CN107081677A - A kind of robot technique for grinding optimization method based on laser detection - Google Patents

A kind of robot technique for grinding optimization method based on laser detection Download PDF

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Publication number
CN107081677A
CN107081677A CN201710476295.3A CN201710476295A CN107081677A CN 107081677 A CN107081677 A CN 107081677A CN 201710476295 A CN201710476295 A CN 201710476295A CN 107081677 A CN107081677 A CN 107081677A
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China
Prior art keywords
robot
polishing
point
laser detection
grinding
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CN201710476295.3A
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Chinese (zh)
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CN107081677B (en
Inventor
孙云权
林薛刚
俞方毅
王琦琦
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Ningbo Zhichang Robot System Co Ltd
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Ningbo Zhichang Robot System Co Ltd
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00Measuring 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
    • B24B49/12Measuring 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B21/00Machines or devices using grinding or polishing belts; Accessories therefor
    • B24B21/002Machines or devices using grinding or polishing belts; Accessories therefor for grinding edges or bevels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • B25J11/0065Polishing or grinding

Abstract

The invention provides a kind of robot technique for grinding optimization method based on laser detection, it is characterised in that comprises the following steps:S1, the dimensional discrepancy for passing through the relative milling tools radial direction of workpiece surface of being polished needed for laser detection;S2, robot are according to the dimensional discrepancy operation polishing track detected.Robot technique for grinding optimization method of the present invention based on laser detection enables robot polishing size safety cabinet stock removal devious to be consistent, and robot automatically grinding system is this method reduce to the requirement of client's workpiece size precision, improves robot polishing automaticity.

Description

A kind of robot technique for grinding optimization method based on laser detection
Technical field
The invention belongs to robot grinding technology field, more particularly, to a kind of robot polishing work based on laser detection Skill optimization method.
Background technology
Safety cabinet generation technique:From welding fabrication after the board material splice of blanking, it is necessary to enter to the weld seam of safety cabinet outer surface Row grinding process.
Because manual polishing safety cabinet labor intensity is big, working environment is severe, therefore is replaced manually carrying out polishing work with robot Industry.Safety cabinet after the completion of industrial robot crawl welding goes polishing welding seams at belt sander, and workpiece positioning relies on robot clamp Clamp and position, robot polishing program repeats same track and carries out polishing workpiece.
In the prior art, the preceding working procedure of safety cabinet is artificial assembly, therefore the dimensional uniformity of workpiece is poor.If pressing According to traditional robot grinding method, can exist some grinding workpieces less than or grinding is excessive causes surface polishing to reach The requirement of client.
The content of the invention
In view of this, the present invention is directed to propose a kind of robot technique for grinding optimization method based on laser detection, to solve Certainly existing manual polishing working strength is big, and working environment is severe, is manually often difficult to be competent at, and the polishing of existing robot Intelligence degree is low, the underproof situation of technique.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way:
A kind of robot technique for grinding optimization method based on laser detection, comprises the following steps:
S1, the dimensional discrepancy for passing through the relative milling tools radial direction of workpiece surface of being polished needed for laser detection;
S2, robot are according to the dimensional discrepancy operation polishing track detected.
Further, in the step S1, the specific method of the detected size deviation is as follows:
Workpiece teaching robot's program point is grabbed by S101, robot, and robot program's point includes polishing starting point machine People position, polishing end point robot location, dot laser benchmaring point robot location;
S102, the positional value by function etc. point polishing starting point and end point of polishing, for automatic increase polishing starting Several robots polishing program point between point and polishing end point;
S103, by function instruction, the program point of polishing of multiple robots in step S102 is passed through program and calculated and offsets Multiple laser detection positions are drawn, multiple values are detected by laser detection position respectively;
The value that S104, basis are detected is compared with the detected value of dot laser benchmaring point, calculates deviation.
Further, the robot polishing program point in the step S103 is identical with the quantity of laser detection position.
Further, in the step S104, the deviation calculated exceedes the threshold value of setting, and robot can alarm And it is stopped.
Further, in the step S103, when robot polishing program point enters line displacement, the mill according to milling tools is understood Damage the loss for compensating milling tools.
Further, the loss of the migration milling tools, specific method is as follows:
S201, one new milling tools of test measurement are when polishing is depleted to the limit, and the size of milling tools thickness is inclined Poor D and polishing workpiece total quantity N;
S202, draw every polishing one workpiece consumption milling tools amount;
S203, the position coordinates by offset commands skew robot polishing point, so as to be mended to milling tools loss Repay.
Further, the milling tools is belt sander, and the belt sander drives connection master by motor on the ground to be fixed Abrasive band on driving wheel and driven pulley is driven to be ground the mechanism of object.
Relative to prior art, the robot technique for grinding optimization method of the present invention based on laser detection have with Lower advantage:
Robot technique for grinding optimization method of the present invention based on laser detection makes robot polishing size have partially The safety cabinet stock removal of difference can be consistent, and this method reduce robot automatically grinding system to client's workpiece size essence Degree is required, improves robot polishing automaticity.
Brief description of the drawings
The accompanying drawing for constituting the part of the present invention is used for providing a further understanding of the present invention, schematic reality of the invention Apply example and its illustrate to be used to explain the present invention, do not constitute inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the robot technique for grinding optimization method flow chart based on laser detection described in the embodiment of the present invention.
Embodiment
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment can phases Mutually combination.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ", The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than indicate or dark Specific orientation must be had, with specific azimuth configuration and operation by showing the device or element of meaning, therefore it is not intended that right The limitation of the present invention.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying phase To importance or the implicit quantity for indicating indicated technical characteristic.Thus, the feature for defining " first ", " second " etc. can To express or implicitly include one or more this feature.In the description of the invention, unless otherwise indicated, " multiple " It is meant that two or more.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected;Can To be mechanical connection or electrical connection;Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition Concrete meaning in the present invention.
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Robot technique for grinding optimization method based on laser detection, belt sander is arranged on below robot, and robot is grabbed Workpiece is taken, teaching is first carried out, the welded radial direction vertical height of workpiece surface weld is measured, then examined with dot laser benchmark The reference plane of measuring point measurement is compared, and calculates deviation, and is compensated according to the wear extent of milling tools, and robot is set Determine running orbit, finally polished.
Some keyword explanations of the present invention:
Path:Program point point.
num:Polish the wear extent of each grinding workpieces instrument.
grinding_start:Polish starting point robot location.
grinding_end:Polish end point robot location.
polish:Dot laser benchmaring point robot location.
laser:Dot laser detects a reference value.
laser_reference:The actually detected value of dot laser.
offs_x.trans.x:The difference of the actually detected value of dot laser and a reference value.
ncount:The quantity of milling tools polishing workpiece.
As shown in figure 1, a kind of robot technique for grinding optimization method based on laser detection, comprises the following steps:
S1, the dimensional discrepancy for passing through the relative milling tools radial direction of workpiece surface of being polished needed for laser detection;
S2, robot are according to the dimensional discrepancy operation polishing track detected.
Wherein, in the step S1, the specific method of the detected size deviation is as follows:
Workpiece teaching robot's program point is grabbed by S101, robot, and robot program's point includes polishing starting point machine People position, polishing end point robot location, dot laser benchmaring point robot location, grinding_start:Polish Initial point robot location;grinding_end:Polish end point robot location;polish:Dot laser benchmaring point machine People position (the location point laser detection value is recorded as laser);
S102, the positional value by function etc. point polishing starting point and end point of polishing,
grinding_p:=grinding_start;
grinding_p.trans.x:=(grinding_end.trans.x-grinding_start.trans.x)/4+ grinding_start.trans.x;
grinding_p.trans.y:=(grinding_end.trans.y-grinding_start.trans.y)/4+ grinding_start1.trans.y;
grinding_p.trans.z:=(grinding_end.trans.z-grinding_start.trans.z)/4+ grinding_start.trans.z;Polished for several robots between automatic increase polishing starting point and polishing end point Program point;
S103, by function instruction,
off_x:=polish.trans.x-grinding_start.trans.x;
off_y:=polish.trans.y-grinding_start.trans.y;
off_z:=polish.trans.z-grinding_start.trans.z;By multiple machines in step S102 People's polishing program point draws the sky of multiple laser detection positions, such as robot starting polishing program point " P1 " by Program shift Between value be (x1, y1, z1), relative to polishing starting point dot laser test point " R1 " locus be (a1, b1, c1).Then this Two relative position differences are exactly △ x, △ y, △ z.According to I it is above-mentioned polishing starting point and the direct several points of terminal such as " P2 (x2, y2, z2), P3 (x3, y3, z3), P4 (x4, y4, z4), P5 (x5, y5, z5) ", can learn the other positions of detection Point " R2 (x2- △ x, y2- △ x, z2- △ x), R3 (x3- △ x, y3- △ x, z3- △ x), R4 (x4- △ x, y4- △ x, z4- △ X), R5 (x5- △ x, y5- △ x, z5- △ x);Multiple values are detected by laser detection position respectively.
The value that S104, basis are detected is compared with the detected value of dot laser benchmaring point, and laser_reference1~ Laser_reference5, while being compared with a reference value laser and calculating deviation offs_x.trans.x.
According to the above method by the seat for program point grinding_p that difference offs_x.trans.x assignment to robot is polished Mark in data.All polishing program point grinding_p of robot carry out dot laser detection and offset correction.Robot is run Polish the change that track will be according to grinding workpieces surface with respect to milling tools radial direction, and produce corresponding change, so that machine The stock removal of device people grinding workpiece is consistent.
Wherein, the robot polishing program point in the step S103 is identical with the quantity of laser detection position.
Wherein, in the step S104, the deviation calculated exceed setting threshold value, robot can alarm and It is stopped.Whether in the reasonable scope to detect workpiece size change:Decision instruction:IF offs_x.trans.x>5OR offs_x.trans.x<- 5THEN, if workpiece size deviation is excessive (deviation can be set), program will inform robot alarm simultaneously Stop.
Wherein, in the step S103, when robot polishing program point enters line displacement, it can be entered according to the abrasion of milling tools The loss of row compensation milling tools.
Wherein, the loss of the migration milling tools, specific method is as follows:
S201, one new milling tools of test measurement are when polishing is depleted to the limit, and the size of milling tools thickness is inclined Poor D and polishing workpiece total quantity N;
S202, draw every polishing one workpiece consumption milling tools amount;
S203, the position coordinates by offset commands skew robot polishing point, so as to be mended to milling tools loss Repay.
The quantity ncount of milling tools polishing workpiece is defined, is disappeared according to piece new milling tools of test measurement and polishing The dimensional discrepancy D of the milling tools thickness of the limit and the total quantity N of polishing workpiece are consumed, show that every one workpiece consumption of polishing is beaten Grinder tool amount num:=D/N.
Robot polishing point is offset by offset commands " Offs (grinding_p, 0,0+ncount*num, 0) " Grinding_p position coordinates, so as to be compensated to milling tools loss, (direction of compensation is workpiece with respect to milling tools Radial direction).
Wherein, the milling tools is belt sander, and the belt sander drives connection driving wheel by motor on the ground to be fixed It is driven to be ground the mechanism of object with the abrasive band on driven pulley.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.

Claims (7)

1. a kind of robot technique for grinding optimization method based on laser detection, it is characterised in that comprise the following steps:
S1, the dimensional discrepancy for passing through the relative milling tools radial direction of workpiece surface of being polished needed for laser detection;
S2, robot are according to the dimensional discrepancy operation polishing track detected.
2. the robot technique for grinding optimization method according to claim 1 based on laser detection, it is characterised in that:It is described In step S1, the specific method by laser detection dimensional discrepancy is as follows:
S101, robot grabbing workpiece, teaching robot's program point, robot program's point include polishing starting point robot Position, polishing end point robot location, dot laser benchmaring point robot location;
S102, the positional value by function etc. point polishing starting point and end point of polishing, for automatic increase polishing starting point and Several robots polishing program point between end point of polishing;
S103, by function instruction, the program point of polishing of multiple robots in step S102 is calculated skew by program and drawn Multiple laser detection positions, multiple values are detected by laser detection position respectively;
The value that S104, basis are detected is compared with the detected value of dot laser benchmaring point, calculates deviation.
3. the robot technique for grinding optimization method according to claim 2 based on laser detection, it is characterised in that:It is described Robot polishing program point in step S103 is identical with the quantity of laser detection position.
4. the robot technique for grinding optimization method according to claim 2 based on laser detection, it is characterised in that:It is described In step S104, the deviation calculated exceedes the threshold value of setting, and robot can alarm and be stopped.
5. the robot technique for grinding optimization method according to claim 2 based on laser detection, it is characterised in that:It is described In step S103, when robot polishing program point enters line displacement, milling tools can be compensated according to the abrasion of milling tools Loss.
6. the robot technique for grinding optimization method according to claim 5 based on laser detection, it is characterised in that:It is described The loss of migration milling tools, specific method is as follows:
S201, one new milling tools of test measurement when polishing is depleted to the limit, the dimensional discrepancy D of milling tools thickness and The total quantity N of polishing workpiece;
S202, draw every polishing one workpiece consumption milling tools amount;
S203, the position coordinates by offset commands skew robot polishing point, so as to be compensated to milling tools loss.
7. according to any described robot technique for grinding optimization method based on laser detection of claim 1,2,5,6, it is special Levy and be:The milling tools is belt sander, and the belt sander drives connection driving wheel and driven by motor on the ground to be fixed Abrasive band on wheel is driven to be ground the mechanism of object.
CN201710476295.3A 2017-06-21 2017-06-21 A kind of robot technique for grinding optimization method based on laser detection Active CN107081677B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108555779A (en) * 2018-04-17 2018-09-21 武汉理工大学 A kind of polished machine contact wheel of robot abrasive band polishing system makes a concession method automatically
CN109633609A (en) * 2019-01-26 2019-04-16 广东利迅达机器人系统股份有限公司 A kind of axle housing polishing intelligent laser range-measurement system and its control method
CN111604653A (en) * 2020-05-19 2020-09-01 安庆帝伯格茨活塞环有限公司 Piston ring integrated forming process

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CN104858748A (en) * 2015-05-28 2015-08-26 华中科技大学 Automatic robot device for grinding air feeding and discharging edges of blade
JP2015199142A (en) * 2014-04-04 2015-11-12 株式会社ディスコ Processing method
CN105382660A (en) * 2015-12-23 2016-03-09 无锡三虹重工机械设备有限公司 Welded joint grinding device
CN205685190U (en) * 2016-06-20 2016-11-16 苏州华徕光电仪器有限公司 A kind of single head integrated laser location polisher

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JPS63288658A (en) * 1987-05-21 1988-11-25 Mitsubishi Electric Corp Robot device for removing burr
CN201040353Y (en) * 2007-04-13 2008-03-26 孙德亮 Welding seam grinding machine for radiator
CN101462248A (en) * 2009-01-12 2009-06-24 廊坊智通机器人系统有限公司 Method for shaping, grinding and processing abrasive band based on standard workpiece
JP2015199142A (en) * 2014-04-04 2015-11-12 株式会社ディスコ Processing method
CN104858748A (en) * 2015-05-28 2015-08-26 华中科技大学 Automatic robot device for grinding air feeding and discharging edges of blade
CN105382660A (en) * 2015-12-23 2016-03-09 无锡三虹重工机械设备有限公司 Welded joint grinding device
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108555779A (en) * 2018-04-17 2018-09-21 武汉理工大学 A kind of polished machine contact wheel of robot abrasive band polishing system makes a concession method automatically
CN109633609A (en) * 2019-01-26 2019-04-16 广东利迅达机器人系统股份有限公司 A kind of axle housing polishing intelligent laser range-measurement system and its control method
CN111604653A (en) * 2020-05-19 2020-09-01 安庆帝伯格茨活塞环有限公司 Piston ring integrated forming process

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