CN116276328A - Robot polishing track optimization method based on digital twin and visual transmission technology - Google Patents
Robot polishing track optimization method based on digital twin and visual transmission technology Download PDFInfo
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- 238000005498 polishing Methods 0.000 title claims abstract description 130
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- 238000005516 engineering process Methods 0.000 title claims abstract description 33
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- 230000003746 surface roughness Effects 0.000 claims description 5
- 238000005520 cutting process Methods 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
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- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention relates to the technical field of industrial robot polishing, in particular to a robot polishing track optimization method based on digital twinning and visual transmission technology. The method comprises the following steps: generating a device digital model of the entity polishing unit, generating a processing workpiece digital model of a standard workpiece, and mapping information of the device of the entity polishing unit into a twin environment model in real time through a virtual-real synchronization technology; comparing pose information of a workpiece to be processed with pose information of a standard workpiece in a polishing unit, and correcting an initial processing path of the robot; and analyzing the machining condition of the robot in real time, judging whether to change the real-time machining path of the robot according to the contact stress state of the polishing position, and comparing the equipment action of the robot with the digital model action of the robot. The polishing and grinding device can enable the robot to correct the polishing track in real time according to the condition of the workpiece, improve the automation degree of polishing and grinding the ring joint, reduce polishing errors and improve polishing precision.
Description
Technical Field
The invention relates to the technical field of industrial robot polishing, in particular to a robot polishing track optimization method based on digital twinning and visual transmission technology.
Background
Polishing and grinding are indispensable links in the production process, and the problems of poor production environment of workers and the like commonly exist in traditional manual grinding. At present, the robot polishing mainly adopts an offline programming mode, namely, before the robot system operates, the robot polishing track is written according to a three-dimensional model of a workpiece to be processed, and then the robot polishing track is imported into the robot system. The existing robot offline programming path planning method comprises the steps of firstly extracting a U-direction or V-direction parameter curve of a model surface according to a three-dimensional CAD model of a processed workpiece, then dispersing each curve into points by adopting an equal step length or equal chord height method, obtaining positions and postures of the points to serve as target points of a polishing track of the robot, and finally connecting the points on the curve in sequence to obtain the polishing track of the robot.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a robot polishing track optimization method based on a digital twin and visual transmission technology, and the digital twin system and the visual transmission system are combined to perform real-time three-dimensional modeling on a workpiece to be processed, so that the robot can correct the polishing track in real time according to the condition of the workpiece, the degree of automation of polishing ring joints is improved, polishing errors are reduced, and polishing precision is improved.
The first object of the present invention can be achieved by adopting the following technical scheme:
a method for optimizing a robot grinding track based on digital twinning and visual communication technology, the method comprising:
s1, generating an equipment digital model of the entity polishing unit, generating a processing workpiece digital model of a standard workpiece, and mapping information of equipment of the entity polishing unit into a twin environment model in real time through a virtual-real synchronization technology;
s2, marking pose information of a standard workpiece in a polishing unit, constructing a digital model of the workpiece to be processed through a visual transmission system, acquiring the pose information of the workpiece to be processed, comparing the pose information of the workpiece to be processed with the pose information of the standard workpiece in the polishing unit, and correcting an initial processing path of the robot;
s3, analyzing the machining condition of the robot in real time, judging whether to change the real-time machining path of the robot according to the contact stress state of the polishing position, and changing the real-time machining path of the robot when the contact stress state of the polishing position reaches a preset condition;
s4, comparing the equipment action of the robot with the digital model action of the robot, and when the equipment action of the robot is consistent with the digital model action of the robot, completing real-time optimization of the machining path of the robot.
In a preferred embodiment, the step S1 includes:
constructing an equipment digital model of the polishing unit according to the equipment of the entity polishing unit in a ratio of 1:1;
generating a digital model of the machined workpiece through a visual transmission system according to the standard machined workpiece;
according to the actual layout of the entity polishing unit, the equipment digital model of the polishing unit and the processing workpiece digital model are imported into a twin environment model of the digital twin simulation platform, and the space relative position between the equipment digital models in the twin environment model is consistent with the space relative position between the polishing unit equipment in the entity environment.
In a preferred technical scheme, the over-vision communication system establishes a digital model of a workpiece to be processed, and the method comprises the following steps:
scanning a workpiece to be processed by a laser radar at different angles, calculating the distance between the workpiece to be processed and the laser radar, establishing a scanning coordinate system by taking a laser transmitter as an origin, and calculating point cloud three-dimensional coordinate data of the workpiece to be processed based on the scanning coordinate system;
acquiring a texture image of the surface of a workpiece to be processed through a CCD camera;
and transmitting the point cloud three-dimensional coordinate data of the workpiece to be processed and the texture image of the surface of the workpiece to be processed back to the digital twin simulation platform in real time, and generating a three-dimensional reconstruction algorithm to generate three-dimensional image data of the workpiece to be processed.
In a preferred technical scheme, comparing pose information of a workpiece to be processed with pose information of a standard workpiece in a polishing unit, correcting an initial processing path of a robot, includes: and comparing the obtained cloud three-dimensional coordinate data of the workpiece to be processed with a digital model of the processed workpiece of the standard workpiece, simulating and simulating a polishing track through a digital twin simulation platform, calculating the feeding amount and the cutting amount required by polishing in real time, correcting the initial processing path of the robot, and controlling the robot to polish according to the corrected path.
In a preferred embodiment, the step S3 includes:
giving various physical properties to a polishing tool and a processing workpiece of the robot in the digital twin simulation platform;
analyzing the contact stress between the digital model of the polishing tool of the robot and the digital model of the processed workpiece in real time, and continuing processing when the workpiece is continuously polished according to the current polishing feed amount without damaging the surface of the workpiece; otherwise, the current polishing feed rate is segmented into a plurality of segments of polishing feed rates, and the locally modified processing path data is transmitted back to the robot controller.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention provides a robot polishing track optimization method based on a digital twin and visual transmission technology, which combines a digital twin system and a visual transmission system to carry out real-time three-dimensional modeling on a workpiece to be processed, so that the robot can correct the polishing track in real time according to the condition of the workpiece, the robot polishing is separated from manual teaching, and the degree of automation of polishing ring joints is improved.
2. The polishing path is generated by combining a finite element analysis module built in the digital twin simulation platform, the digital twin simulation platform is firstly simulated, the polishing path is optimized again according to a simulation result, and finally, the robot is guided to polish, so that polishing errors can be reduced to the greatest extent.
3. The real-time surface roughness information of the workpiece is acquired through a visual transmission technology, data is transmitted back to the digital twin system in real time through infinite communication to be calculated, a polishing program is generated in real time, a given polishing track can be corrected in real time, and polishing precision is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a robot grinding track optimization method in an embodiment of the invention;
FIG. 2 is a flow chart of a method for correcting an initial predetermined processing path according to an embodiment of the present invention;
fig. 3 is a flow chart of robot processing status analysis in an embodiment of the invention.
Detailed Description
The technical solution of the present invention will be described in further detail below with reference to the accompanying drawings and examples, it being apparent that the described examples are some, but not all, examples of the present invention, and embodiments of the present invention are not limited thereto. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
in the invention, a workpiece type robot polishing system is taken as an example, an entity polishing workstation model is established in a virtual environment, and information of equipment in the entity workstation is mapped into a twin environment model in real time by a virtual-real synchronization technology. And the visual transmission technology comprises a laser radar and a CCD camera, basic data acquisition is carried out on a workpiece to be processed to form three-dimensional image data, the three-dimensional image data is transmitted back to a digital twin platform standard workpiece model in real time to carry out error correction, meanwhile, physical properties such as materials, surface roughness and the like of grinding materials and products are endowed in a twin environment, finally, the polishing track of a given robot is optimized by means of a built-in finite element analysis module and a polishing process package in the twin environment, and the polishing track program of the robot with virtual control is transmitted back to a polishing workstation in real time, so that the optimization of the polishing track program of the robot with the real virtual control is completed.
As shown in fig. 1, a flowchart of a robot polishing track optimization method based on digital twin and visual transmission technology according to the present invention includes the following steps:
s1, generating a device digital model of the entity polishing unit, generating a processing workpiece digital model of a standard workpiece, mapping information of the device of the entity polishing unit into a twin environment model in real time through a virtual-real synchronization technology, and constructing a digital twin body of the polishing unit.
Specifically, a digital model of the equipment of the polishing unit is generated according to the equipment of the polishing unit in a ratio of 1:1, wherein the mechanical arm model is a universal three-dimensional CAD model, has a clear product structure, and the mechanical arm moving parts can be independently represented and marked to complete the three-dimensional modeling of the special equipment.
According to the standard processing workpiece, a processing workpiece digital model is automatically generated through a built-in algorithm of a visual transmission system, the accuracy of the processing workpiece digital model depends on the number of points acquired by a point cloud, and the more the number of points is, the higher the accuracy of the model obtained by three-dimensional imaging is.
According to the actual layout of the polishing units, the equipment digital model of the polishing units and the processing workpiece digital model are imported into a twin environment model of the DTS digital twin simulation platform, and the space relative positions between the equipment digital models in the twin environment model are consistent with the space relative positions between the polishing unit equipment in the physical environment.
Wherein, the equipment of unit of polishing includes: six degrees of freedom robots, self-expanding clamps, abrasive belt sanders, automatic feeding and discharging sliding tables, tool measuring tools and unit equipment mounting bases. The visual transmission system comprises a laser radar and a CCD camera, and specifically, the laser radar and the CCD camera are used for acquiring basic data of a workpiece to be processed by utilizing a visual transmission technology to form three-dimensional image data and transmitting the three-dimensional image data back to the DTS digital twin simulation platform in real time. Calculating the distance between the workpiece to be processed and the laser radar through the laser radar difference, establishing a scanning coordinate system by taking a laser transmitter as an origin, calculating the three-dimensional coordinate of the point cloud of the workpiece to be processed based on the scanning coordinate system, and collecting the point cloud data of the workpiece to be processed; acquiring a texture image of the surface of a workpiece to be processed through a CCD camera; and calculating according to the point cloud data of the workpiece to be processed and the texture image of the surface of the workpiece to be processed by a three-dimensional reconstruction algorithm to form three-dimensional image data.
Specifically, the DTS digital twin simulation platform is a man-machine interaction system of the contact entity polishing unit, and the DTS digital twin simulation platform can generate a three-dimensional model of the processed workpiece in real time according to point cloud information provided by the visual communication system.
S2, marking pose information of the standard workpiece in the polishing unit, establishing a digital model of the workpiece to be processed through a visual transmission system, acquiring the pose information of the workpiece to be processed, comparing the pose information of the workpiece to be processed with the pose information of the standard workpiece in the polishing unit, correcting an initial processing path of the robot, and eliminating influence of pose deviation of the workpiece to be processed.
As shown in fig. 2, a flow chart of an initial predetermined processing path is corrected, firstly, standard workpiece pose information is recorded, a robot path planning is performed on a robot processing path of the polishing unit by referring to a standard workpiece model in a path planning stage, the standard workpiece is scanned and recorded by utilizing a visual transmission technology, the generated three-dimensional image information is transmitted to a digital twin simulation platform for analysis processing, and the pose information of the standard workpiece in the polishing unit is marked.
And for the workpiece to be processed, after the workpiece to be processed is placed at a processing position to wait for processing, scanning the current workpiece to be processed by utilizing a visual transmission technology, establishing a digital model of the workpiece to be processed, transmitting three-dimensional image information to a digital twin simulation platform, and reducing the pose of the workpiece to be processed and the rough condition on the surface. Comparing the pose information of the workpiece to be processed with the pose information of the standard workpiece to obtain the position deviation value of the processing point on the workpiece to be processed and the same processing point on the standard workpiece, adjusting the processing path of the given robot according to the position deviation value to obtain a corrected processing path after the pose of the workpiece to be processed is deviated, and feeding back to the robot controller.
In the embodiment, after a workpiece to be processed is placed at a processing position, a laser pulse signal is emitted to the workpiece to be processed through a laser emitter of a laser radar, after the laser pulse signal contacts the surface of the workpiece to be processed and generates a reflection effect, a receiver collects the emission signal, a distance between the workpiece to be processed and the laser radar is calculated by combining a time difference, a scanning coordinate system is established by taking the laser emitter as an origin, a point cloud three-dimensional coordinate of the workpiece to be processed is calculated based on the scanning coordinate system, the workpiece to be processed is scanned at different angles, and the process is repeated, so that point cloud data of the workpiece to be processed are collected; the CCD camera is used for acquiring texture images of the surface of the workpiece to be processed, the relevant data communication of the workpiece acquired by the laser radar and the CCD camera is transmitted to the DTS digital twin simulation platform in a ZigBee wireless communication mode, and three-dimensional image data are formed after calculation by a three-dimensional reconstruction algorithm.
Specifically, comparing pose information of a workpiece to be processed with pose information of a standard workpiece in a polishing unit, and correcting an initial processing path of a robot, wherein the method comprises the following steps: comparing the obtained cloud three-dimensional coordinate data of the workpiece to be processed with a digital processing workpiece model of a standard workpiece, simulating and simulating a polishing track through a digital twin simulation platform (DTS), calculating the feeding amount and the cutting amount required by real-time polishing, correcting the initial processing path of the robot, transmitting a polishing program to a robot control cabinet in real time, and controlling the robot to polish according to the corrected path.
The virtual and real synchronization of the equipment is realized by uniformly packaging the digital model, the control script and the communication interface, facilitating the communication between the model and the equipment by using a standard interface, constructing a virtual control network (workshop Internet of things), constructing a virtual and real synchronization equipment physical simulation platform by using a digital twin technology, and establishing a synchronous control and sensing channel between a physical prototype and the virtual model by using the communication interface, so that a single entity can realize real-time communication and action synchronization with the digital model.
S3, analyzing the machining condition of the robot in real time, judging whether to change the real-time machining path of the robot according to the contact stress state of the polishing position, and changing the real-time machining path of the robot when the contact stress state of the polishing position reaches the preset condition.
Specifically, multiple physical properties are given to a polishing tool and a processing workpiece of the robot in a twin environment, and the multiple physical properties comprise quality, material quality and surface roughness. Physical properties such as quality, material quality, roughness and the like are given to a digital model of a polishing tool, which is a robot end effector, and physical properties such as quality, material quality, roughness and the like are given to a digital model of a processed workpiece. The digital model of the grinding tool and the digital model of the machined workpiece have physical properties such as materials, quality, roughness and the like, and the motion path and the speed of the digital twin body are completely consistent with those of a real object, so that the stress analysis of the digital twin body can be regarded as a real-time stress state of the real object.
As shown in fig. 3, a robot processing condition analysis flow chart is shown, based on a digital model with physical properties, the robot processing condition analysis is used for analyzing the contact stress between the polishing tool and the digital model for processing the workpiece in the processing process in real time, judging whether the workpiece surface is damaged due to overlarge feeding amount if the polishing is continued on the current path under the current stress, and if the workpiece surface is not damaged due to overlarge feeding amount, continuing processing; otherwise, the current grinding feed is divided into a plurality of sections of grinding feed, the mode of repeated grinding instead of one-time grinding is adopted for the processing position, and then locally modified processing path data are transmitted back to the robot controller, so that virtual control is realized, and damage to a workpiece is avoided.
Analyzing the contact stress between the grinding tool and the digital model of the machined workpiece in the machining process in real time, wherein the method specifically comprises the following steps of: the digital model of the polishing tool is used as a force application object, the digital model of the workpiece is processed as a force application object, the digital model of the workpiece is meshed by utilizing a finite element analysis module of the digital twin simulation platform, and then the stress condition of each meshed unit when the polishing tool is contacted with the workpiece is analyzed, so that the stress state of each position on the workpiece is obtained, and basic data can be provided for judging whether the surface of the workpiece is damaged due to overlarge feed amount when the polishing tool is continuously polished.
When the contact stress state of the polishing position reaches a preset condition, changing the real-time processing path of the robot specifically comprises the following steps: when the contact stress between the root of the bulge or burr on the machined workpiece and the grinding cutter of the robot reaches the critical stress value of fracture, the grinding feed quantity is changed, the grinding path is modified in real time, the grinding position is changed from one-time grinding to repeated grinding, and the locally modified machining path is returned to the robot controller. And the optimization of the polishing track of the established robot is completed and transmitted back to the entity workstation, so that the virtual control and real robot polishing track program optimization is realized.
The path correction in step S2 only solves possible machining errors caused by deviations in the pose of the workpiece. The digital twin body analyzes the machining condition in real time, and if the machining surface with a large bulge or burr is in a fixed motion path, the surface of the workpiece can be damaged due to the excessive machining feeding amount. The synchronization between the digital model and the real object depends on the transmission of data, and the lower the data transmission delay is, the better the virtual-real synchronization effect is. Under the optimal condition, the data transmission delay time is 0, so that the real virtual and real synchronization can be realized. The complete consistency of virtual and real actions enables the digital model to simulate the actual processing condition in multiple directions.
S4, comparing the equipment action of the robot with the digital model action of the robot equipment, and when the equipment action of the robot is consistent with the digital model action of the robot, completing real-time optimization of the robot processing path.
In step S2, the predetermined processing path of the robot is corrected for the first time to eliminate the pose deviation between the processed workpiece and the standard workpiece, and in the process of analyzing the processing condition of the workpiece in step S3, there may be cases of locally adjusting the processing path multiple times. In the processing process, the robot processing path in the digital twin body is corrected, namely the motion presented in the digital twin body is the final solution, so that if the device motion of the real object is compared with the digital model motion of the digital twin body, if the motion of the virtual object is completely consistent with the motion of the real object, the robot path is successfully corrected by virtual control and real object. The adjustment of the processing path scheme is to transmit the new path information back to the robot controller in real time after the processing path scheme is completed in the digital twin body, so that the purpose of correcting the processing path of the robot in real time is achieved, and the effect of real-time correction is presented through the visual imaging technology.
In particular, the digitized model of the sanding apparatus and the work piece being processed in the digital twin body is converted into image data at predetermined time intervals, wherein the predetermined time intervals are as small as possible, and the digitized model is different at different processing moments, and the converted image data is also different. The image data of the polishing tool and the processed workpiece of the physical robot are scanned by the visual transmission system at the same preset time interval and are transmitted into the digital twin simulation platform in real time, the image data of the physical and the image data of the digital twin are compared in the simulation platform, and if the image data of the physical and the image data of the digital twin are completely consistent or reach the preset similarity degree, the real-time optimization of the processing path of the robot can be considered to be successful.
The specific converted image data is three-dimensional image information acquired by the visual transmission system and obtained after algorithm calculation, and because the consistency of the digital twin image and the physical image is required to be ensured, the workpiece information is required to be acquired in real time and transmitted back to the digital twin platform in real time, and the latest image data is used for simulation and emulation of polishing.
In summary, the invention combines the digital twin system and the visual transmission technology to perform real-time three-dimensional modeling on the workpiece to be processed, so that the robot can correct the polishing track in real time according to the condition of the workpiece, the robot can polish and break away from manual teaching, and a great deal of labor cost is saved for enterprises while the degree of automation of polishing ring segments is improved. A high-precision three-dimensional model is generated by a high-precision visual transmission system, the high-precision three-dimensional model is analyzed, a polishing path is generated by combining a finite element analysis module arranged in a digital twin platform, a polishing program is firstly simulated on the twin platform, the program is optimized again according to a simulation result, and finally, a robot is guided to polish, so that polishing errors can be reduced to the greatest extent. The real-time surface roughness information of the workpiece is acquired through a visual transmission technology, data is transmitted back to a digital twin system in real time through infinite communication to be calculated, a polishing program is generated in real time, and a given polishing track can be corrected in real time.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (10)
1. The robot polishing track optimization method based on the digital twinning and visual transmission technology is characterized by comprising the following steps:
s1, generating an equipment digital model of the entity polishing unit, generating a processing workpiece digital model of a standard workpiece, and mapping information of equipment of the entity polishing unit into a twin environment model in real time through a virtual-real synchronization technology;
s2, marking pose information of a standard workpiece in a polishing unit, constructing a digital model of the workpiece to be processed through a visual transmission system, acquiring the pose information of the workpiece to be processed, comparing the pose information of the workpiece to be processed with the pose information of the standard workpiece in the polishing unit, and correcting an initial processing path of the robot;
s3, analyzing the machining condition of the robot in real time, judging whether to change the real-time machining path of the robot according to the contact stress state of the polishing position, and changing the real-time machining path of the robot when the contact stress state of the polishing position reaches a preset condition;
s4, comparing the equipment action of the robot with the digital model action of the robot, and when the equipment action of the robot is consistent with the digital model action of the robot, completing real-time optimization of the machining path of the robot.
2. The method for optimizing a grinding track of a robot based on digital twinning and visual communication technology according to claim 1, wherein the step S1 comprises:
constructing an equipment digital model of the polishing unit according to the equipment of the entity polishing unit in a ratio of 1:1;
generating a digital model of the machined workpiece through a visual transmission system according to the standard machined workpiece;
according to the actual layout of the entity polishing unit, the equipment digital model of the polishing unit and the processing workpiece digital model are imported into a twin environment model of the digital twin simulation platform, and the space relative position between the equipment digital models in the twin environment model is consistent with the space relative position between the polishing unit equipment in the entity environment.
3. The robot polishing track optimization method based on the digital twin and visual transmission technology according to claim 2, wherein the equipment of the entity polishing unit comprises a laser radar and a CCD camera, the data acquisition is carried out on the workpiece to be processed through the laser radar and the CCD camera by utilizing the visual transmission technology, and the acquired data are transmitted back to the digital twin simulation platform in real time, so that a three-dimensional model of the workpiece to be processed is generated.
4. The method for optimizing a grinding track of a robot based on digital twinning and visual communication technology according to claim 3, wherein the over-visual communication system builds a digitized model of a workpiece to be processed, comprising:
scanning a workpiece to be processed by a laser radar at different angles, calculating the distance between the workpiece to be processed and the laser radar, establishing a scanning coordinate system by taking a laser transmitter as an origin, and calculating point cloud three-dimensional coordinate data of the workpiece to be processed based on the scanning coordinate system;
acquiring a texture image of the surface of a workpiece to be processed through a CCD camera;
and transmitting the point cloud three-dimensional coordinate data of the workpiece to be processed and the texture image of the surface of the workpiece to be processed back to the digital twin simulation platform in real time, and generating a three-dimensional reconstruction algorithm to generate three-dimensional image data of the workpiece to be processed.
5. The method for optimizing the polishing track of the robot based on the digital twin and visual transmission technology according to claim 1, wherein comparing the pose information of the workpiece to be processed with the pose information of the standard workpiece in the polishing unit, and correcting the initial processing path of the robot comprises the following steps: and comparing the obtained cloud three-dimensional coordinate data of the workpiece to be processed with a digital model of the processed workpiece of the standard workpiece, simulating and simulating a polishing track through a digital twin simulation platform, calculating the feeding amount and the cutting amount required by polishing in real time, correcting the initial processing path of the robot, and controlling the robot to polish according to the corrected path.
6. The method for optimizing a grinding track of a robot based on digital twinning and visual communication technology according to claim 5, wherein the step S3 includes:
giving various physical properties to a polishing tool and a processing workpiece of the robot in the digital twin simulation platform;
analyzing the contact stress between the digital model of the polishing tool of the robot and the digital model of the processed workpiece in real time, and continuing processing when the workpiece is continuously polished according to the current polishing feed amount without damaging the surface of the workpiece; otherwise, the current polishing feed rate is segmented into a plurality of segments of polishing feed rates, and the locally modified processing path data is transmitted back to the robot controller.
7. The method for optimizing the polishing track of the robot based on the digital twin and visual transmission technology according to claim 6, wherein the step of analyzing the contact stress between the digital model of the polishing tool of the robot and the digital model of the machined workpiece in real time comprises the step of gridding the digital model of the machined workpiece through a finite element analysis module integrated with a digital twin simulation platform, and calculating the stress condition of each grid unit when the polishing tool is in contact with the machined workpiece, so as to obtain the stress state of each position on the machined workpiece.
8. The method for optimizing a grinding track of a robot based on digital twin and visual communication technology according to claim 7, wherein changing the real-time processing path of the robot when the contact stress state of the grinding position reaches a preset condition includes changing the grinding feed amount of the robot when the contact stress of the grinding part of the protrusion or burr on the processed workpiece and the grinding tool of the robot reaches a critical stress value of fracture, and changing the grinding part from one-time grinding to repeated grinding for a plurality of times.
9. The method for optimizing the polishing track of a robot based on the digital twin and visual communication technology according to any one of claims 6 to 8, wherein the plurality of physical properties imparted to the polishing tool and the processed workpiece of the robot in the digital twin simulation platform include quality, material quality and surface roughness.
10. The method for optimizing a grinding track of a robot based on digital twinning and visual communication technology according to claim 1, wherein the step S4 comprises:
converting a digital model of a polishing tool of the robot in the digital twin simulation platform and a digital model of a processed workpiece into image data at predetermined time intervals;
scanning a polishing tool and a processing workpiece of the physical robot through a visual transmission system at preset time intervals to obtain real-time image data of the polishing tool and the processing workpiece of the physical robot, comparing the image data of the polishing tool and the processing workpiece of the physical robot with the image data of a digital model of the polishing tool and the digital model of the processing workpiece of the robot in the twin body in a digital twin simulation platform, and if the image data of the physical robot and the image data of the digital twin body reach preset similarity, considering that the real-time optimization of the processing path of the robot is completed.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140354A (en) * | 2023-10-31 | 2023-12-01 | 雅安成建工业化建筑有限公司 | Polishing system for metal product for building based on track optimization |
| CN117943941A (en) * | 2024-03-27 | 2024-04-30 | 烟台威驰石油矿山机械有限公司 | Grinding machine for machining rotor groove of vane motor |
| CN117943941B (en) * | 2024-03-27 | 2024-05-28 | 烟台威驰石油矿山机械有限公司 | Grinding machine for machining rotor groove of vane motor |
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2023
- 2023-02-28 CN CN202310175381.6A patent/CN116276328A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140354A (en) * | 2023-10-31 | 2023-12-01 | 雅安成建工业化建筑有限公司 | Polishing system for metal product for building based on track optimization |
| CN117140354B (en) * | 2023-10-31 | 2024-01-05 | 雅安成建工业化建筑有限公司 | Polishing system for metal product for building based on track optimization |
| CN117943941A (en) * | 2024-03-27 | 2024-04-30 | 烟台威驰石油矿山机械有限公司 | Grinding machine for machining rotor groove of vane motor |
| CN117943941B (en) * | 2024-03-27 | 2024-05-28 | 烟台威驰石油矿山机械有限公司 | Grinding machine for machining rotor groove of vane motor |
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