CN108746993A - A kind of polishing processing method and device - Google Patents

A kind of polishing processing method and device Download PDF

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Publication number
CN108746993A
CN108746993A CN201810637745.7A CN201810637745A CN108746993A CN 108746993 A CN108746993 A CN 108746993A CN 201810637745 A CN201810637745 A CN 201810637745A CN 108746993 A CN108746993 A CN 108746993A
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CN
China
Prior art keywords
processing
workpiece
data
polishing
robot
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Pending
Application number
CN201810637745.7A
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Chinese (zh)
Inventor
柳华伟
柳泉
柳雨青
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Qingdao Yikerui Automation Technology Co Ltd
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Qingdao Yikerui Automation Technology Co Ltd
Priority date (The priority date 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 date listed.)
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Publication date
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Priority to CN201810637745.7A priority Critical patent/CN108746993A/en
Publication of CN108746993A publication Critical patent/CN108746993A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70Auxiliary operations or equipment
    • B23K26/702Auxiliary equipment

Abstract

The present invention provides a kind of polishing processing methods comprising step:S1:Obtain the 3D data of workpiece to be processed;S2:The 3D data of acquisition are matched with standard 3D data using computer, obtain rejected region;S3:Reprocessabilty polishing is carried out to rejected region using processing laser.The present invention also provides a kind of polishing processing unit (plant)s comprising:Robot, 3D imaging devices and processing laser and computer;Robotically-driven tooling drives workpiece to be processed in the y-axis linear motion along workpiece longitudinal direction, the 3D point cloud data of entire workpiece is obtained using 3D imaging devices, and matched with standard 3D data, obtains rejected region;Robot is moved to Working position along the y-axis direction, and processing laser carries out reprocessabilty polishing to rejected region.The technical solution is full-automatic, less manpower, eliminates pneumoconiosis, saves a large amount of costs of labor, and process velocity is fast, efficient.

Description

A kind of polishing processing method and device
Technical field
The present invention relates to a kind of polishing processing method and devices, belong to shaped piece polishing manufacture field.
Background technology
In the occasion to shaped piece polishing processing, existing mode is polished using artificial.Most typical case be The occasion of mould mending, worker supply the position for lacking material using sub- arc-welding, then extra to grind away with the method for pincers worker craft Part, pincers worker need while polishing while assess polish situation, to ensure the high-precision requirement of mold.Pincers worker growth averagely needs three The time in year just can be with independent operation, and cost is very high, and the also health problems such as pneumoconiosis.And if exploitation mechanical system Automatically grinding, but since polymorphic structure causes to be very difficult to use sand paper or grinding wheel method, and lack the sensor of assessment Method leads to the bad dynamics grasped and polished every time, not good solution.
Invention content
The purpose of the present invention is to provide a kind of automatic, less manpower, pneumoconiosis is eliminated, saves a large amount of costs of labor, and Process velocity is fast, efficient polishing processing method.
A kind of another object of the present invention is to provide a kind of polishing processing unit (plant) based on the polishing process.
In order to solve the above-mentioned technical problem, the technological means that the present invention takes is:
A kind of polishing processing method comprising following steps:
S1:Obtain the 3D data of workpiece to be processed;
S2:The 3D data of acquisition are matched with standard 3D data using computer, obtain rejected region;
S3:Reprocessabilty polishing is carried out to rejected region using processing laser.
Preferably, a kind of above-mentioned polishing processing method, step S3 include:
S3.1:Polishing is processed to rejected region using processing laser;
S3.2:Appraisal procedure S3.1 processing polishing effects:
That is the 3D data of workpiece after obtaining step S3.1 processing polishings, and by the 3D data of acquisition and marked using computer Quasi- 3D data are matched, and processing effect is assessed, and instruct next processing dynamics;
S3.3:According to the processing dynamics of step S3.2 guidances polish again, assess, repeatedly, finally obtains high The cutting polishing effect of precision.
Preferably, above-mentioned a kind of polishing processing method obtains work to be processed in step S1 using machine vision method The 3D data of part.
Preferably, a kind of above-mentioned polishing processing method, the machine vision method include the following steps:
S1':Robot with workpiece along the virtual plane y-axis linear running at tooling plane, using with virtual plane phase To fixed camera obtain the 3D point cloud data of entire workpiece;
S2':Computer finds what needs were processed by matching the 3D point cloud data of acquisition with the 3D data of standard Position is simultaneously shown to operating personnel's confirmation;
S3':After confirmation, computer is provided by communication modes needs the position of processing stand to robot, Robot y-axis Direction is moved to Working position;
S4':After reaching Working position, camera obtains accurate tooling position by way of plane positioning, and with acquisition Workpiece 3D point cloud data calculate accurate processing stand position together, which is supplied to the processing laser, Galvanometer is set in laser, and processing laser is got into accurate processing stand position.
Preferably, above-mentioned a kind of polishing processing method, further includes following steps:
S10:Horizontal ruler will be installed, ruler surface constitutes virtual plane in the tooling of robot;
S11:Robot is programmed, tooling plane is limited and is transported along the y-axis straight line of workpiece longitudinal direction only in virtual plane It is dynamic;
S12:Camera is fixed, and virtual plane is demarcated;
S13:Robot drives ruler to be moved in virtual plane and identifies ruler by two-dimensional camera and measure acquisition y-axis Precise position information, then assist obtaining x-axis and the accurate location information of z-axis with the structure light that a wordline light source forms, so obtain The 3D point cloud data of rounding workpiece.
A kind of polishing processing unit (plant) comprising:
Robot is connected suitable for installing the tooling for connecting workpiece to be processed with the robot, is installed in the tooling It is connected with horizontal ruler, the horizontal ruler constitutes a virtual plane;
- 3D imaging devices are oppositely arranged with the workpiece to be processed, including fixed camera and at least two 1 wordline swash Radiant;
Process laser and computer;
The robotically-driven tooling drives workpiece to be processed to be transported along the y-axis straight line of workpiece longitudinal direction in the virtual plane It is dynamic, the 3D point cloud data of entire workpiece are obtained using the 3D imaging devices, and matched with standard 3D data, lacked Concave portion position;The computer provided by communication modes need processing stand position give the robot, robot is along the y-axis direction It is moved to Working position, the processing laser carries out reprocessabilty polishing to rejected region.
Compared with prior art, the technology of the present invention advantage is:The technical solution is full-automatic, less manpower, eliminates pneumoconiosis, section A large amount of costs of labor are saved, and process velocity is fast, it is efficient.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor It puts, other drawings may also be obtained based on these drawings.
Fig. 1:Specific embodiment of the invention structural schematic diagram;
Fig. 2:Part-structure enlarged diagram in Fig. 1 of the present invention.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected;It can Can also be electrical connection to be mechanical connection;It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition Concrete meaning in invention.
The present invention is described in further detail below through specific implementation examples and in conjunction with the accompanying drawings.
A kind of polishing processing method comprising following steps:
S1:Obtain the 3D data of workpiece to be processed;
S2:The 3D data of acquisition are matched with standard 3D data using computer, obtain rejected region;
S3:Reprocessabilty polishing is carried out to rejected region using processing laser.
Step S3 includes:
S3.1:Polishing is processed to rejected region using processing laser;
S3.2:Appraisal procedure S3.1 processing polishing effects:
That is the 3D data of workpiece after obtaining step S3.1 processing polishings, and by the 3D data of acquisition and marked using computer Quasi- 3D data are matched, and processing effect is assessed, and instruct next processing dynamics;
S3.3:According to the processing dynamics of step S3.2 guidances polish again, assess, repeatedly, finally obtains high The cutting polishing effect of precision.
The 3D data of workpiece to be processed are obtained in step S1 using machine vision method.
The machine vision method includes the following steps:
S1,:Robot with workpiece along the virtual plane y-axis linear running at tooling plane, using with virtual plane phase To fixed camera obtain the 3D point cloud data of entire workpiece;
S2,:Computer finds what needs were processed by matching the 3D point cloud data of acquisition with the 3D data of standard Position is simultaneously shown to operating personnel's confirmation;
S3,:After confirmation, computer is provided by communication modes needs the position of processing stand to robot, Robot y-axis Direction is moved to Working position;
S4,:After reaching Working position, camera obtains accurate tooling position by way of plane positioning, and with acquisition Workpiece 3D point cloud data calculate accurate processing stand position together, which is supplied to the processing laser, Galvanometer is set in laser, and processing laser is got into accurate processing stand position.
A kind of above-mentioned polishing processing method, further includes following steps:
S10:Horizontal ruler will be installed, ruler surface constitutes virtual plane in the tooling of robot;
S11:Robot is programmed, tooling plane is limited and is transported along the y-axis straight line of workpiece longitudinal direction only in virtual plane It is dynamic;
S12:Camera is fixed, and virtual plane is demarcated;
S13:Robot drives ruler to be moved in virtual plane and identifies ruler by two-dimensional camera and measure acquisition y-axis Precise position information, then assist obtaining x-axis and the accurate location information of z-axis with the structure light that a wordline light source forms, so obtain The 3D point cloud data of rounding workpiece.
As depicted in figs. 1 and 2, a kind of polishing processing unit (plant) comprising:
Robot 1 is connected with the robot 1 suitable for the tooling 2 for installing connection workpiece to be processed 6, the tooling 2 Upper installation is connected with horizontal ruler 7, and the horizontal ruler 7 constitutes a virtual plane 8;
- 3D imaging devices are oppositely arranged with the workpiece to be processed 6, including fixed camera 5 and at least two 1 wordline Laser light source (40,41);
Process laser 3 and computer;
The robot 1 drives tooling 2 to drive workpiece to be processed 6 in the virtual plane 8 along the y-axis that workpiece 6 is longitudinal Linear motion, the 3D point cloud data of entire workpiece is obtained using the 3D imaging devices, and matched with standard 3D data, obtained Obtain rejected region;The computer provided by communication modes need processing stand position give the robot 1, robot 1 is along y Axis direction is moved to Working position, and the processing laser 3 carries out reprocessabilty polishing to rejected region.
Why two a wordline laser light sources (40,41) are used in the program, is because for shaped piece, some is in The 3D information extractions at one laser light source shade position do not come out, and complete 3D points can be preferably extracted using two or more Cloud data.
The technical solution is full-automatic, less manpower, eliminates pneumoconiosis, saves a large amount of costs of labor, and process velocity is fast, imitates Rate is high.
Finally it should be noted that:The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations;To the greatest extent Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that:Its according to So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into Row equivalent replacement;And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution The range of scheme.

Claims (6)

1. a kind of polishing processing method, which is characterized in that include the following steps:
S1:Obtain the 3D data of workpiece to be processed;
S2:The 3D data of acquisition are matched with standard 3D data using computer, obtain rejected region;
S3:Reprocessabilty polishing is carried out to rejected region using processing laser.
2. a kind of polishing processing method according to claim 1, which is characterized in that step S3 includes:
S3.1:Polishing is processed to rejected region using processing laser;
S3.2:Appraisal procedure S3.1 processing polishing effects:
That is the 3D data of workpiece after obtaining step S3.1 processing polishings, and utilize computer by the 3D data of acquisition and standard 3D Data are matched, and processing effect is assessed, and instruct next processing dynamics;
S3.3:According to the processing dynamics of step S3.2 guidances polish again, assess, it is repeatedly, final to obtain high-precision Cutting polish effect.
3. a kind of polishing processing method according to claim 1 or 2, which is characterized in that utilize machine vision in step S1 Method obtains the 3D data of workpiece to be processed.
4. a kind of polishing processing method according to claim 3, which is characterized in that the machine vision method includes as follows Step:
S1':Robot with workpiece along the virtual plane y-axis linear running at tooling plane, using opposite with virtual plane Fixed camera obtains the 3D point cloud data of entire workpiece;
S2':Computer finds the position for needing to process by matching the 3D point cloud data of acquisition with the 3D data of standard And it is shown to operating personnel's confirmation;
S3':After confirmation, computer is provided by communication modes to be needed the position of processing stand robot is along the y-axis direction to robot It is moved to Working position;
S4':After reaching Working position, camera obtains accurate tooling position by way of plane positioning, and with the work of acquisition Part 3D point cloud data calculate accurate processing stand position together, which is supplied to the processing laser, laser Galvanometer is set in device, and processing laser is got into accurate processing stand position.
5. a kind of polishing processing method according to claim 4, which is characterized in that further include following steps:
S10:Horizontal ruler will be installed, ruler surface constitutes virtual plane in the tooling of robot;
S11:Robot is programmed, tooling plane is limited and moves along a straight line along the y-axis of workpiece longitudinal direction only in virtual plane;
S12:Camera is fixed, and virtual plane is demarcated;
S13:Robot drives ruler to be moved in virtual plane and identifies ruler by two-dimensional camera and measure the accurate of acquisition y-axis Location information, then assist obtaining x-axis and the accurate location information of z-axis with the structure light that a wordline light source forms, it so obtains whole The 3D point cloud data of a workpiece.
6. a kind of polishing processing unit (plant), which is characterized in that including:
Robot is connected suitable for installing the tooling for connecting workpiece to be processed with the robot, connection is installed in the tooling Equipped with horizontal ruler, the horizontal ruler constitutes a virtual plane;
- 3D imaging devices are oppositely arranged with the workpiece to be processed, including fixed camera and at least two a wordline laser light Source;
Process laser and computer;
The robotically-driven tooling drives workpiece to be processed to move along a straight line along the y-axis of workpiece longitudinal direction in the virtual plane, The 3D point cloud data of entire workpiece are obtained using the 3D imaging devices, and are matched with standard 3D data, and defect is obtained Position;The computer provided by communication modes need processing stand position give the robot, robot moves along the y-axis direction Working position is moved, the processing laser carries out reprocessabilty polishing to rejected region.
CN201810637745.7A 2018-06-20 2018-06-20 A kind of polishing processing method and device Pending CN108746993A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201810637745.7A CN108746993A (en) 2018-06-20 2018-06-20 A kind of polishing processing method and device

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Publication Number Publication Date
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109514133A (en) * 2018-11-08 2019-03-26 东南大学 A kind of autonomous teaching method of welding robot 3D curved welding seam based on line-structured light perception
CN111922496A (en) * 2020-08-11 2020-11-13 四川工程职业技术学院 Workpiece defect eliminating method and system based on plasma air gouging

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CN106041946A (en) * 2016-05-23 2016-10-26 广东工业大学 Image-processing-based robot polishing production method and production system applying same
CN107052950A (en) * 2017-05-25 2017-08-18 上海莫亭机器人科技有限公司 A kind of complex-curved sanding and polishing system and method
CN107063109A (en) * 2017-04-27 2017-08-18 重庆都英科技有限公司 A kind of die casting detection means
CN107217557A (en) * 2017-06-20 2017-09-29 上海铁路通信有限公司 A kind of vehicular track away rust by laser system
CN107866717A (en) * 2017-11-09 2018-04-03 四川工程职业技术学院 A kind of turbine blade automatically grinding system
CN108080792A (en) * 2017-12-22 2018-05-29 芜湖全程智能科技有限公司 A kind of laser sanding apparatus polishing process

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103639598A (en) * 2013-12-24 2014-03-19 武汉大学 Device for machining tiny rotary structure
CN106041946A (en) * 2016-05-23 2016-10-26 广东工业大学 Image-processing-based robot polishing production method and production system applying same
CN107063109A (en) * 2017-04-27 2017-08-18 重庆都英科技有限公司 A kind of die casting detection means
CN107052950A (en) * 2017-05-25 2017-08-18 上海莫亭机器人科技有限公司 A kind of complex-curved sanding and polishing system and method
CN107217557A (en) * 2017-06-20 2017-09-29 上海铁路通信有限公司 A kind of vehicular track away rust by laser system
CN107866717A (en) * 2017-11-09 2018-04-03 四川工程职业技术学院 A kind of turbine blade automatically grinding system
CN108080792A (en) * 2017-12-22 2018-05-29 芜湖全程智能科技有限公司 A kind of laser sanding apparatus polishing process

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109514133A (en) * 2018-11-08 2019-03-26 东南大学 A kind of autonomous teaching method of welding robot 3D curved welding seam based on line-structured light perception
CN111922496A (en) * 2020-08-11 2020-11-13 四川工程职业技术学院 Workpiece defect eliminating method and system based on plasma air gouging

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Application publication date: 20181106

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