CN108637850A - A kind of the milling robot system and control method of movement locus self study - Google Patents
A kind of the milling robot system and control method of movement locus self study Download PDFInfo
- Publication number
- CN108637850A CN108637850A CN201810690513.8A CN201810690513A CN108637850A CN 108637850 A CN108637850 A CN 108637850A CN 201810690513 A CN201810690513 A CN 201810690513A CN 108637850 A CN108637850 A CN 108637850A
- Authority
- CN
- China
- Prior art keywords
- casting
- milling robot
- laser displacement
- displacement sensor
- workbench
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
-
- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
-
- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of milling robot systems of movement locus self study, including workbench, laser displacement sensor, fixed frame, moving track, host computer and milling robot, moving track is mounted on fixed frame, laser displacement sensor is mounted on moving track, the workbench is for bearing casting to be scanned, laser displacement sensor and milling robot are connect with host computer, and laser displacement sensor is located at the top of casting.The milling robot of the present invention is using laser displacement sensor to the whole relative coordinate for being scanned the framing image and the opposite workbench of casting that obtain casting from surface of casting, and movement locus constructed by 3D mathematical models is combined to be moved, not only substantially reduce the teaching time, greatly reduce the technology requirement to teaching personnel, precision reaches 0.5mm -1.0mm, and the placement location of casting need not immobilize, it can achieve the effect that quick-clamping, precise positioning, it is time saving and efficient.
Description
Technical field
The present invention relates to the milling robot systems and control of motion planning technology more particularly to a kind of movement locus self study
Method processed.
Background technology
The working method of industrial robot is all to be rebooted by teaching machine to carry out Motion trajectory currently on the market
Robot works by the path planned.It needs to pass through teaching machine by the engineer of professional training in concrete operations
Teaching programming is carried out, robot is then allowed to carry out polishing work by teaching contents, or first passes through teaching machine guided robot fortune
It is dynamic, the teaching contents before finally allowing robot to reproduce.
The working method of this milling robot has the following disadvantages：1, teaching process is cumbersome takes, if production process
Change, repeat again more than tutorial program, the utilization benefit of robot is low.2, the engineering by professional training is needed
Shi Caineng carries out teaching programming, and high, high labor cost is required to the technology of operating personnel.3, to casting fixed status requirement ratio
It is higher so that working efficiency is low.4, there are 3mm -4mm errors, it can not achieve precise positioning.
Invention content
For overcome the deficiencies in the prior art, beating one of the objects of the present invention is to provide a kind of movement locus self study
Robot system is ground, it is high to solve the problems, such as that the milling robot for being requires operating personnel's technology.
An object of the present invention is realized using following technical scheme：
A kind of milling robot system of movement locus self study, including workbench, laser displacement sensor, fixed frame,
Moving track, host computer and milling robot, the moving track are mounted on fixed frame, and laser displacement sensor, which is mounted on, to be moved
On dynamic rail road, the workbench is for bearing casting to be scanned, and laser displacement sensor and milling robot are and host computer
Connection, laser displacement sensor are located at the top of casting, laser displacement sensor be used under the drive of moving track along X-axis with
Y direction moves, to be scanned the relative coordinate to be formed between frame image and acquisition casting and workbench to casting, concurrently
Send frame image supreme position machine；The host computer generates polishing according to the relative coordinate between frame image and casting and workbench
The movement locus of robot, so that milling robot is moved according to the movement locus.
Preferably, the workbench carries magnetic chuck, should carry the workbench of magnetic chuck for sucking casting.
Preferably, moving track includes traverse rod and perpendicular rail, erects rail and is mounted on fixed frame, and traverse rod is connect with perpendicular rail, and horizontal
Rail can be moved along perpendicular rail in Y direction；Laser displacement sensor is connected on traverse rod, and laser is located at sensor and can exist along traverse rod
X-direction moves.
Preferably, the fixed frame is portal frame.
Preferably, the milling robot is gantry robot.
The second object of the present invention is to provide a kind of milling robot control method of movement locus self study, can solve
The milling robot for being certainly requires operating personnel's technology high problem.
The second object of the present invention is realized using following technical scheme：
A kind of milling robot control method of movement locus self study, is applied to host computer, and the host computer connects respectively
It is connected to milling robot and laser displacement sensor, is included the following steps：
Control instruction is sent to laser displacement sensor, laser displacement sensor is made to start to be scanned casting；
The casting location information of laser sensor detection is received to obtain the frame image and casting and workbench of casting
Between relative coordinate；
According to the relative coordinate between the frame image of preset 3D mathematical models and the casting, casting and workbench
Establish the movement locus of milling robot；
Milling robot is set to move according to the movement locus, to polish casting.
Compared with prior art, the beneficial effects of the present invention are：
The milling robot of the present invention is scanned the entirety of casting from surface using laser displacement sensor and obtains
To casting framing image and casting with respect to workbench relative coordinate, and combine 3D mathematical models constructed by movement locus into
Row movement, not only substantially reduces the teaching time, greatly reduces the technology requirement to teaching personnel, and precision reaches 0.5mm-
1.0mm, and the placement location of casting need not immobilize, can achieve the effect that quick-clamping, precise positioning, it is time saving again
Efficiently.
Description of the drawings
Fig. 1 is the structural schematic diagram of the Motion trajectory system of the present invention；
Fig. 2 is a kind of flow chart of robot motion's method for planning track of the present invention.
In figure：1, workbench；2, laser displacement sensor；3, fixed frame；4, moving track；5, casting.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the present invention is described further：
As shown in Figure 1, the invention discloses a kind of milling robot systems of movement locus self study, in order to solve tradition
The problem that casting grinding robot trajectory planning is time-consuming, positioning is not accurate enough, system includes workbench 1, laser displacement sensor
2, fixed frame 3, moving track 4, host computer and milling robot, the moving track 4 are mounted on fixed frame 3, laser displacement
Sensor 2 is mounted on moving track 4, and for bearing casting 5 to be scanned, laser displacement sensor 2 is located at the workbench 1
The top of casting 5, laser displacement sensor 2 under the drive of moving track 4 along X-axis and Y direction for moving, on just
Side is scanned casting 5 the frame image to form casting 5 and obtains the relative coordinate between casting and workbench, and sends frame
Frame image is to host computer；The host computer generates polishing according to the relative coordinate between the frame image and casting and workbench
The movement locus of robot, so that milling robot is moved according to the movement locus.
Correspondingly, those skilled in the art are readily apparent that, the invention also includes have corresponding motor or cylinder, for pushing
The movement of moving track, laser displacement sensor and milling robot in the corresponding direction.
Laser displacement sensor 2 can accurate non-cpntact measurement testee the variations such as position, displacement, be mainly used in inspection
Survey the measurement of the geometric senses such as displacement, thickness, vibration, the distance of object.The laser displacement sensor of the present invention uses triangulation
The transmitter of the principle of method, laser displacement sensor will be seen that red laser directive testee surface by camera lens, by object
The laser of body reflection is received, according to different distances, CCD linear cameras by receiver camera lens by internal CCD linear cameras
This luminous point " can be seen " under a different angle.According to the distance between laser and camera known to this angle, number
Signal processor can calculate the distance between sensor and testee.Meanwhile light beam passes through in the position of receiving element
Analogy and digital circuit processing, and by microprocessor analysis, corresponding output valve is calculated, and in analog quantity set by user
In window, outputting standard data-signal in proportion.If using output switch parameter, be connected in the window of setting, window it
Outer cut-off.In addition, analog quantity can be independently arranged detection window with output switch parameter.The laser displacement of triangulation is taken to sense
For the device highest linearity up to 1um, resolution ratio is even more that can reach the level of 0.1um.Such as the sensor of ZLDS100 types, it can
To reach 0.01% high-resolution, 0.1% high linearity, 9.4KHz high responses adapt to adverse circumstances.
Workbench 1 is for placing casting 5, in order to preferably fix casting 5, the arbitrarily movement of casting 5 is placed, by workbench 1
It is set as carrying magnetic chuck, casting can be sucked by magnetic suction.
Specifically, 4 traverse rod of moving track and perpendicular rail, traverse rod is arranged along X-direction, erects rail and is arranged along Y direction, erects rail peace
On fixed frame 3, traverse rod is connect with perpendicular rail, traverse rod and perpendicular perpendicular arranged in a crossed manner, and traverse rod can be moved along perpendicular rail in Y direction
It is dynamic；Laser displacement sensor 2 is connected on traverse rod, and laser is located at sensor 2 and can be moved in X-direction along traverse rod.The present invention
System should also include first motor, the second motor, the output axis connection laser displacement sensor of first motor makes horizontal laser
Displacement sensor moves, and the output axis connection traverse rod of the second motor makes traverse rod move, first motor and the second motor with it is upper
Machine connects.Alternatively, laser displacement sensor and traverse rod movement can also be respectively driven by two cylinders, two cylinders equally may be used
To connect host computer.
In the present invention, as preferred embodiment, fixed frame 3 is portal frame, and milling robot is gantry robot.
As shown in Fig. 2, the present invention also provides a kind of milling robot control method of movement locus self study, application
In host computer, the host computer is connected separately with milling robot and laser displacement sensor, and this method is detached from above system
It does not open, this method is formally applied in system and is operated, and specifically comprises the following steps：
S1：Control instruction is sent to laser displacement sensor, laser displacement sensor is made to start to be scanned casting；
S2：The casting location information of laser sensor detection is received to obtain frame image and casting and the work of casting
Relative coordinate between platform；
S3：According to opposite between the frame image of preset 3D mathematical models and the casting, casting and workbench
Coordinate establishes the movement locus of milling robot；
S4：Milling robot is set to move according to the movement locus, to polish casting.
Casting is put to be sucked on the table, and laser displacement sensor is scanned right over casting, show that casting is each
The manifold of the point of contour line, to obtain the general frame of casting, and by the image of laser displacement sensor scanning and from the background
The CAD diagram paper parameter comparison of raising, filters out the lines of blank, obtain best casting general frame and with workbench
Relative position.
It will be apparent to those skilled in the art that technical solution that can be as described above and design, make various other
Corresponding change and deformation, and all these changes and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (6)
1. a kind of milling robot system of movement locus self study, which is characterized in that sensed including workbench, laser displacement
Device, fixed frame, moving track, host computer and milling robot, the moving track are mounted on fixed frame, laser displacement sensing
Device is mounted on moving track, and the workbench is for bearing casting to be scanned, laser displacement sensor and milling robot
It is connect with host computer, laser displacement sensor is located at the top of casting, and laser displacement sensor is used for the band in moving track
It is moved along X-axis and Y direction under dynamic, to be scanned the phase to be formed between frame image and acquisition casting and workbench to casting
To coordinate, and frame diagram picture is sent to host computer；The host computer is according to opposite between frame image and casting and workbench
The movement locus of Coordinate generation milling robot, so that milling robot is moved according to the movement locus.
2. milling robot system as described in claim 1, which is characterized in that the workbench carries magnetic chuck, the band
Be magnetic sucker workbench for sucking casting.
3. milling robot system as described in claim 1, which is characterized in that the moving track includes traverse rod and perpendicular rail,
Perpendicular rail is mounted on fixed frame, and traverse rod is connect with perpendicular rail, and traverse rod can be moved along perpendicular rail in Y direction；Laser displacement sensor
It is connected on traverse rod, and laser is located at sensor and can be moved in X-direction along traverse rod.
4. milling robot system as described in claim 1, which is characterized in that the fixed frame is portal frame.
5. milling robot system as described in claim 1, which is characterized in that the milling robot is gantry robot.
6. a kind of milling robot control method of movement locus self study, which is characterized in that it is applied to host computer, it is described upper
Machine is connected separately with milling robot and laser displacement sensor, includes the following steps：
Control instruction is sent to laser displacement sensor, laser displacement sensor is made to start to be scanned casting；
The casting location information of laser sensor detection is received to obtain between the frame image and casting and workbench of casting
Relative coordinate；
It is established according to the relative coordinate between the frame image of preset 3D mathematical models and the casting, casting and workbench
The movement locus of milling robot；
Milling robot is set to move according to the movement locus, to polish casting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810690513.8A CN108637850A (en) | 2018-06-28 | 2018-06-28 | A kind of the milling robot system and control method of movement locus self study |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810690513.8A CN108637850A (en) | 2018-06-28 | 2018-06-28 | A kind of the milling robot system and control method of movement locus self study |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108637850A true CN108637850A (en) | 2018-10-12 |
Family
ID=63750369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810690513.8A Pending CN108637850A (en) | 2018-06-28 | 2018-06-28 | A kind of the milling robot system and control method of movement locus self study |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109290920A (en) * | 2018-12-03 | 2019-02-01 | 宇环数控机床股份有限公司 | A kind of ironcasting blank automatic finishing device and method |
| CN109318360A (en) * | 2018-10-19 | 2019-02-12 | 沈阳建筑大学 | A kind of concrete spreader pre- scaling method automatically based on close to switch |
| CN109318359A (en) * | 2018-10-19 | 2019-02-12 | 沈阳建筑大学 | A kind of concrete spreader based on optoelectronic switch pre- scaling method automatically |
| CN109702718A (en) * | 2019-02-28 | 2019-05-03 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Semi-automatic teaching method of the industrial robot without teaching machine |
| CN111085902A (en) * | 2019-12-31 | 2020-05-01 | 芜湖哈特机器人产业技术研究院有限公司 | Workpiece polishing system for visual online detection and correction |
| CN114074264A (en) * | 2020-08-21 | 2022-02-22 | 中国科学院沈阳自动化研究所 | Casting polishing control method of human-computer cooperation robot |
| KR20220038855A (en) * | 2020-09-21 | 2022-03-29 | 주식회사 모션다이나믹스 | Radome polishing system |
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| CN207358869U (en) * | 2017-07-07 | 2018-05-15 | 广东科杰机械自动化有限公司 | Trimming unit and numerically controlled processing equipment |
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| JPH11300612A (en) * | 1998-04-22 | 1999-11-02 | Asahi Glass Co Ltd | Method and device for grinding platelike body |
| CN1490125A (en) * | 2003-08-22 | 2004-04-21 | 中国人民解放军国防科学技术大学 | Non-spherical optical component composite machining and testing machine tools |
| CN101088706A (en) * | 2006-06-16 | 2007-12-19 | 萨特隆股份公司 | Grinding and polishing machine for grinding and/or polishing workpieces in optical quality |
| CN102357705A (en) * | 2011-10-10 | 2012-02-22 | 莱州市得利安数控机械有限公司 | Automatic laser scanning positioning steel grating numerically-controlled cutter |
| CN203792127U (en) * | 2014-04-28 | 2014-08-27 | 徐焕兴 | Full-automatic horizontal rectangular glass four-side grinding device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318360A (en) * | 2018-10-19 | 2019-02-12 | 沈阳建筑大学 | A kind of concrete spreader pre- scaling method automatically based on close to switch |
| CN109318359A (en) * | 2018-10-19 | 2019-02-12 | 沈阳建筑大学 | A kind of concrete spreader based on optoelectronic switch pre- scaling method automatically |
| CN109318360B (en) * | 2018-10-19 | 2020-07-07 | 沈阳建筑大学 | Automatic pre-calibration method of concrete spreader based on proximity switch |
| CN109290920A (en) * | 2018-12-03 | 2019-02-01 | 宇环数控机床股份有限公司 | A kind of ironcasting blank automatic finishing device and method |
| CN109702718A (en) * | 2019-02-28 | 2019-05-03 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Semi-automatic teaching method of the industrial robot without teaching machine |
| CN111085902A (en) * | 2019-12-31 | 2020-05-01 | 芜湖哈特机器人产业技术研究院有限公司 | Workpiece polishing system for visual online detection and correction |
| CN111085902B (en) * | 2019-12-31 | 2022-02-01 | 芜湖哈特机器人产业技术研究院有限公司 | Workpiece polishing system for visual online detection and correction |
| CN114074264A (en) * | 2020-08-21 | 2022-02-22 | 中国科学院沈阳自动化研究所 | Casting polishing control method of human-computer cooperation robot |
| KR20220038855A (en) * | 2020-09-21 | 2022-03-29 | 주식회사 모션다이나믹스 | Radome polishing system |
| KR102423720B1 (en) * | 2020-09-21 | 2022-07-22 | 주식회사 모션다이나믹스 | Radome polishing system |
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Application publication date: 20181012 |