CN105643399B - The complex-curved automatic grinding-polishing system of robot and processing method based on Shared control - Google Patents
The complex-curved automatic grinding-polishing system of robot and processing method based on Shared control Download PDFInfo
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- CN105643399B CN105643399B CN201511007495.1A CN201511007495A CN105643399B CN 105643399 B CN105643399 B CN 105643399B CN 201511007495 A CN201511007495 A CN 201511007495A CN 105643399 B CN105643399 B CN 105643399B
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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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
-
- 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
- B24B45/00—Means for securing grinding wheels on rotary arbors
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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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
-
- 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
- B24B49/16—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 taking regard of the load
- B24B49/165—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 taking regard of the load for grinding tyres
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention relates to a kind of complex-curved automatic grinding-polishing systems of robot based on Shared control and processing method, device to include：Industrial robot, workbench, force snesor, flexible polishing cutter, signal switching amplifier, computer and robot controller；Method is：Toolpath Generation obtains polishing cutter cutter-contact point trace before complex curved surface part polishing, obtains the processing curve cutter spacing locus of points；The processing curve cutter spacing locus of points is converted into the identifiable code format program file of robot controller, inputs robot controller；Workpiece positioning and clamping, the coordinate calibration for completing process system are unified；Robot drives robot motion according to Toolpath Generation program file, and the polishing cutter mounted on end effector of robot is driven to contact processing with finished surface.The present invention can substitute the manual operation in complex curved surface parts skin processing stage, especially large complicated carved workpiece, reduce artificial intensity and processing cost, improve processing type face quality stability and consistency.
Description
Technical field
It is specifically a kind of based on Shared control the present invention relates to a kind of industrial robot processed and applied technical field
The complex-curved automatic grinding-polishing system of robot and processing method.
Background technology
During complex surface machining, roughing will be generally first passed through, then it is high-precision to carry out polishing for half essence and finishing
(finishing) is processed, and could obtain satisfactory workpiece surface.A few days ago, with the hair at full speed of high-end intelligent automation control technology
Exhibition, the Flexible Manufacture using numerically-controlled machine tool as platform have realized that the automation of complex curved surface part is processed, but Polishing machining master substantially
Also to be to rely on worker's manual operations.The complex-curved manual Polishing machining time accounts for about always in advanced industrial countries such as the U.S.
The 1/3 of time, and in China then up to more than 80%.Cause low production efficiency and processing quality unstable, it is difficult to satisfaction low cost,
Short period and the modern processing and manufacturing requirement of high quality, so the intelligence and automation of complex-curved skin processing, as reality
Existing high-quality, efficient, inexpensive manufacture important link, is increasingly subject to the attention of industry and academia.Industrial robot is distinctive
Flexible characteristic so that it is very suitable for complex-curved automation Polishing machining.
During Polishing machining, the polishing pressure between polishing cutter and workpiece surface is the main of influence processing quality
Factor rather than polishing power.Polishing pressure can be with complex-curved radius of curvature, the polishing power for being applied to curved surface, polishing
The variation of location attitude of the cutter (pose and posture) and real-time change.To obtain high curved surface processing quality, it is desirable that automatic to throw
Polishing cutter in photosystem platform should also have certain compliance other than having good cutting power.Compliance one
As be divided into two class of active compliance and passive compliance.Active Compliance Control is power control, according to the feedback information of force snesor
Using certain control strategy, active control polish pressure is removed so that robot in the posture of adjust automatically polishing cutter and position
Polishing pressure can be generated and feed back in real time and the pressure of generation is adjusted, realize the mixing of position, posture and power
Control, it is ensured that contact force rationally, stable so that robot can actively comply with the variation of external environment, reaches
The requirement of processing tasks.Passive compliance control be milling cutter by some auxiliary compliant mechanism (mainly by can absorb or
Store the mechanical devices such as compositions such as spring, damping of energy), it is enable to be produced from when being contacted with environment to applied external force
So compliance, in process, according to the variation of curvature of curved surface, grinding tool is formed passively by the Flexible change of itself different location
It is submissive.
Based on former theory analysis, industrial robot with its distinctive flexible characteristic, be very suitable for it is complex-curved from
Dynamicization Polishing machining.And complex-curved realize automatic grinding-polishing system and processing method not yet currently based on the robot of Shared control
It appears in the newspapers.
Invention content
For Polishing machining in the prior art dependent on worker's manual operations, cause low production efficiency and processing quality unstable
The deficiencies of modern processing and manufacturing that is fixed and being difficult to meet low cost, short period and high quality requires, the invention solves skill
Art problem is to provide a kind of uniformity and consistency for ensureing to process removal amount, improves processing efficiency and processing quality, effectively
It reduces the complex-curved automatic grinding-polishing system of the robot based on Shared control of processing hand labor intensity and production cost and adds
Work method.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
The present invention is based on the complex-curved automatic grinding-polishing system of robot of Shared control, including：Industrial robot, work
Platform, force snesor, flexible polishing cutter, signal switching amplifier, computer and robot controller, wherein industrial robot
The upper flexible polishing cutter of installation, computer carry out both-way communication with robot controller by robot communication interface and connect, machine
Device people controller controls industrial machine human action, and implementing polishing to the workpiece being fixed on workbench by flexible polishing cutter adds
Work；Force snesor send the polishing force data of acquisition to computer disposal as closed loop feedback signal.
The flexibility polishing cutter includes L-type support, polishing head, elastic taper collet and motor, wherein polishing head and leads to
It crosses clamping elastic rubber disk to be installed on elastic taper collet, the main shaft connection of elastic taper collet and motor, motor is installed in L
On type stent, L-type support is connected again by the motion arm end effector of connecting flange and industrial robot.
The flexibility polishing cutter also has right angle trapezoidal frame, right angle trapezoidal frame upper bottom surface support motor, bottom surface
It is abutted with the stress surface of force snesor, force snesor bottom is installed in L-type support.
Clamping elastic rubber face of trying to get to the heart of a matter bonds back of the body suede emery cloth or sand paper.
The present invention is based on the processing method of the complex-curved automatic grinding-polishing system of robot of Shared control, including following step
Suddenly：
The Toolpath Generation before polishing is carried out for complex curved surface part, to determine that tool sharpening track and pose are joined
Number obtains polishing cutter cutter-contact point trace, further obtains the processing curve cutter spacing locus of points；
The processing curve cutter spacing locus of points is converted into the identifiable code format program file of robot controller, inputs machine
Device people's controller；
Workpiece is installed on workbench, carries out the positioning and clamping of workpiece, the coordinate calibration for completing process system is unified；
The Toolpath Generation program file that robot is inputted according to controller, driving robot are formed according to trajectory planning
Program file movement, drive and processing contacted with finished surface mounted on the polishing cutter of end effector of robot.
The Toolpath Generation before polishing is carried out for complex curved surface part, to determine that tool sharpening track and pose are joined
Number obtains the polishing cutter cutter spacing locus of points, further obtains the processing curve cutter spacing locus of points and include the following steps：
Robot positions knife with table positions block, completes robot basis coordinates and is demarcated with stage coordinates, realizes and sit
Mark calibration is unified；
Complex curved surface part threedimensional model imports to the coordinates measurement software of this system, set concave surface feed or convex surface into
Knife mode；Under workpiece coordinate system, software calculates work centre line according to threedimensional model and demarcates automatically；Then symmetric row is applied
Processing feed path generation method is cut to obtain process tool row and cut path；
According to the rule of Hilbert curves, the process tool row of acquisition is cut into path threedimensional model and carries out discretization, it will be bent
Face is separated into a series of control point sets, and it is a series of point set that point, which divides these disperse nodes, and passes through recombination and delete behaviour
These point sets oppose into rearrangement, is mapped by parameter, obtains the tool contact path point set in real number field；
The processing curve cutter spacing locus of points is obtained according to polishing cutter cutter spacing locus of points acquisition methods.
Symmetrically line cutting processing feed path generation method is：Tool path pattern is cut using row under workpiece coordinate system, to complexity
Curved surface threedimensional model carries out center line selection, and feed line space is cut according to the row of setting, using work centre line as symmetry axis, according to
The symmetrical extension in feed line space both sides is set, until whole curved surfaces, which complete process tool row, cuts coordinates measurement.
Obtaining the processing curve cutter spacing locus of points according to polishing cutter cutter spacing locus of points acquisition methods is：
Represent the position vector of contact point and cutter location respectively using vector A and vector O, generating tool axis vector can be expressed asCutter contact point is R-W to the distance between cutter cutter location, is expressed with unit vector v from A
Point is expressed as to the direction of O points, then vThen the position vector O of cutter location is expressed as O=A+ (R-W) v
It generates Path vector and includes cutter
Position vector O and generating tool axis vector a, is expressed as CO=(O a)；
Wherein, a be polishing cutter generating tool axis vector direction, n be curved surface normal direction direction vector, u be tool feeding direction, θ
For polishing cutter generating tool axis vector direction a relative to curved surface normal direction direction vector n direction of feed u inverse direction deflection angle
Value, a, n, u are unit vector.
The Toolpath Generation program file that robot is inputted according to controller, driving robot are formed according to trajectory planning
Program file movement, drive mounted on end effector polishing cutter contacted with finished surface process includes：
Polishing cutter and processed curved surface contact with each other processing when, measuring strain signal is acquired by power/torque sensor,
It is converted through signal with amplifying, filtering process, the digital signal that exporting can identify passes to computer；
Computer handles the digital signal being collected into, and weight compensating calculating is carried out according to weight compensating algorithm, will
Measurement result is converted to practical polishing power Fc；
Computer is by practical polishing power FcWith the polishing power F of settingdCalculating is compared, obtains force compensating value Δ F；It will
Force compensating value Δ F is converted to position compensation value Δ X, by adjustment offset Δ X and lapping path planning value XpCompensate conversion,
Obtain practical Polishing machining position XdValue, same treatment method obtains Yd、ZdValue, Xd、Yd、ZdRespectively in basis coordinates system OB
Under tri- coordinate directions of X, Y, Z positional value.
Computer is by the X after feedback adjustmentd, Yd、ZdWith three at polishing workpiece posture angular data be transferred to robot control
Device, robot controller control robot do feedback adjustment, robot motion with polishing workpiece do corresponding position and posture
Adjustment, realize the constant magnitude of polishing power in process and controllable.
Weight compensating calculating is carried out according to weight compensating algorithm to include：
In system robot's basis coordinates system OBUnder, polishing cutter gravity is expressed as：BFg=[0 0-G], power/moment sensing
The expression formula that device measures polishing cutter negative carrying force isSFg=[FgX FgY FgZ], transformational relation therebetween isIn formula,For end effector coordinate system OETo basis coordinates system OBTransformation matrix, by machine
Device human body determines；For sensor coordinate system OSTo end effector coordinate system OETransformation matrix, by sensor and machine
The end effector mounting means of people determines,For sensor coordinate system OSTo basis coordinates system OBTransformation square, FgXExist for cutter
The gravity sizes values of X-direction, F under sensor coordinate systemgYFor the gravity sizes values of cutter Y-direction under sensor coordinate system, FgZ
Gravity sizes values for cutter Z-direction under sensor coordinate system.
By the numerical value conversion measured under force snesor coordinate system to basis coordinates system, interference of the gravity to polishing power is eliminated, is obtained
To basis coordinates OBLower practical polishing powerBFc=BFm-BFg；
Wherein,BFmFor polishing power under system robot's basis coordinates system,sFmFor the polishing power under sensor coordinate system,BFgFor
The gravity of polishing cutter in itself under basis coordinates system,BFiFor the mobile inertia force generated of feeding.
The invention has the advantages that and advantage：
1. the present invention can substitute the manual operation in complex curved surface parts skin processing stage, especially large complicated carved
Workpiece can reduce artificial intensity, reduce processing cost, improve processing type face quality stability and consistency.
2. the present invention is based on the automatic Polishing machining system of robot of Shared control, polishing cutter and processing work can be controlled
Part surface area contact polishing power, the position and attitude accuracy of effective compensation and adjustment polishing cutter, according to complex-curved curvature
Variation apply corresponding control to polishing pressure, ensure that rational polishing pressure and constant force processing, realize workpiece removal amount
Uniformity and consistency, improve workpiece processing quality.
3. the polishing cutter in present system contacts angle of inclination with curve surface of workpiece, high processing efficiency can be obtained,
And zero-turn speed Polishing machining is avoided, conducive to the heat dissipation and chip removal of area to be machined.
4. designing the flexible polishing cutter of selection in present system, the passive compliance with processing curve is realized, is ensured
The consistency of machining area polishing pressure is contacted, realizes the controllability and continuity of removal amount；Artificial operation can be imitated, gram
The contradiction between Robot Stiffness and flexibility is taken.
5. symmetrical line cutting processing feed path generation and side feed sequence processing method, can reduce in the method for the present invention
The sky of machining path walks stroke, improves processing efficiency.
Description of the drawings
Fig. 1 is present system equipments overall structure schematic diagram；
Fig. 2 is flexible polishing cutter structure block diagram in present system；
Fig. 3 is communication scheme figure in present system；
Fig. 4 is polishing cutter and processing curve contact angle schematic diagram in present system；
Fig. 5 is that sensor measurement power analyzes schematic diagram in present system；
Fig. 6 is that row cuts feed path schematic diagram in present system；
Fig. 7 is cutter-contact point location diagram corresponding with cutter location in present system；
Fig. 8 is location-based power outer loop control method conceptual scheme in the method for the present invention；
Fig. 9 is automatic Polishing machining process schematic in the method for the present invention.
Wherein, 1 is industrial robot, and 2 be locating piece, and 3 be six-dimensional force/torque 6 DOF sensor, and 4 be flexible polishing knife
Tool, 41 be connecting flange, and 42 be L-type support, and 43 be motor, and 44 be elastic taper collet, and 45 is clamp elastic rubber disk, and 46 are
Emery cloth, 47 be right angle rack, and 5 be workbench, and 6 convert amplifier for signal, and 7 be computer, and 8 be robot controller, and 9 be work
Part processing curve.
Specific embodiment
The present invention is further elaborated with reference to the accompanying drawings of the specification.
The present invention is the complex-curved automatic grinding-polishing system device of the robot based on Shared control and processing method, for reality
Permanent polishing power processing during existing complex-curved automation Polishing machining ensures the uniformity and stability of processing removal.This
Invention mainly includes the composition of integrated system device and the active and passive control mode based on submissive processing.Polishing cutter is carried out
The compensation calculation of gravity eliminates interference of the polishing cutter gravity to polishing power；Polishing cutter has been carried out with being contacted during work pieces process
The description of form and state ensures the Full connected of processing contact area and chip removal heat dissipation；Describe the process of cutter path planning
And content, it realizes workpiece threedimensional model and is automatically converted to robot and can recognize that processing program file；It illustrates to control based on position
The power control close-loop control mode of system realizes the decoupling control of Position-Attitude-power in process, illustrate component part it
Between communication mode and form, realize system and device control with feedback closed-loop control.
As shown in Figure 1, a kind of complex-curved automatic grinding-polishing system of robot based on Shared control of the invention, including：Work
Industry robot 1, workbench 5, force snesor 3, flexible polishing cutter 4, signal switching amplifier 6, computer 7 and robot control
Flexible polishing cutter 4 is installed, computer 7 passes through robot communication interface and robot control on device 8 processed, wherein industrial robot 1
Device 8 processed carries out both-way communication connection, and robot controller 8 controls industrial robot 1 to act, by flexible polishing cutter 4 to fixation
Implement Polishing machining in the workpiece on workbench 5；The polishing of acquisition is contacted force data as closed loop feedback signal by force snesor 3
It send to calculating 7.Industrial robot 1 is six axis in the present embodiment, and force snesor 3 is six-dimensional force/torque 6 DOF sensor.
As shown in Fig. 2, flexible polishing cutter 4 includes L-type support 42, polishing head 46, elastic taper collet 44 and motor
43, wherein polishing head 46 is installed on by clamping elastic rubber disk 45 on elastic taper collet 44, elastic taper collet 44 and horse
Main shaft up to 43 connects, and motor 43 is installed in L-type support 42, and L-type support 42 passes through connecting flange 41 and industrial robot 1 again
Motion arm end effector connection；Flexible polishing cutter 4 also has right angle trapezoidal frame 47,47 upper bottom surface of right angle trapezoidal frame
Motor 43 is supported, bottom surface is abutted with the stress surface of force snesor 3, and 3 bottom of force snesor is installed in L-type support 42.
In the present embodiment, flexible polishing cutter is mainly made of 7 parts, and wherein connecting flange 41 is used for L-type support and 42
The connection of robot end's axis, L-type switching support 42 connect sensor 3 for connecting flange 41 and sensor 3, right angle rack 47
With air motor 43, air motor 43, which is fastened on right angle rack 47, (installs the peace of air motor 43 on right angle rack 47
Dress hole is cross strip hole, and mounting and adjusting air motor spindle centerline is overlapped with robot the 6th shaft centre line), air motor
The elastic taper collet 44 of main shaft connection, collet connection clamp elastic rubber disk 45, rubber disc bottom surface can bond back of the body suede emery cloth (or
Person's sand paper) 46.The present embodiment uses six-shaft industrial robot.
The communication scheme figure that the present invention uses is illustrated in figure 3, communication control scheme of the invention works comprising two parts
Thread：Control computer-Robot Motion Controller worker thread and control computer-working sensor thread, for realizing
Real-time communication connection between three, while On-line Control polishing power and realization robot off-line path planning.Robot control
Device processed is communicated with computer by ether web form, using TCP/IP (the Transmission Control of high reliability
Protocol/Internet Protocol) communication protocol, real-time communication therebetween is higher, by the way of data flow
It communicates, is communicated with xml document, polishing workpiece surface TRAJECTORY CONTROL is instructed out per 12ms and is defeated by robot control
Device, robot perform corresponding Polishing machining according to the path instructions that host computer CAD/CAM system is planned.Force snesor is with calculating
Communication mode between machine machine is assisted using ethernet communication using the UDP (User Datagram Protocol) of high-speed transfer
View communicates, and can provide the up to transmission frequency of 7000Hz.
The present invention is based on the processing method of the complex-curved automatic grinding-polishing system of robot of Shared control, including following step
Suddenly：
The Toolpath Generation before polishing is carried out for complex curved surface part, to determine that tool sharpening track and pose are joined
Number obtains polishing cutter cutter-contact point trace, further obtains the processing curve cutter spacing locus of points；
The processing curve cutter spacing locus of points is converted into the identifiable code format program file of robot controller, inputs machine
Device people controller 8；
Workpiece is installed on workbench 5, carries out the positioning and clamping of workpiece, completes the coordinate calibration system of process system
One；
The Toolpath Generation program file that robot is inputted according to controller, driving robot are formed according to trajectory planning
Program file movement, drive and processing contacted with finished surface mounted on the polishing cutter 4 of end effector of robot.
The Toolpath Generation before polishing is carried out for complex curved surface part, to determine that tool sharpening track and pose are joined
Number obtains the polishing cutter cutter spacing locus of points, further obtains the processing curve cutter spacing locus of points and include the following steps：
A1. the 6th shaft end centre bore of robot and table positions block 2 position knife, complete 1 basis coordinates of robot with
5 coordinate of workbench is demarcated, and realizes that coordinate calibration is unified；
A2., complex curved surface part threedimensional model is imported to the coordinates measurement software of this system, sets concave surface feed or convex
Face feed mode；Under workpiece coordinate system, software calculates work centre line according to threedimensional model and demarcates automatically；Then using pair
Line cutting processing feed path generation method is claimed to obtain process tool row and cuts path；
A3. according to the rule of Hilbert curves, the process tool row of acquisition is cut into path threedimensional model and carries out discretization,
By Surface tessellation into a series of control point sets, it is a series of point set that point, which divides these disperse nodes, and passes through recombination and delete
Division operation, into rearrangement, is mapped by parameter to these point sets, obtains the tool contact path point set in real number field；
In rapid A2, symmetrical line cutting processing feed path generation method is：Tool path pattern is cut using row under workpiece coordinate system,
Center line selection is carried out to complex-curved threedimensional model, feed line space is cut according to the row of setting, is symmetrical using work centre line
Axis, according to the setting symmetrical extension in feed line space both sides, until whole curved surfaces, which complete process tool row, cuts coordinates measurement.
As shown in Figure 6.During actual processing, from the generation path feed of side (setting), the feed path according to formation is suitable
Sequence is processed.
Polishing cutter involved in the method for the present invention and curve surface of workpiece contact angle method.During Polishing machining, polishing cutter
Generating tool axis vector direction a relative to curved surface normal direction direction vector n direction of feed u inverse direction deflect an angle, a, n, u
It is unit vector.As shown in figure 4,9 be work pieces process curved surface.
The processing curve cutter spacing locus of points is obtained according to polishing cutter cutter spacing locus of points acquisition methods as shown in fig. 7, A points represent
The cutterhead of cutter starts the contacting points position contacted with machined surface (cutter-contact point), and O points are cutter cutter location position, and B points are cutterhead
Outermost points, R are cutter radius, and W is passive compliance deformation length.For convenience of description, distinguished using vector A and vector O
Represent the position vector of contact point and cutter location.Generating tool axis vector can be expressed asCutter-contact point is to cutter spacing
The distance between point is R-W, is expressed with unit vector v from A points to the direction of O points, and a is the generating tool axis vector side of polishing cutter
To n is curved surface normal direction direction vector, and u is tool feeding direction, and θ is the generating tool axis vector direction a of polishing cutter relative to Surface Method
Inverse direction to direction vector n in direction of feed u deflects an angle, and a, n, u are unit vector；
V can be expressed asThen the position vector O of cutter location can be expressed as O=A+ (R-W) v,
It generates Path vector and includes tool position vector O and generating tool axis vector a, be expressed as CO=(O a).
According to sets requirement, cutter path vector median filters be can recognize that into point set value code (three for robot controller
Displacement, three angles) program file, in this way, all cutter-contact points on workpieces processing threedimensional model machining path are converted to machine
The vector point set of the automatic Polishing machining track of device people forms processing program file, is transferred to robot controller, controls robot
Movement drives end cutter to carry out Polishing machining with workpiece.
The Toolpath Generation program file that robot is inputted according to controller, driving robot are formed according to trajectory planning
Program file movement, drive mounted on end effector polishing cutter contacted with finished surface process includes：
A7. polishing cutter and processed curved surface contact with each other processing when, should by six-dimensional force/torque sensor acquisition measures
Varying signal, signal be under sensor coordinate system, via signal conversion amplifier (Net F/T) 6 carry out signal conversion and amplification,
Filtering process exports the digital signal that can be identified, computer is passed information to by Ethernet；
A8. computer handles the digital signal being collected into, and weight compensating calculating is carried out according to weight compensating algorithm,
Measurement result is converted to practical polishing power Fc；
A9. computer is by force controller module, by the polishing power F of measurementcWith the polishing power F of settingdIt is compared meter
It calculates, is compensated value Δ F；By positioner modular algorithm, force compensating value Δ F is converted into position compensation value Δ X, will be adjusted
Whole offset Δ X and lapping path planning value Xp compensates conversion, obtains practical Polishing machining position XdValue；(it is situated between herein
It is X-direction feedback adjustment methods to continue, and Y-axis is identical with Z-direction).
A10. computer is by the X after feedback adjustmentd, Yd、ZdWith three at polishing workpiece posture angular data be transferred to robot control
Device 8 processed, robot controller 8 control robot 1 to do feedback adjustment, and the polishing workpiece 4 that robot 1 moves band does corresponding position
With the adjustment of posture, the constant magnitude of polishing power in process and controllable is realized.
Weight compensating calculating is carried out according to weight compensating algorithm to include：
In system and device basis coordinates system OB(XB, YB, ZB)(XB、YB、ZBRespectively basis coordinates system OBThree reference axis) under,
Polishing force vectorBFmIt is made of three parts：The polishing power of polishing cutter and workpieceBFc, the gravity of polishing cutter in itselfBFgAnd feeding
The mobile inertia force generatedBFi,BFm=BFc+BFg+BFi, as shown in Figure 5.Since robot is by the continuous path movement of planning, grind
The feed speed for throwing cutter varies less, and cutter quality itself is also relatively light, and inertia force can be neglected as caused by movement, polishing
Force vectorBFmIt is expressed as：BFm=BFc+BFg.Six-dimensional force/torque sensor output valve is in sensor coordinate system OS(XS, YS, ZS)
(XS, YS, ZSRespectively sensor coordinate system OSThree reference axis) under measured value.Robot end's polishing cutter-orientation meeting
It changes with workpiece surface shape, sensor coordinate system OS(XS, YS, ZS) posture change, make polishing cutter weight
Power Fg is in sensor coordinate system OSOn component change, polishing cutter gravity is compensated.In basis coordinates system OBLower polishing
Cutter gravity is expressed as：BFg=[0 0-G], the expression formula of force sensor measuring to polishing cutter negative carrying force active force areSFg
=[FgX FgY FgZ], the transformational relation between them isIn formula,It is sat for end sensor
Mark system OETo basis coordinates system OBTransformation matrix, determined by robot body；For sensor coordinate system OSIt is sat to end sensor
Mark system OETransformation matrix, determined by the end mounting means of sensor and robot.It is converted, can obtained by coordinates matrix
Basis coordinates system OBUnder numerical value For sensor coordinate system OSTo basis coordinates system OBTransformation matrix.Power is passed
The numerical value conversion that sensor measures eliminates interference of the gravity to polishing power, obtains polishing power practical under basis coordinates to basis coordinates system
VectorBFc=BFm-BFg, wherein,BFmFor polishing force vector,sFmFor the polishing power measured value under sensor coordinate system,BFgFor polishing
The gravity of cutter in itself,BFiFor the mobile inertia force generated of feeding.
The method of the present invention is a kind of location-based power outer shroud Active Compliance Control method.As shown in figure 8, according to workpiece song
Plane materiel matter characteristic gives polishing power F according to technological requirementd, in Active Compliance Control system, pass through force sensor measuring valueSFc, compensate since gravity caused by polishing cutter interferes, obtain current polishing power Fc, with given force FdCompare, controlled by power
Device obtains position correction amount Δ X, and positioner performs revised position command Xd, realize based on active compliance structure
Inner ring power outer shroud polishing power in position controls.
The entire Polishing machining process that the method for the present invention is related to is as shown in Figure 9.
Robot based on Shared control can imitate artificial operation, when polishing cutter is contacted with workpiece surface, knife
Tool keeps stable polishing pressure with workpiece surface contact area always, and can measure in real time and show polishing cutter and workpiece
Between pressure oscillation, can not only improve active position and attitude accuracy, moreover it is possible to according to the variation of complex-curved curvature to grinding
It throws pressure and applies corresponding control, ensure that rational polishing pressure, constant force is processed by the way that polishing pressure is controlled to realize, realizes work
The uniformity and consistency of part removal amount, to improve workpiece processing quality.
Claims (4)
1. a kind of processing method of the complex-curved automatic grinding-polishing system of robot based on Shared control, it is characterised in that including with
Lower step：
The Toolpath Generation before polishing is carried out for complex curved surface part, to determine tool sharpening track and pose parameter, is obtained
Polishing cutter cutter-contact point trace is taken, further obtains the processing curve cutter spacing locus of points；
The processing curve cutter spacing locus of points is converted into the identifiable code format program file of robot controller, inputs robot
Controller；
Workpiece is installed on workbench, carries out the positioning and clamping of workpiece, the coordinate calibration for completing process system is unified；
The Toolpath Generation program file that robot is inputted according to controller, the journey that driving robot is formed according to trajectory planning
Preface part moves, and the polishing cutter mounted on end effector of robot is driven to contact processing with finished surface；
The Toolpath Generation before polishing is carried out for complex curved surface part, to determine tool sharpening track and pose parameter, is obtained
The polishing cutter cutter spacing locus of points is taken, the processing curve cutter spacing locus of points is further obtained and includes the following steps：
Robot positions knife with table positions block, completes robot basis coordinates and is demarcated with stage coordinates, realizes coordinate mark
It is fixed unified；
Complex curved surface part threedimensional model is imported to the coordinates measurement software of this system, sets concave surface feed or convex surface feed side
Formula；Under workpiece coordinate system, software calculates work centre line according to threedimensional model and demarcates automatically；Then it cuts and adds using symmetric row
Work feed path generation method obtains process tool row and cuts path；
According to the rule of Hilbert curves, the process tool row of acquisition is cut into path threedimensional model and carries out discretization, by curved surface from
A series of control point sets are dissipated into, it is a series of point set that point, which divides these disperse nodes, and passes through recombination and delete operation pair
These point sets are mapped by parameter into rearrangement, obtain the tool contact path point set in real number field；
The processing curve cutter spacing locus of points is obtained according to polishing cutter cutter spacing locus of points acquisition methods；
Symmetrically line cutting processing feed path generation method is：Tool path pattern is cut using row under workpiece coordinate system, to complex-curved
Threedimensional model carries out center line selection, feed line space is cut according to the row of setting, using work centre line as symmetry axis, according to setting
The symmetrical extension in feed line space both sides, until whole curved surfaces, which complete process tool row, cuts coordinates measurement.
2. the processing method of the complex-curved automatic grinding-polishing system of the robot as described in claim 1 based on Shared control,
It is characterized in that obtaining the processing curve cutter spacing locus of points according to polishing cutter cutter spacing locus of points acquisition methods is：
Represent the position vector of contact point and cutter location respectively using vector A and vector O, generating tool axis vector can be expressed asCutter contact point is R-W to the distance between cutter cutter location, is expressed with unit vector v from A points
To the direction of O points, then v is expressed asThen the position vector O of cutter location is expressed as O=A+ (R-W) v,
It generates Path vector and includes tool position vector O and generating tool axis vector a, be expressed as CO=(O a)；
Wherein, a is the generating tool axis vector direction of polishing cutter, and n is curved surface normal direction direction vector, and u is tool feeding direction, and θ is grinds
Throw cutter generating tool axis vector direction a relative to curved surface normal direction direction vector n direction of feed u inverse direction deflection angle angle value,
A, n, u are unit vector.
3. the processing method of the complex-curved automatic grinding-polishing system of the robot as described in claim 1 based on Shared control,
It is characterized in that the Toolpath Generation program file that robot is inputted according to controller, driving robot is formed according to trajectory planning
Program file movement, drive mounted on end effector polishing cutter contacted with finished surface process includes：
Polishing cutter and processed curved surface contact with each other processing when, measuring strain signal is acquired by power/torque sensor, through letter
Number conversion and amplification, filtering process, export the digital signal that can identify and pass to computer；
Computer handles the digital signal being collected into, and carries out weight compensating calculating according to weight compensating algorithm, will measure
As a result practical polishing power F is converted toc；
Computer is by practical polishing power FcWith the polishing power F of settingdCalculating is compared, obtains force compensating value Δ F；Power is mended
It repays value Δ F and is converted to position compensation value Δ X, by position compensation value Δ X and lapping path planning value XpConversion is compensated, is obtained
Practical Polishing machining position XdValue, same treatment method obtains Yd、ZdValue, Xd、Yd、ZdRespectively in basis coordinates system OBUnder
X, the positional value of tri- coordinate directions of Y, Z；
Computer is by the X after feedback adjustmentd, Yd、ZdWith three at polishing workpiece posture angular data be transferred to robot controller, machine
Device people controller control robot does feedback adjustment, robot motion with polishing workpiece do the tune of corresponding position and posture
It is whole, realize the constant magnitude of polishing power in process and controllable.
4. the processing method of the complex-curved automatic grinding-polishing system of the robot as described in claim 3 based on Shared control,
It is characterized in that carrying out weight compensating calculating according to weight compensating algorithm includes：
In system robot's basis coordinates system OBUnder, polishing cutter gravity is expressed as：BFg=[0 0-G], G are the weight of polishing cutter
Power, the expression formula that power/torque sensor measures polishing cutter negative carrying force areSFg=[FgX FgY FgZ], turn therebetween
The relationship of changing isIn formula,For end effector coordinate system OETo basis coordinates system OBTransformation square
Battle array, is determined by robot body；For sensor coordinate system OSTo end effector coordinate system OETransformation matrix, by sensor
It is determined with the end effector mounting means of robot,For sensor coordinate system OSTo basis coordinates system OBTransformation square, FgXFor
The gravity sizes values of cutter X-direction under sensor coordinate system, FgYGravity size for cutter Y-direction under sensor coordinate system
Value, FgZGravity sizes values for cutter Z-direction under sensor coordinate system；
It is converted by coordinates matrix, obtains system robot's basis coordinates system OBUnder polishing power
By the numerical value conversion measured under force snesor coordinate system to basis coordinates system, interference of the gravity to polishing power is eliminated, obtains base
Coordinate OBLower practical polishing powerBFc=BFm-BFg；
Wherein,BFmFor polishing power under system robot's basis coordinates system,sFmFor the polishing power under sensor coordinate system,BFgFor base
The gravity of the lower polishing cutter of mark system in itself.
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