CN108115705A - A kind of robot polishing control system and method - Google Patents
A kind of robot polishing control system and method Download PDFInfo
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- CN108115705A CN108115705A CN201711495033.8A CN201711495033A CN108115705A CN 108115705 A CN108115705 A CN 108115705A CN 201711495033 A CN201711495033 A CN 201711495033A CN 108115705 A CN108115705 A CN 108115705A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40523—Path motion planning, path in space followed by tip of robot
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
Abstract
The present invention is suitable for robot grinding technology field, provides a kind of robot polishing control system, including：Line laser sensor, scanning obtain the structural parameters of polishing workpiece；Threedimensional model builds module, the threedimensional model of structure polishing workpiece；Polishing region generation module obtains the threedimensional model of polishing region based on CAD model；Track Pick-up module generates the polishing track of polishing region and the polishing power of corresponding tracing point；Emulation module, polishing power of the three-dimensional robot based on polishing track and corresponding tracing point carry out polishing emulation；Track optimizing module, the polishing power of polishing track and corresponding tracing point to generation optimize, and robot controller controls robot to polish based on the polishing power of polish after optimization track and corresponding tracing point.Polishing track is planned come automatic based on the polishing region model obtained automatically, the planning process of track of polishing is to correct robot terminal position based on power control, can improve precision of polishing, and can be suitably used for the polishing of complex part.
Description
Technical field
The invention belongs to robot grinding technology fields, provide a kind of robot polishing control system and method.
Background technology
The die casts workpiece such as even large-scale engine housing of engine manufacturer of most domestic factory at present
With jagged, thus need to be processed further to remove burr and cause the surface of workpiece smooth without influencing performance.Die casting
Deburring is processing industry a great problem, and deburring operation uses by hand or use mostly hand-held pneumatic, electronic work
Have into modes such as polishing, grinding, files and carry out deburring, be easy to cause the rising of product fraction defective, and labor intensity is big, work
It is poor to make environment, production efficiency is not high, and dust can also endanger the health of staff, and the product surface after processing occurs
The problems such as coarse uneven.
The content of the invention
The embodiment of the present invention provides a kind of robot polishing control system, it is intended to solve the product existing for artificial deburring
Fraction defective rises, and labor intensity is big, and working environment is poor, and production efficiency is not high, and dust can also endanger the body of staff
The problem of healthy.
The present invention is achieved in that a kind of robot polishing control system, which includes：
Line laser sensor, air exercise grinder part are scanned, and obtain the structural parameters of polishing workpiece；
Threedimensional model builds module, the threedimensional model of the structural parameters structure polishing workpiece based on polishing workpiece；
Polishing region generation module matches the threedimensional model of reconstruct with CAD model, obtains the three-dimensional of polishing region
Model；
Track Pick-up module, the polishing power of threedimensional model generation polishing track and corresponding tracing point based on polishing region；
Emulation module, the polishing power of polishing track and corresponding tracing point of the three-dimensional robot based on generation are imitative to carry out polishing
Very；
Track optimizing module, space approachability analysis, workpiece based on three-dimensional robot in simulation process of polishing
Collision detection and polishing between peripheral environment is as a result, the polishing power of the polishing track and corresponding tracing point to generation is based on people
Machine interactive interface optimizes, and the polishing power of the polishing track after optimization and corresponding tracing point is sent to machine by communication module
Device people's controller,
Polishing track that robot controller is sent based on optimization module and the polishing power of corresponding tracing point control machine
People polishes.
The present invention is achieved in that a kind of robot polishing control method, and described method includes following steps：
S1, air exercise grinder part are scanned, and obtain the structural parameters of polishing workpiece；
S2, the structural parameters based on polishing workpiece build the threedimensional model of polishing workpiece；
S3, the threedimensional model of structure with CAD model is matched, obtains the threedimensional model of polishing region；
The polishing power of S4, the threedimensional model generation polishing track based on polishing region and corresponding tracing point；
The polishing power of polishing track based on generation of S5, three-dimensional robot and corresponding tracing point carries out polishing emulation；
S6, space approachability analysis, workpiece and peripheral environment based on three-dimensional robot in simulation process of polishing
Between collision detection and polishing as a result, the polishing power of the polishing track and corresponding tracing point to generation is based on human-computer interaction interface
It optimizes, the polishing power of the polishing track after optimization and corresponding tracing point is sent to robot control by communication module
Device,
Polishing track that S7, robot controller are sent based on optimization module and the polishing power of corresponding tracing point are come control machine
Device people polishes.
Further, the step S4 specifically comprises the following steps：
S41, initial buff point is obtained, obtains polishing initial point position；
S42, reference position point is obtained by impedance position correction to polishing initial point position, anti-position correction is based on power
Control modification method；
S43, judge whether to be connected to stop signal, if judging result is no, obtain the tangential vector of approximation of reference position point,
And robot arm is controlled to feed a unit displacement in tangential direction and measures next polishing initial point, return to step S42；
If the determination result is YES, the acquisition of next polishing initial point is stopped, the acquisition according to reference position point is sequentially by all references
Location point connects into polishing track.
Further, the approximate cut phase vector-obtaining method of the reference position point is specific as follows：
A upper reference position point is the approximate of reference position point with the direction line segment that the line of reference position point obtains
Tangential vector.
Further, the position acquisition of the polishing initial point is obtained using teaching machine, and robot is controlled by teaching machine
End be moved to polishing starting point, so as to obtain initial point position.
Further, the anti-position correction is specific as follows：In robot arm end force snesor is set to obtain polishing
The power of instrument and workpiece adjusts robot end position by impedance control algorithm in the normal orientation of initial point position, with
Meet the dynamic relationship of the terminal position pre-established and contact force.
Polishing process provided by the invention has the advantages that：Based on the polishing region model obtained automatically come automatic
Planning polishing track, the planning process of track of polishing is to correct robot terminal position based on power control, so as to be polished
Corresponding polishing location point under power can improve polishing precision, and can be suitably used for the polishing of complex part；In addition, the polishing process
High degree of automation, job standardization, production efficiency are high.
Description of the drawings
Fig. 1 is the structure diagram of robot provided in an embodiment of the present invention polishing control system；
Fig. 2 is the flow chart provided in an embodiment of the present invention for cycling and asking for next reference position point.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the structure diagram of robot provided in an embodiment of the present invention polishing control system, for convenience of description, only
It shows and the relevant part of the embodiment of the present invention.
The system includes：
Line laser sensor 1, air exercise grinder part are scanned, and obtain the structural parameters of polishing workpiece；
Threedimensional model builds module 2, the threedimensional model of the structural parameters structure polishing workpiece based on polishing workpiece；
Polishing region generation module 3 matches the threedimensional model of reconstruct with CAD model, obtains the three of polishing region
Dimension module；
Track Pick-up module 4, the polishing power of threedimensional model generation polishing track and corresponding tracing point based on polishing region；
The polishing power of emulation module 5, polishing track of the three-dimensional robot based on generation and corresponding tracing point is polished
Emulation；
Track optimizing module 6, space approachability analysis, workpiece based on three-dimensional robot in simulation process of polishing
Collision detection and polishing between peripheral environment is as a result, the polishing power of the polishing track and corresponding tracing point to generation is based on people
Machine interactive interface optimizes, and the polishing power of the polishing track after optimization and corresponding tracing point is sent to machine by communication module
Device people's controller,
Polishing track that robot controller 7 is sent based on optimization module and the polishing power of corresponding tracing point control machine
People polishes.
In embodiments of the present invention, the end effector of robot is equipped with high-speed electric main shaft, and the clamping part of electro spindle presss from both sides
Hold milling tools；Milling tools is equipped with force snesor, for gathering the milling tools and work of robot polishing arm clamping
Pressure between part, robot generate machine according to robot controller based on the polishing power of polishing track and corresponding tracing point
People's control instruction, robot are based on control instruction and carry out sanding operation, to the surface of fixed parts to be processed on the table
Carry out polishing operation.
The present invention provides also a kind of polishing process based on robot sander system, and this method comprises the following steps：
S1, air exercise grinder part are scanned, and obtain the structural parameters of polishing workpiece；
S2, the structural parameters based on polishing workpiece build the threedimensional model of polishing workpiece；
S3, the threedimensional model of structure with CAD model is matched, obtains the threedimensional model of polishing region；
The polishing power of S4, the threedimensional model generation polishing track based on polishing region and corresponding tracing point；
In embodiments of the present invention, polish in starting, the end of robot is controlled first to determine it by way of teaching
Real polishing initial point carries out the acquisition of polishing track since initial point of polishing along workpiece.The position of polishing initial point is machine
Device human arm terminal position obtains position data by robot controller and is sent in supervisory controller, PC control
When device carries out polishing processing using power control strategy, polishing initial point is modified by power control, initial point amendment of polishing
Location point afterwards is more accurate, can be used as with reference to location point, reference point locations point is point of polishing, and obtains reference position in real time
Point forms reference locus；
The tangential direction of reference position track is the tangential direction of polishing track, and polishing movement is exactly robot end
Tangential vectorial feed motion of the milling tools along polishing track.By reference to the tangential vector of location track, according to tangential list
The position amount of feeding, it is possible to next polishing initial point is calculated, then is put by impedance control calculation and estimates polishing reference position point,
And then estimate entire polishing track.The tangent line rector of reference position track is asked for using the approximate mode of mini line segment, with approximation
Tangential direction replaces：Reference position point is that initial position is corrected in normal orientation and obtained, and connects each reference position point,
Numerous minimum line segment is generated, the approximate tangential direction as with reference to location track of minimum line segment direction obtains approximate tangential
Vector.
Above-mentioned power control strategy uses impedance control algorithm, and terminal position is corrected in normal orientation, obtains reference position
Point.It is the normal force during this, specified normal force is 5N, and impedance control algorithm establishes robot end position and contact force
Between dynamic relationship formula, correspond to the position of robot end, speed, acceleration respectively, set corresponding impedance factor, pass through
The contact force of adjustment factor size control feedback.
Wherein, Md、Bd、Kd--- it is expected inertial matrix, damping matrix and stiffness matrix；--- it is expected to add in end
Speed, actual acceleration (m/s2)；--- end desired speed, actual speed (m/s)；Xd, X --- end it is expected rail
Mark, actual path (m)；F --- the active force (N) when end is contacted with environment.
The power control of track estimation is that the power control based on above-mentioned initial track point carries out, by current reference position point and
It is tangentially vectorial that previous reference position point is calculated current reference position point, then gives a robot displacement in the tangential direction
Amount, is calculated coordinate value, i.e., the next initial point to be polished, and control robot moves to the point, carries out control strategy and repaiies
It is corrected just in normal orientation and obtains reference position point, record reference point locations, recycled for next time, completion was entirely polished
Whole tracks of journey are the flow chart that Xun Huan asks for next reference position point as shown in Figure 2, are passed through by this reference position point
The tangential direction control robot end of the reference position point feeds a unit amount of feeding, obtains next polishing initial point position
It puts, then corrects the location point on the method phase direction of cut phase vector, obtain the location parameter of reference position point, then cycle
Next reference point is asked for, all reference points obtain track by order is asked for.Polishing process, corrects current point position in real time
It puts, obtains reference position point, control polishing power precision；A polishing initial point under real-time estimation is corrected polishing initial point and is joined
Location point generation polishing track is examined, in real-time process, seeing can realize polish in Estimated track and process or pass through control machine
It is polishing after the completion of first track is asked for or for higher precision, which is being carried out again in one end of device people end
It further corrects and obtains track of more accurately polishing.In the application, the beginning for track of polishing obtains initial position by teaching machine
Point, and by thinking that control provides Trig control signal, stop the acquisition of polishing track, stop supervisory controller control robot
The movement of end.
The polishing power of polishing track based on generation of S5, three-dimensional robot and corresponding tracing point carries out polishing emulation；
S6, space approachability analysis, workpiece and peripheral environment based on three-dimensional robot in simulation process of polishing
Between collision detection and polishing as a result, the polishing power of the polishing track and corresponding tracing point to generation is based on human-computer interaction interface
It optimizes, the polishing power of the polishing track after optimization and corresponding tracing point is sent to robot control by communication module
Device,
Polishing track that S7, robot controller are sent based on optimization module and the polishing power of corresponding tracing point are come control machine
Device people polishes.
Polishing process provided by the invention has the advantages that：Based on the polishing region model obtained automatically come automatic
Planning polishing track, the planning process of track of polishing is to correct robot terminal position based on power control, so as to be polished
Corresponding polishing location point under power can improve polishing precision, and can be suitably used for the polishing of complex part；In addition, the polishing process
High degree of automation, job standardization, production efficiency are high.
The upper only presently preferred embodiments of the present invention, is not intended to limit the invention, all spirit in the present invention
With all any modification, equivalent and improvement made within principle etc., should all be included in the protection scope of the present invention.
Claims (6)
- The control system 1. a kind of robot polishes, which is characterized in that the control system includes：Line laser sensor, air exercise grinder part are scanned, and obtain the structural parameters of polishing workpiece；Threedimensional model builds module, the threedimensional model of the structural parameters structure polishing workpiece based on polishing workpiece；Polishing region generation module matches the threedimensional model of reconstruct with CAD model, obtains the three-dimensional mould of polishing region Type；Track Pick-up module, the polishing power of threedimensional model generation polishing track and corresponding tracing point based on polishing region；The polishing power of emulation module, polishing track of the three-dimensional robot based on generation and corresponding tracing point carries out polishing emulation；Track optimizing module, based on space approachability analysis of the three-dimensional robot in simulation process of polishing, workpiece with it is outer Collision detection and polishing between collarette border is as a result, the polishing power of the polishing track and corresponding tracing point to generation is based on man-machine friendship Mutual interface optimizes, and the polishing power of the polishing track after optimization and corresponding tracing point is sent to robot by communication module Controller,Polishing track that robot controller is sent based on optimization module and the polishing power of corresponding tracing point come control robot into Row polishing.
- 2. a kind of polishing control method based on robot polishing controller system described in claim 1, which is characterized in that described Method includes the following steps：S1, air exercise grinder part are scanned, and obtain the structural parameters of polishing workpiece；S2, the structural parameters based on polishing workpiece build the threedimensional model of polishing workpiece；S3, the threedimensional model of structure with CAD model is matched, obtains the threedimensional model of polishing region；The polishing power of S4, the threedimensional model generation polishing track based on polishing region and corresponding tracing point；The polishing power of polishing track based on generation of S5, three-dimensional robot and corresponding tracing point carries out polishing emulation；S6, based between space approachability analysis of the three-dimensional robot in simulation process of polishing, workpiece and peripheral environment Collision detection and polishing are as a result, the polishing power of the polishing track and corresponding tracing point to generation is carried out based on human-computer interaction interface The polishing power of polishing track after optimization and corresponding tracing point is sent to robot controller by optimization by communication module,Polishing track that S7, robot controller are sent based on optimization module and the polishing power of corresponding tracing point control robot It polishes.
- The control method 3. robot as claimed in claim 2 polishes, which is characterized in that the step S4 specifically includes following step Suddenly：S41, initial buff point is obtained, obtains polishing initial point position；S42, reference position point is obtained by impedance position correction to polishing initial point position, anti-position correction is controlled based on power Modification method；S43, judge whether to be connected to stop signal, if judging result is no, obtain the tangential vector of approximation of reference position point, and control Robot arm processed feeds a unit displacement and measures next polishing initial point, return to step S42 in tangential direction；If sentence Disconnected result is yes, stops the acquisition of next polishing initial point, the acquisition according to reference position point is sequentially by all reference positions Point connects into polishing track.
- The control method 4. robot as claimed in claim 3 polishes, which is characterized in that the approximate cut phase of the reference position point Vector-obtaining method is specific as follows：A upper reference position point is the approximate tangential of reference position point with the direction line segment that the line of reference position point obtains Vector.
- The control method 5. robot as claimed in claim 3 polishes, which is characterized in that the position acquisition of the polishing initial point It is obtained using teaching machine, the end for controlling robot by teaching machine is moved to polishing starting point, so as to obtain initial point position.
- The control method 6. robot as claimed in claim 3 polishes, which is characterized in that the anti-position correction is specific as follows： Force snesor is set to obtain the power of milling tools and workpiece in robot arm end, by impedance control algorithm in initial point position Robot end position is adjusted in the normal orientation put, to meet the dynamic relationship of the terminal position pre-established and contact force.
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Cited By (20)
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| CN109291048A (en) * | 2018-09-26 | 2019-02-01 | 泉州华中科技大学智能制造研究院 | A kind of grinding and polishing industrial robot real-time online programing system and method |
| CN109483532A (en) * | 2018-11-01 | 2019-03-19 | 东莞市中天自动化科技有限公司 | Lathe and its corase grinding robot control method |
| CN109500823A (en) * | 2018-10-24 | 2019-03-22 | 武汉理工大学 | A kind of bowl-type titanium alloy casting oxide layer technique based on robot |
| CN109571152A (en) * | 2018-12-27 | 2019-04-05 | 丰泰智控(深圳)有限公司 | A kind of workpiece automatically grinding processing method based on off-line programing |
| CN109732625A (en) * | 2019-03-15 | 2019-05-10 | 珠海格力电器股份有限公司 | A kind of industrial robot flexibility polishing process and system based on machine vision |
| CN110501421A (en) * | 2019-07-24 | 2019-11-26 | 武汉大学 | A kind of track profiling method of detection based on mechanical arm |
| CN110539314A (en) * | 2019-10-08 | 2019-12-06 | 安徽新境界自动化技术有限公司 | automatic servo control system of robot of polishing |
| CN110576375A (en) * | 2019-08-29 | 2019-12-17 | 南京中车浦镇城轨车辆有限责任公司 | Robot automatic coating polishing system and method |
| CN110648390A (en) * | 2019-08-30 | 2020-01-03 | 南京中车浦镇城轨车辆有限责任公司 | Cleaning and polishing simulation method in rail vehicle digital assembly |
| TWI681845B (en) * | 2018-11-15 | 2020-01-11 | 財團法人工業技術研究院 | Method and system for controlling polishing and grinding |
| CN111558870A (en) * | 2020-04-16 | 2020-08-21 | 华中科技大学 | Robot intelligent polishing system and method for composite material component of airplane body |
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| CN112720150A (en) * | 2020-12-30 | 2021-04-30 | 西安拽亘弗莱工业自动化科技有限公司 | Method and system for generating casting polishing track |
| CN112846987A (en) * | 2021-01-28 | 2021-05-28 | 济南嘉瑞杰模型有限公司 | Three-dimensional imaging polishing method and polishing device |
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| CN109291048A (en) * | 2018-09-26 | 2019-02-01 | 泉州华中科技大学智能制造研究院 | A kind of grinding and polishing industrial robot real-time online programing system and method |
| CN109500823A (en) * | 2018-10-24 | 2019-03-22 | 武汉理工大学 | A kind of bowl-type titanium alloy casting oxide layer technique based on robot |
| CN109483532A (en) * | 2018-11-01 | 2019-03-19 | 东莞市中天自动化科技有限公司 | Lathe and its corase grinding robot control method |
| TWI681845B (en) * | 2018-11-15 | 2020-01-11 | 財團法人工業技術研究院 | Method and system for controlling polishing and grinding |
| CN109571152A (en) * | 2018-12-27 | 2019-04-05 | 丰泰智控(深圳)有限公司 | A kind of workpiece automatically grinding processing method based on off-line programing |
| CN109732625A (en) * | 2019-03-15 | 2019-05-10 | 珠海格力电器股份有限公司 | A kind of industrial robot flexibility polishing process and system based on machine vision |
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| CN110501421A (en) * | 2019-07-24 | 2019-11-26 | 武汉大学 | A kind of track profiling method of detection based on mechanical arm |
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