inconsistent product batch grinding can appear either could not hit or played the phenomenon, can't achieve the automation of batch grinding polishing.Without constant pressure there is no guarantee that the workpiece polishing effect, on the other hand, when the abrasive wear, polishing robot also don't have automatic compensation function, set according to the consumption of mechanized only remind to replace abrasive, it further led to the uncertainty of grinding effect.Pundit, science and technology in automation of grinding and polishing solutions for many years, more than a lot of problems, a multi-year research and development on the fine polishing the special robot force control system. Force control system can be 360 degrees for real-time control, implements a simple, safe, stable and high efficiency grinding automation, power control system can help to increase the speed of machining of complex polishing robot, simplifies the polishing robot programming at the same time, and the implementation of constant force grinding process, improve the quality of processing, solved the previous robot polishing quality is not stable, debugging is difficult time is long, difficult to achieve mass production. Force control system has a lot of, the advantages of the pundit, looking for partners of science and technology is briefly the

Industrial robot application more and more, as one of many application, fine polishing robot is mainly used for surface grinding workpiece, gate deburring, weld grinding, grinding of deburring application, etc. At present, in the 3 c, hardware, furniture, medical, auto parts, sanitary ware and other industries have abundant case application. However, as the market competition is intense, manufacturing enterprises are increasingly demanding on the quality and efficiency of automatic grinding. But there are traditional polishing robot polishing process change, difficult programming, debugging time is long, the polishing effect is not stable, such as pain points, thus the grinding effect and the function of the robot put forward higher requirements and standards.Fine polishing the dedicated force control system for robot arises at the historic moment, the results of the power control system to solve two things: to save time or cost savings; Both from the perspective of simplify the operation process, and improve the efficiency of Angle, pundit, science and technology of force control system and the perfect fusion of the robot, can significantly lower the difficulty of debugging, the robot just control the polishing path and force control system to control the grinding force, grinding force can be quantified, the part tolerance or large deformation of sheet metal, stamping, plastic, etc., still can ensure consistent effect, high production realizability. Compared with other polishing robot workstation, the force control system realized the innovation.

In recent years in Europe and the United States developed countries has abundant use of main power adaptive system can solve various problems encountered in grinding and polishing, this makes the difficult processing of edge, Angle and cross hole, irregular shape burr, the force control system for machining burrs to follow, like hand glides across the workpiece burr on flexible deburring, can effectively avoid artifacts caused by damage, absorb the artifacts and positioning error and so on various aspects.Force control system adopts adaptive contact force method, using the optimization algorithm to drive the grinding head movement, the flexible workpiece wear self-compensation, using a laser sensor to identify incoming weld height, achieving a uniform polishing, controllable, good safety, quick return of investment.To solve the problem: the low efficiency of traditional manual polishing production line, grinding quality is closely related to the workers technique, product polishing effect consistency, the dust, harm to workers health.Technology innovation: the adaptive way of contact force, optimizing grinding trajectory, and drives the grinding head movement, ensure consistency, fine polishing effect to avoid wear or grinding does not reach the designated position.

Traditional industrial robots through accurate position control, according to the path in the space of robot control system planning movement, complete and handling, testing, painting, traditional materials such as homework. With the speeding up of the process of industrial automation, industrial application of robot in field more and more, in the face of the need to interact with the environmental effect of application scenarios, position control of the robot is pure and showed the limitation of the application. Insistance technology with years of experience in automatic polishing solution of constant force grinding research and development, provide enterprises with high precision, high flexible force control system, help enterprises to solve the demand of flexible polishing. The force control system of flexible control, is the direction of the polishing robot evolution. In the field of industrial manufacturing, with industrial process standards improve, more and more manufacturing process only by traditional industrial robot position control is difficult to do. Complex curved surface of workpiece in poor consistency grinding applications, the position of the traditional control mode big rigidity, probably caused by the position error of workpiece robot system instantaneous overload, causing irreversible damage to the robot or parts. Most metal artifacts in through after molding, welding, casting and other basic processing procedure, still need to fine grinding polishing, deburring, as well as the polishing process can achieve the acceptance of qualified standard. Grinding process of a large number of dip dust, corrosive liquid chip and noisy noise easily lead to grinding operation personnel of all kinds of occupational disease harm security issues. At the same time also faced with low production efficiency and product of artificial poor accuracy and consistency of product molding problems, unable to realize batch production.

1. Long working hours and high production efficiency, which can repeat uninterrupted labor, and the maintenance line works normally. 2. Strong adaptability to the environment, can work in harsh environments such as dust, flammable and explosive. 3. High motion accuracy and good flexibility, PLC control can effectively reduce the accuracy problems caused by human factors. 4. Good universality. Due to the openness of the structure and principle of the truss robot system, it only needs to be adjusted appropriately to adapt to different work tasks. Therefore, the automatic loading and unloading robot can meet the task requirements of most small and medium-sized enterprises in the process of shaft processing.

Traditional industrial robots through accurate position control, according to the path in the space of robot control system planning movement, complete and handling, testing, painting, traditional materials such as homework. With the speeding up of the process of industrial automation, industrial application of robot in field more and more, in the face of the need to interact with the environmental effect of application scenarios, position control of the robot is pure and showed the limitation of the application. Insistance technology with years of experience in automatic polishing solution of constant force grinding research and development, provide enterprises with high precision, high flexible force control system, help enterprises to solve the demand of flexible polishing. The force control system of flexible control, is the direction of the polishing robot evolution. In the field of industrial manufacturing, with industrial process standards improve, more and more manufacturing process only by traditional industrial robot position control is difficult to do. Complex curved surface of workpiece in poor consistency grinding applications, the position of the traditional control mode big rigidity, probably caused by the position error of workpiece robot system instantaneous overload, causing irreversible damage to the robot or parts. Most metal artifacts in through after molding, welding, casting and other basic processing procedure, still need to fine grinding polishing, deburring, as well as the polishing process can achieve the acceptance of qualified standard. Grinding process of a large number of diffuse dust, corrosive liquid chip and noisy noise easily lead to grinding operation personnel of all kinds of occupational disease harm security issues. At the same time also faced with low production efficiency and product of artificial poor accuracy and consistency of product molding problems, unable to realize batch production.

Unlike active force control system of flexible, passive, submissive, which make use of tools or mechanical structure inherent flexibility, simple structure but can't achieve precise constant force control. Robot main power control are mainly through the control arm joint torque force control of direct force control and use of mechanical arm external force control device of additional between relay control of the two methods. The former mechanical arm is suitable for lightweight, good safety; And industrial robots, joint flexibility, because of the large sports quality transmission mechanism of friction and other factors, difficult to achieve direct force control, therefore based on force control between the actuator at the end of the relay control way is more suitable for high speed heavy industrial robots. According to the drive mode existing power control terminal actuators can be divided into mechanical, pneumatic, electric displacement and electric hybrid. The mechanical generally installed on the end actuator spring passive, submissive, advantage is simple structure, but its force control precision is low. Pneumatic by adjusting the air pressure to realize the end of the actuator output force, the advantage is good flexible, force than the big, simple control, but there is slow response, low precision, shortcomings and so on hysteresis. Electric drive type is controlled by motor end actuator force output, the advantages are high control accuracy and response speed, but the quality is great, and poor ability to resist shock vibration faults. While traditional gas-electric hybrid combination of electric drive type and the advantages of pneumatic but still exists the problem of quality. In the process of the polishing force posture coupling problems, namely when the robot is normal deviation, end executor must have local position adjustment function.

Pundit, technological control system can help some fine polishing the implementation artifacts of batch production. Fine polishing is the most essential in the process of product appearance parts processing procedure. Before the workpiece spray paint, anode, electroplating, etc, all need grinding polishing to remove surface defects, improve the surface consistency, increase the adhesion; Although now more and more factories begin to use robots to carry on the automatic grinding and polishing, but on the market at present most artificial buffing, in addition to because the upfront cost is higher, more is unable to realize automation of mass production; Sheet metal, box, plastic and other industries, for example, the workpiece itself will tolerance is bigger, a manipulator with two sets of workpiece grinding test is no problem, to be able to debug out; Is the lack of a flexible manipulator itself, however, can only be run according to teach good fixed path, once put into batch production, need frequent replacement of artifacts, dimensional tolerance, between each artifact will make or grinding, or not polished, lead to yield very poor, production costs have risen sharply, the enterprise can't afford to; If using the force control system, its active adaptation, according to the size of the difference between artifacts, instantaneous adjustment, and can control within the scope of the need, to ensure the consistency between polishing effect, production yield can be guaranteed.

Pundit, science and technology is a postdoctoral team led by professional, after four years of research and development success, fine polishing the special robot force control system to fill the domestic blank; Insistance technology vision is to let every factory can realize automatic grinding and polishing, we will stand in the perspective of customer problems, exceed customer expectations. Pundit, founder of the science and technology of grinding and polishing industry has more than 10 years of workCalendar, deep insights of fine polishing process. Company research and development of force control system can solve most of the grinding plant application, can help customers quickly get accurate data control polishing solution.Flexible control and force compensation is an important performance of the power control system, applicable to all robot grinding and polishing, especially for appearance, body sheet metal advantages are more obvious. Factories are in improving the capacity of automation at present, the demand for robots will increase, especially in the fine polishing the market; Force control system of the flexible intelligent grinding, has gradually become just need, only in the domestic market, the existing market demand for more than 10 billion; An annual increase of more than 4 billion demand, used for grinding and polishing of force control system wide prospect of market.

Most or artificial is rubbed on the market, recruitment difficult, low efficiency, safety and health problems has been artificial buffing the pain points of the market. More and more factories begin to use robot for automatic polishing, but there also is lack of flexibility, debugging difficulty robot polishing, such as difficult to achieve production bottlenecks. The force control system can make up for the robot polishing, lack of flexibility, debugging is difficult and low accuracy of difficult pain points to realize the mass production. Force control system of flexible control, rapid response, force compensation and manipulation of the simple and easy to use, not only improve the effect of grinding, also can greatly reduce the development cost of integrators and the use and maintenance cost of terminal facilities, obvious advantages. Pundit, science and technology of force control system fine polishing the market, the target market is mainly for 3 c, auto parts, household appliances and other industries. All can use the robot automatic production factories are our target customers. Force control system has been in the 3 c industry (such as mobile phones, laptops, speakers), auto parts, such as handles, bumper, sun visor, household items, such as tables and chairs, cabinets, sanitary ware industry such as the client application.

Now have more than one pundit, technological control system model, suitable for different grinding, polishing work scenarios. Force control system of flexible control grinding process, according to the position offset of tolerance of workpiece and subtle moment adjustment, the size of the retention in the set range, to ensure the consistency of surface effect. A perfect fusion of robot and can significantly lower the difficulty of debugging, robot control grinding path, force control system to control the grinding force, grinding force can be quantified, the part tolerance or large deformation of sheet metal, stamping, plastic, etc., still can ensure consistent effect, high production realizability. Force control system suitable for different grinding, polishing work scenarios, especially suitable for curved surface, plane and other equipment arc Angle, body can't implementation artifacts environment.Austrian ACF is the design of the commonality, fine polishing application is just a part of its function, pundit, science and technology of force control system is developed for grinding and polishing, no redundant functions; ACF and insistance of force control system of science and technology in the field of grinding and polishing performance, ACF software applications, complex operation, insistance of force control system operation is simple.

In the field of traditional handling, welding, the application of industrial robot competition hots up. Fine polishing, assembling deburring application has become an important new profit growth point, such as the force control technology is particularly important.Robot polishing needs to have full force control system, pundit, science and technology research and development team after years of successful research force control system, and has a wealth of practical experience in the field of force control grinding.The force control system has the characteristics of the:1, compact grinding process, suitable for fine grinding, such as copper, aluminum, wood, plastic, ceramic and carbon fiber of fine grinding and polishing;2, can realize the whole posture real-time compensation, applicable to arbitrary shape workpiece surface treatment, and ensure the precision and stability of contact force;3, simple operation, low requirements for debugging, can quickly get started;4, extremely durable design, the force control system is a maintenance free.